CN112512297A

CN112512297A - Automatic travel control system, automatic travel control method, automatic travel control program, and storage medium

Info

Publication number: CN112512297A
Application number: CN201980051247.7A
Authority: CN
Inventors: 阪口和央; 佐野友彦; 吉田脩; 中林隆志; 川畑翔太郎
Original assignee: Kubota Corp
Current assignee: Kubota Corp
Priority date: 2018-08-01
Filing date: 2019-06-26
Publication date: 2021-03-16
Also published as: KR20210038610A; JP7130535B2; JP2020022429A

Abstract

An automatic travel control system for a harvester that harvests a crop in a field while automatically traveling and stores the harvested crop in a storage unit, the automatic travel control system comprising: a route setting unit that sets a travel route for performing automatic travel; an automatic travel control unit that performs automatic travel control of the machine body (10) based on the position and travel route of the machine body (10); a state detection unit that detects a state of the harvester; and an interruption determination unit that can determine interruption of automatic travel based on a detection result of the state detection unit, wherein when the interruption determination unit determines interruption of automatic travel, the route setting unit generates an intermediate work route (Pt) that moves to the intermediate work position (DP) based on the intermediate work position (DP) at which work is performed after interruption of automatic travel in the field, the position (WP) of the machine body (10) when the interruption of automatic travel is determined, and the harvesting status of the field.

Description

Automatic travel control system, automatic travel control method, automatic travel control program, and storage medium

Technical Field

The present invention relates to an automatic travel control system for a harvester that harvests crops in a field while automatically traveling and stores the harvested crops in a storage unit.

Background

In the work vehicle automatic travel system disclosed in patent document 1, the harvester automatically travels along a travel path calculated in advance and harvests crops in a field. When the harvested material stored in the storage unit is discharged, the harvester departs from the travel path, selects another travel path calculated in advance to reach the midway work position (the "parked position for discharging harvested material" in the document) as the midway work path (the "discharge path" in the document), and automatically travels along the midway work path.

Documents of the prior art

Patent document

Patent document 1: international publication No. 2018/042853

Disclosure of Invention

Problems to be solved by the invention

However, in patent document 1, a travel route of a work place where harvesting is completed is selected as an intermediate work route. However, the travel route used as the intermediate work route is calculated in advance on the premise that the crop in the field is harvested. The position and shape of the non-worked land before harvesting in the field always change depending on the harvesting state of the field, and therefore the intermediate working path disclosed in patent document 1 may not necessarily be optimal.

In view of the above circumstances, an object of the present invention is to provide an automatic travel control system capable of generating an optimal intermediate work route according to the position of a machine body and the harvesting condition of a field.

Means for solving the problems

An automatic travel control system according to the present invention is an automatic travel control system for a harvester that harvests crops in a field while automatically traveling and stores harvested products in a storage unit, the automatic travel control system including: a route setting unit that sets a travel route for causing the harvester to perform the automatic travel; an automatic travel control unit that performs automatic travel control of the machine body based on a position of the machine body and the travel route; a state detection unit that detects a state of the harvester; and an interruption determination unit capable of determining interruption of the automatic travel based on a detection result of the state detection unit, wherein when the interruption determination unit determines that the automatic travel is interrupted, the route setting unit generates a midway operation route that moves to the midway operation position based on a midway operation position that is set in advance for performing an operation after the interruption of the automatic travel in a field, a position of the machine body when the interruption of the automatic travel is determined, and a harvest condition of the field.

According to the present invention, the midway operation route is generated at the time when the automatic travel is determined to be interrupted based on the detection result of the state detection unit, and the midway operation route is generated in consideration of the position of the machine body and the harvesting condition of the field when the automatic travel is determined to be interrupted. Therefore, compared to a configuration in which a travel route calculated in advance is used as a midway work route, the distance of the midway work route is shortened, and an optimum midway work route is generated from the position and shape of the non-work area in the field before harvesting. Thus, an automatic travel control system capable of generating an optimal intermediate work route according to the position of the machine body and the harvesting condition of the field is realized.

The technical features of the automatic travel control system can be applied to an automatic travel control program. Therefore, the present invention can also target the automatic travel control program. A storage medium such as an optical disk, a magnetic disk, or a semiconductor memory, which stores an automatic travel control program having the above-described technical features, can be a target of rights. The automatic travel control program in this case is an automatic travel control program for a harvester that harvests crops in a field while automatically traveling and stores harvested products in a storage unit, the automatic travel control program causing a computer to execute the following functions: a route setting function of setting a travel route for causing the harvester to perform the automatic travel; an automatic travel control function that performs automatic travel control of a machine body based on a position of the machine body and the travel path; a state detection function that is a function of detecting a state of the harvester; an interruption determination function that is a function capable of determining interruption of the automatic travel based on a detection result of the state detection function; and a halfway job path generation function that is a function of: when the interruption determination function determines that the automatic travel is interrupted, an intermediate work path that moves to the intermediate work position is generated based on an intermediate work position that is set in advance for performing work after the interruption of the automatic travel in the field, the position of the machine body when the interruption of the automatic travel is determined, and a harvesting condition of the field.

The technical features of the automatic travel control system and the automatic travel control program described above can also be applied to an automatic travel control method. Therefore, the present invention can also be directed to an automatic travel control method. In this case, the automatic travel control method is an automatic travel control method for a harvester that harvests crops in a field while automatically traveling and stores harvested products in a storage unit, the automatic travel control method including: a route setting step of setting a travel route for causing the harvester to perform the automatic travel; an automatic travel control step of performing automatic travel control of the machine body based on a position of the machine body and the travel route; a state detection step of detecting a state of the harvester; an interruption determination step of determining interruption of the automatic travel based on a detection result of the state detection step; and a midway working path generating step of generating a midway working path that moves to the midway working position based on a midway working position that is set in advance for performing work after the interruption of the automatic travel in a field, a position of the machine body when the interruption of the automatic travel is determined, and a harvesting condition of the field, when the interruption of the automatic travel is determined by the interruption determining step.

In the present invention, it is preferable that the route setting unit generates the midway work route under the condition that the body is oriented when the automatic travel is determined to be interrupted.

With this configuration, the direction of the machine body is taken into consideration in the generation of the work path. Therefore, for example, if it is determined that the path toward the direction opposite to the direction of the machine body is the shortest halfway work path at the position of the machine body at the time of the interruption of the automatic travel, if the already worked work is sufficiently wide, the halfway work path in which the machine body turns 180 degrees at the current position can be generated. On the other hand, when the work area is not wide enough, it is possible to turn the machine body while shifting the wheels in accordance with backward travel of the machine body. In this case, even in the case of a detour path, the path that directly advances without changing the direction of the machine body becomes an optimal intermediate work path. In this way, the route setting unit can generate an optimal intermediate work route according to the actual state of the field, taking into account the orientation of the machine body.

In the present invention, it is preferable that the route setting unit acquires, as the harvesting status of the field, position information of a non-operated area in the field where the harvesting operation has not been completed.

According to this configuration, since the shape of the non-working place can be easily grasped based on the position information of the non-working place, the route setting unit can create the optimum intermediate working route while bypassing the non-working place.

In the present invention, it is preferable that the path setting unit determines whether or not an unprocessed work area in a field does not exist on a straight line connecting the current position of the machine body and the halfway work position, that the path setting unit generates the halfway work path so as to approximate the straight line when the unprocessed work area does not exist on the straight line, that the path setting unit calculates an angular position of an angular portion nearest to the current position in the unprocessed work area when the unprocessed work area exists on the straight line, that the path setting unit determines whether or not the unprocessed work area exists on another straight line connecting the angular position and the halfway work position, and that the path setting unit determines, based on the current position, whether or not the unprocessed work area exists on the other straight line when the unprocessed work area does not exist on the other straight line, The angular position and the halfway work position generate the halfway work route, and when the other straight line has the non-work place, the route setting unit repeats these operations until another straight line having no non-work place is found.

With this configuration, by repeating the detection of the corner of the non-working place, the working path can be easily created while bypassing the shape of the non-working place. Further, the intermediate work path connecting the current position and the intermediate work position is formed along the outer periphery of the non-work place by a configuration in which the intermediate work path passes through the angular position, and the distance of the intermediate work path is shortened.

In the present invention, it is preferable that the path setting unit calculates the angular position of the corner closest to the current position on the side of the traveling direction of the machine body when the path setting unit calculates the angular position of the corner closest to the current position.

According to this configuration, it is possible to prevent the calculation of the corner in the direction opposite to the traveling direction, and to avoid an unreasonable sharp turn of the harvester.

In the present invention, it is preferable that the state detection unit includes a storage measurement unit that is provided in the storage unit and measures a storage amount of the harvested material stored in the storage unit, the intermediate work position includes a discharge position at which the harvested material stored in the storage unit can be discharged, and the interruption determination unit determines that the automatic travel is interrupted when the harvested material of the set amount is stored in the storage unit.

In this configuration, since the storage measuring unit detects the storage amount of the grain in the storage unit, the interruption determining unit can perform the interruption determination of the automatic travel before the storage of the grain in the storage unit is full.

In the present invention, it is preferable that the state detection unit includes a fuel measurement unit that is provided in a fuel tank and measures a remaining amount of fuel stored in the fuel tank, the intermediate work position includes a refueling position where refueling of the fuel tank is possible, and the interruption determination unit determines that the automatic travel is interrupted when the remaining amount of fuel stored in the fuel tank is lower than a set amount.

In this configuration, since the fuel measuring unit detects the remaining amount of fuel in the fuel tank, the interruption determining unit can perform the interruption determination of the automatic travel before the fuel runs out.

Another feature of the automatic travel control system according to the present invention is an automatic travel control system for a harvester that harvests crops in a field while automatically traveling and stores harvested crops in a storage unit, the automatic travel control system including: a route setting unit that sets a travel route for automatically traveling the harvester; and an automatic travel control unit that performs automatic travel control of the machine body based on a position of the machine body and the travel route, wherein the route setting unit calculates a return position on the travel route based on a midway working position set in advance in a field after the automatic travel is interrupted and a work is performed at the midway working position, and a harvesting situation of the field, and generates a return route that moves to the return position based on the return position and the harvesting situation of the field.

According to the present invention, the restoration route is generated in consideration of the halfway work position and the harvesting condition of the field. Therefore, compared to a configuration in which a travel route calculated in advance before harvesting of a field is used as a return route, the distance of the return route is shortened, and an optimal return route is generated from the position and shape of a non-working land before harvesting in the field. In the present invention, the position at which the automatic travel is interrupted need not be the return position, and the route setting unit can calculate the optimum return position from the halfway work position and the harvesting condition of the field. Thus, an automatic travel control system capable of generating an optimal restoration route according to the position of the machine body and the harvesting condition of the field is realized.

In addition, another technical feature in the above-described automatic travel control system can also be applied to an automatic travel control program. Therefore, the present invention can also set an automatic travel control program having the technical feature as an object of the right. A storage medium such as an optical disk, a magnetic disk, or a semiconductor memory, which stores an automatic travel control program having the above-described technical features, can be a target of rights. The automatic travel control program in this case is an automatic travel control program for a harvester that harvests crops in a field while automatically traveling and stores harvested products in a storage unit, the automatic travel control program causing a computer to execute the following functions: a route setting function of setting a travel route for causing the harvester to perform the automatic travel; an automatic travel control function of performing automatic travel control of the machine body based on a position of the machine body and the travel path; and a return path generation function of calculating a return position on the travel path based on the halfway working position and a harvesting condition of the field after the work is performed at the halfway working position set in advance in the field by the automatic travel interruption, and generating a return path moving to the return position based on the return position and the harvesting condition of the field.

Further, another technical feature of the automatic travel control system and the automatic travel control program described above can also be applied to the automatic travel control method. Therefore, the present invention can also be directed to an automatic travel control method having the above-described technical features. The automatic travel control method in this case is an automatic travel control method for a harvester that harvests crops in a field while automatically traveling and stores harvested products in a storage unit, the automatic travel control method including: a route setting step of setting a travel route for causing the harvester to perform the automatic travel; an automatic travel control step of performing automatic travel control of the machine body based on a position of the machine body and the travel route; and a restoration route generation step of calculating a restoration position on the travel route based on the halfway working position and the harvesting condition of the field after the work is performed at the halfway working position set in advance in the field due to the interruption of the automatic travel, and generating a restoration route moving to the restoration position based on the restoration position and the harvesting condition of the field.

In the present invention, it is preferable that the route setting unit creates the restoration route by adding the orientation of the machine body to a condition for completion of the work at the halfway work position.

With this configuration, the direction of the body is considered in generating the restoration path. Therefore, for example, in the case where the path directed in the direction opposite to the direction of the machine body becomes the shortest recovery path at the halfway work position, if the work is already sufficiently wide, a recovery path in which the machine body turns 180 degrees at the current position can be generated. On the other hand, when the work area is not wide enough, it is possible to turn while the wheels are displaced in accordance with the backward travel of the machine body, but when such a turn is performed, it may take time to return to the travel path or crush the field. In this case, even in the case of a detour path, a path that directly advances without changing the direction of the body becomes an optimal restoration path. In this way, the route setting unit can generate an optimal return route according to the actual state of the field, taking into account the orientation of the machine body.

According to this configuration, since the shape of the non-working area can be easily grasped based on the position information of the non-working area, the route setting unit can specify the optimal site for resuming harvesting in the non-working area, and can calculate the resumption position based on the optimal site for resuming harvesting and generate the resumption route.

In the present invention, it is preferable that the route setting unit calculates, as the return position, an end portion of the travel route set in an unprocessed field where the harvesting operation in the field has not been completed, the end portion being closest to the halfway operation position on the traveling direction side of the machine body.

According to this configuration, the calculation of the return position in the direction opposite to the traveling direction can be prevented, and an unreasonable sharp turn of the harvester can be avoided. In addition, with this configuration, even if the position of the automatic travel stoppage is a position that is farther from the halfway work position than the corner portion, the return position is set at a position that is closer to the halfway work position than the position of the automatic travel stoppage. Therefore, even when the harvester moves to the position where the automatic travel is interrupted, the harvester can move along with the harvesting work, and therefore the harvesting work is efficiently performed.

In the present invention, it is preferable that the path setting unit determines whether or not an unworked area in a field has not been completed in the harvesting work on a straight line connecting the halfway work position and the return position, that the path setting unit generates the return path so as to approximate the straight line when the unworked area does not exist on the straight line, that the path setting unit calculates an angular position of a corner portion nearest to the halfway work position in the unworked area when the unworked area exists on the straight line, that the path setting unit then determines whether or not the unworked area exists on another straight line connecting the angular position and the return position, and that the path setting unit generates the return path based on the halfway work position, the angular position, and the return position when the unworked area does not exist on the other straight line, when the non-working place exists on the other straight line, the path setting unit repeats these operations until another straight line where the non-working place does not exist is found.

With this configuration, by repeating the detection of the corner of the non-working place, a return path that bypasses the shape of the non-working place can be easily generated. Further, the return path connecting the intermediate work position and the return position is formed along the outer periphery of the non-work place by a configuration in which the return path passes through the angular position.

Further, it is preferable that the path setting unit calculates the angular position of the corner closest to the halfway working position on the side of the traveling direction of the machine body when the path setting unit calculates the angular position of the corner closest to the halfway working position.

According to this configuration, it is possible to prevent the calculation of the angular position in the direction opposite to the traveling direction, and the machine body can turn around the non-working place along the angular position of the non-working place without making an unreasonable sharp turn.

In the present invention, it is preferable that the midway working position includes a discharge position at which the harvested material stored in the storage unit can be discharged.

With this configuration, the route setting unit can calculate the return position in the work target area so that the discharge route when the sub-machine body deviates from the travel route becomes as short as possible, taking into account the capacity of the grain box and the like.

In the present invention, it is preferable that the intermediate work position includes a refueling position at which fuel can be replenished to the fuel tank.

With this configuration, the route setting unit can calculate the return position in the work target area so that the fuel supply route when the sub-engine body deviates from the travel route becomes as short as possible, taking into account the capacity of the fuel tank and the like.

Drawings

Fig. 1 is a side view of a combine harvester as an example of the harvester.

Fig. 2 is a diagram showing an outline of automatic travel of the combine harvester.

Fig. 3 is a diagram showing a travel route during automatic travel.

Fig. 4 is a functional block diagram showing the configuration of a control system of the combine harvester.

Fig. 5 is a system block diagram showing a control system during automatic travel.

Fig. 6 is a diagram showing a discharge path in automatic travel.

Fig. 7 is a diagram showing a discharge path in automatic travel.

Fig. 8 is a system block diagram showing a control system during automatic traveling.

Fig. 9 is a diagram showing a recovery route during automatic travel.

Fig. 10 is a diagram showing a recovery route during automatic travel.

Fig. 11 is a diagram showing another embodiment of the discharge path in the automatic travel.

Fig. 12 is a diagram showing another embodiment of the discharge path in the automatic travel.

Fig. 13 is a diagram showing another embodiment of the discharge path in the automatic travel.

Detailed Description

A mode for carrying out the present invention will be described based on the drawings. In the following description, unless otherwise specified, the direction of arrow "F" shown in fig. 1 is the front direction of the body, and the direction of arrow "B" is the rear direction of the body. In addition, the direction of arrow "U" shown in fig. 1 is an upward direction, and the direction of arrow "D" is a downward direction.

[ integral structure of combine harvester ]

As shown in fig. 1, a whole-feed combine harvester as one embodiment of a harvester includes a machine body 10, a crawler-type traveling device 11, a driving unit 12, a threshing device 13, a grain tank 14 as a storage unit, a harvesting device H, a conveying device 16, a grain discharging device 18, and a vehicle position detection module 80.

The traveling device 11 is provided at a lower portion in the combine harvester. The combine harvester can travel by itself through the travel device 11.

The driving unit 12, the threshing device 13, and the grain tank 14 are provided above the traveling device 11, and constitute an upper portion of the machine body 10. A driver who drives the combine harvester and a monitor who monitors the work of the combine harvester can ride on the driving unit 12. Usually, the driver doubles as a monitor. In the case where the driver and the monitor are different persons, the monitor may monitor the work of the combine from the outside of the combine. That is, the monitor in the present invention also includes the driver.

The grain discharging device 18 is connected to the lower rear portion of the grain tank 14. The vehicle position detection module 80 is attached to the front upper portion of the driver unit 12.

The harvesting device H is arranged at the front of the combine harvester. The conveyor 16 is disposed adjacent to the rear side of the harvesting unit H. The harvesting device H further includes a harvesting device 15 and a reel 17. The harvesting device 15 harvests crops of the field. The crop is, for example, straight straw such as rice, but may be soybean, corn, etc. In addition, the reel 17 is driven to rotate and simultaneously tuck up the crop to be harvested. According to this structure, the harvesting device H harvests the grains in the field. The combine harvester can perform harvesting travel in which the traveling device 11 travels while harvesting the crop in the field by the harvesting device 15.

In this way, the combine harvester has a harvesting arrangement 15 for harvesting crops in the field.

The crop (e.g., harvested straw) harvested by the harvesting unit 15 is transported to the threshing unit 13 by the transporting unit 16. In the threshing device 13, the harvested crop is subjected to threshing treatment. Grains obtained by the threshing process as a harvest are stored in the grain tank 14. The grains stored in the grain tank 14 are discharged to the outside of the machine through the grain discharging device 18 as needed.

In addition, the communication terminal 2 is provided in the driver unit 12. The communication terminal 2 is configured to be capable of displaying various information. In the present embodiment, the communication terminal 2 is fixed to the driver unit 12. The communication terminal 2 may be detachable from the cab 12, or may be located outside the combine.

As shown in fig. 2, the combine harvester automatically travels along a travel path set in the field. To detect the host-vehicle position, the host-vehicle position detection module 80 is used. The host vehicle position detection module 80 includes a satellite navigation module 81 and an inertial navigation module 82. The Satellite Navigation module 81 receives signals (including GPS signals) from a GNSS (Global Navigation Satellite System) of the artificial Satellite GS and outputs positioning data for calculating the position of the vehicle. The inertial navigation module 82 is equipped with a gyro acceleration sensor and a magnetic orientation sensor, and outputs a position vector representing an instantaneous traveling direction. The inertial navigation module 82 is used to supplement the calculation of the position of the host vehicle by the satellite navigation module 81. The inertial navigation module 82 may also be located at a different location than the satellite navigation module 81.

The procedure for performing the harvesting operation in the field by the combine harvester is as described below.

First, a monitor manually operates the combine harvester, and as shown in fig. 2, the combine harvester performs a harvesting travel so as to surround the boundary line of the field at the outer peripheral portion in the field. Thus, the area to be the work place is set as the outer area SA. An area left as it is without work inside the outer peripheral area SA is set as the work target area CA. Fig. 2 shows an example of the outer peripheral area SA and the work target area CA.

At this time, the monitor causes the body 10 to travel two or three weeks in order to secure the width of the outer peripheral area SA to a certain extent. In this travel, the width of the outer peripheral area SA expands the amount of working width of the combine harvester every time the machine body 10 rotates one revolution. First, when the travel of two or three weeks ends, for example, the width of the outer peripheral area SA becomes approximately two to three times the working width of the combine.

The outer peripheral area SA is used as a space for the combine to perform direction change when performing harvesting travel in the work target area CA. The outer peripheral area SA is also used as a space for movement when the harvesting travel is once ended and the vehicle moves to a grain discharge place, a fuel supply place, or the like.

It should be noted that the cart CV shown in fig. 2 can collect and handle grains discharged from the combine. When discharging grains, the combine moves to the vicinity of the carriage CV, and then the grains are discharged to the carriage CV by the grain discharging device 18.

When the outer peripheral area SA and the work target area CA are set, the travel route in the work target area CA is calculated as shown in fig. 3. In this example, the travel route is configured by a plurality of straight travel routes extending parallel to each other and a direction change travel route connecting the straight travel routes. The straight travel path is not limited to a straight line, and may be a curved line or a combination of a curved line and a straight line. The interval of the travel paths arranged in parallel is determined based on the working width, which is the harvesting width of the harvesting device H, and the overlap for absorbing the travel error. The calculated travel route is set in order based on the work travel mode, and the combine is automatically controlled to travel along the set travel route. Fig. 3 shows an operation mode in which the direction is changed by repeating forward and backward movements at the corner while performing the wrap-around harvesting along the periphery of the work area CA.

Fig. 4 shows a control system of a combine harvester using the automatic travel control system of the present invention. A control system of a combine harvester includes a control unit 5 and various input/output devices that perform signal communication (data communication) with the control unit 5 through a wiring network such as an on-board LAN, and the control unit 5 includes a plurality of electronic control units called ECUs.

The notification device 62 is a device for notifying a monitor or the like of a work running state and various warnings, and is a buzzer, a lamp, a speaker, a display, or the like. The control system of the combine harvester uses the communication unit 66 to exchange data with the communication terminal 2 (see fig. 1) or with a management computer provided at a remote location. The communication terminal 2 further includes a tablet computer operated by a monitor standing on a field or a monitor riding on the combine, a computer installed at home or a management office, and the like. The control unit 5 is a core element of the control system, and is represented as an aggregate of a plurality of ECUs. The signal from the own vehicle position detection module 80 is input to the control unit 5 through the in-vehicle LAN.

The control unit 5 includes an output processing unit 58 and an input processing unit 57 as input/output interfaces. The output processing unit 58 is connected to various operating devices 70 via a device driver 65. As the action devices 70, there are a traveling device group 71 as a device in a traveling relationship and a work device group 72 as a device in a work relationship. The travel device group 71 includes, for example, a steering device, an engine device, a transmission device, a brake device, and the like. The working equipment group 72 includes power control equipment and the like in the harvesting equipment (the harvesting device H, the threshing device 13, the conveying device 16, and the grain discharging device 18) as shown in fig. 1. Note that the "steering" in the present embodiment means that the orientation of the machine body 10 is changed by the speed difference between the left and right crawler belts in the crawler-type traveling device 11, but when the traveling device 11 is a wheel, the change of the orientation of the machine body 10 by the change of the orientation of the wheel itself is also included in the "steering".

The input processing unit 57 is connected with a travel state sensor group 63, a work state sensor group 64, a travel operation unit 90, and the like. The running state sensor group 63 includes an engine speed sensor, an overheat detection sensor, a brake pedal position detection sensor, a shift position detection sensor, a steering position detection sensor, and the like. The travel state sensor group 63 includes a fuel measurement unit 63A. The fuel measuring unit 63A is provided in a fuel tank (not shown) mounted on the machine body 10, and measures the remaining amount of fuel stored in the fuel tank. The fuel measuring unit 63A may be configured as a part of the state detecting unit in the present invention.

The working condition sensor group 64 includes a sensor for detecting the driving condition of the harvesting device (the harvesting device H, the threshing device 13, the conveying device 16, and the grain discharging device 18) as shown in fig. 1, a sensor for detecting the condition of the harvested crop or grain, and the like. The working state sensor group 64 includes a storage measurement unit 64A as a state detection unit. The storage measuring unit 64A is, for example, a load sensor provided below the grain tank 14, and measures the storage amount of the grains in the grain tank 14. The storing and measuring unit 64A may be configured as a part of the grain tank 14.

The travel operation unit 90 is a generic term for an operation member that is manually operated by a monitor and inputs the operation signal to the control unit 5. The travel operation unit 90 includes a main shift operation member, a steering operation member, a mode operation member, an automatic start operation member, and the like. The main shift operation element is an operation element for driving the traveling device 11 (see fig. 1) forward or backward. The mode operation member has a function of transmitting a command for switching between automatic driving and manual driving to the control unit 5. The automatic start operating element has a function of transmitting a final automatic start instruction for starting automatic travel to the control unit 5.

The control unit 5 includes a travel control unit 51, a work control unit 52, a travel pattern management unit 53, a vehicle position calculation unit 55, a notification unit 56, an interruption determination unit 59, a route generation module 4, and the like. The vehicle position calculating unit 55 calculates the vehicle position as the map coordinates (or field coordinates) of a predetermined specific portion of the machine body 10 based on the positioning data sequentially transmitted from the vehicle position detecting module 80. As the vehicle position, the position of a reference point (for example, the center of the vehicle body, the center of the harvesting device H shown in fig. 1, or the like) of the machine body 10 can be set. The notification portion 56 generates notification data based on instructions or the like from each functional portion of the control unit 5, and supplies the notification data to the notification device 62.

The travel control unit 51 has an engine control function, a steering control function, a vehicle speed control function, and the like, and supplies a control signal to the travel device group 71. The work control unit 52 supplies a control signal to the work equipment group 72 to control the movement of the harvesting work devices (the harvesting device H, the threshing device 13, the conveying device 16, the grain discharging device 18, and the like) as shown in fig. 1.

The combine harvester can travel both in automatic driving for harvesting work by automatic travel and in manual driving for harvesting work by manual travel. Therefore, the travel control unit 51 includes a manual travel control unit 51A and an automatic travel control unit 51B. In addition, the automatic travel mode is set when the automatic driving is performed, and the manual travel mode is set for the manual driving. Switching of the running mode is managed by the running mode management unit 53. That is, the running mode management unit 53 is configured to be able to switch the running mode between an automatic running mode in which automatic running is performed and a manual running mode in which manual running is performed.

The route generation module 4 includes a travel route setting unit 41 as a route setting unit, a discharge position setting unit 42, and a deviation position calculation unit 43. A travel route for the automatic travel of the combine as a harvester is set by the travel route setting unit 41, and the travel route setting unit 41 generates the travel route by itself using a route calculation algorithm. The function of the travel route setting unit 41 that sets the travel route in this way is the "route setting function" of the present invention. The route setting function is constituted by a program to be executed by a computer. The method of setting the travel route in this way is the "route setting step" of the present invention. The travel route setting unit 41 may download and use a travel route generated by the communication terminal 2 (see fig. 1), a remote management computer, or the like.

As shown in fig. 6 and 7, the discharge position setting unit 42 sets a discharge position DP, which is an example of a midway work position, at a position near a ridge where the transport vehicle CV can stop in the outer peripheral area SA. The discharge position DP is set in advance based on the shape of the field and the position at which the vehicle CV stops, but may be set at a plurality of positions in the outer peripheral area SA so that one of the plurality of discharge positions DP is appropriately selected. In short, the discharge position setting unit 42 sets the discharge position DP for discharging the grains from the grain tank 14 in the outer peripheral area SA in the field.

The storage degree of grains in the grain tank 14 is configured to be detectable by the storage measurement unit 64A. The interruption determination unit 5 is configured to determine the interruption of the automatic travel based on the detection result of the storage measurement unit 64A as the state detection unit. That is, the interruption determination unit 59 performs the interruption determination when the storage amount of the grain detected by the storage measurement unit 64A is equal to or greater than the set amount. The interruption determination unit 59 outputs the determination result to the deviation position calculation unit 43. When the stop determination unit 59 determines that the automatic travel is to be stopped, the deviation position calculation unit 43 calculates the deviation position WP at which the deviation from the travel route during travel is started, based on the current position of the machine body 10. Next, the travel path setting unit 41 generates the discharge path Pt for causing the combine harvester to pass through the outer peripheral area SA from the departing position WP to the discharge position DP by the path calculation algorithm. The discharge path Pt is an example of an intermediate work path. In this way, the harvester breaks the automatic travel based on the interruption determination by the interruption determination unit 59, deviates from the traveling path during traveling, and travels along the intermediate work path.

When the automatic travel mode is set, automatic travel is performed based on a control block as shown in fig. 5. The automatic travel control unit 51B generates a control signal for changing the vehicle speed including automatic steering and stopping, and controls the travel device group 71. The travel route is set by the travel route setting unit 41, and the vehicle position is calculated by the vehicle position calculating unit 55. Then, a control signal relating to automatic steering is generated so as to eliminate an azimuth offset and a displacement offset between the vehicle position and the travel path. The control signal relating to the vehicle speed change is generated based on a vehicle speed value set in accordance with the forward position of a main shift operation element (not shown). The automatic travel is performed in the same manner as in the control block shown in fig. 8 based on the control block shown in fig. 5.

When the manual travel mode is selected, the manual travel control unit 51A shown in fig. 4 generates a control signal based on an operation by the monitor, controls the travel device group 71, and realizes manual driving. The travel route calculated by the travel route setting unit 41 can be used for guidance purposes for the combine to travel along the travel route even in manual driving.

[ concerning the generation of discharge paths based on an automatic travel control system ]

The generation of the discharge path Pt will be described based on fig. 5 to 7. In the machine body 10 shown in fig. 6 and 7, an arrow of a traveling direction is shown on a side where the harvesting device H is located, and the machine body 10 travels forward in the direction of the arrow. The same applies to fig. 9 to 12 described later.

When the grain tank 14 (see fig. 1) is full of stored grain, the harvesting device H cannot continue harvesting the crop. The storage amount of grains in the grain tank 14 is calculated based on the detection value of the storage measurement unit 64A. In addition, the current position of the body 10 is detected based on the own vehicle position detection module 80. Therefore, the interruption determination unit 59 determines the interruption of the automatic travel when the storage amount of grains in the grain tank 14 becomes equal to or greater than the set amount. Then, the deviated position calculating unit 43 sets the current position of the machine body 10 as the deviated position WP. In fig. 6 and 7, the discharge position DP is a point adjacent to the stop position of the truck CV.

The conditions for generating the discharge path Pt by the travel path setting unit 41 include that the machine body 10 passes through only the peripheral area SA without passing through the work target area CA. The travel route setting unit 41 generates a midway work route that moves to the discharge position DP, which is the midway work position, based on a midway work position that is set in advance for performing work after the interruption of automatic travel in the field, the deviation position WP that is the position of the machine body 10 when the interruption of automatic travel is determined, and the harvesting condition of the field. The function of the travel route setting unit 41 that generates the work route in the middle is the "work route generation function" of the present invention. The halfway job path generation function is constituted by a program to be executed by a computer. The method of generating the halfway job path in this way is the "halfway job path generation step" of the present invention. Fig. 6 and 7 show a discharge path Pt as an intermediate work path. The travel route setting unit 41 acquires the position information of the working area CA, which is a non-working area in the field where the harvesting operation has not been completed, as the harvesting status of the field.

First, the travel path setting unit 41 tries to generate the first straight discharge path Pt1 that is linearly (or substantially linearly) movable between the disengagement position WP and the discharge position DP. At the same time, the travel path setting unit 41 generates a first turning path Pc1 for causing the machine body 10 to enter the discharge position DP while turning. At a position just before the discharge position DP, one end of the first straight discharge path Pt1 is tangent to the arc of the first turning path Pc1 in the tangential direction. The travel path setting unit 41 determines whether or not the work target area CA in the field is present on the first straight discharge path Pt1 connecting the current position (deviation position WP) of the machine body 10 and the discharge position DP. In fig. 6, the first straight discharge path Pt1 is a path that can reach the discharge position DP without crossing the work area CA. Therefore, in fig. 6, the first straight discharge path Pt1 is used as the discharge path Pt, and the generation of the discharge path Pt is determined. That is, when the work area CA is not present on the first straight discharge path Pt1, the travel path setting unit 41 generates the discharge path Pt so as to approximate a straight line. The first turning path Pc1 has a turning radius equal to, for example, the minimum turning radius of the machine body 10, and this turning radius can be changed as appropriate. The second turning path Pc2, the third turning path Pc3, and the like, which will be described later, may be configured to have different turning radii or the same turning radius, as in the case of the first turning path Pc 1.

On the other hand, in fig. 7, since the first straight discharge path Pt1 crosses the work target area CA, the first straight discharge path Pt1 is not used as the discharge path Pt, and the generation of the discharge path Pt is not determined.

In fig. 7, the work area CA as a non-work area is formed in a square shape, and the work area CA formed in the square shape has corners P1, P2, P3, and P4. When performing the harvesting travel of the combine harvester in the field, the shape of the work target area CA continuously changes. Therefore, the positions of the corners P1, P2, P3, and P4 of the polygon in the work area CA also vary depending on the harvest conditions of the field. In this case, the travel route setting unit 41 (see fig. 4 and 5) generates the discharge route Pt for automatically moving the machine body 10 from the deviated position WP to the discharge position DP, based on the deviated position WP, the discharge position DP, and the harvesting condition of the field. In fig. 7, the discharge path Pt is a path that bypasses the outside of the work area CA.

A corner P1 is present on the forward side of the body 10 with respect to the disengagement position WP, and the corner P1 is the closest corner to the disengagement position WP, which is the current position of the body 10, of the corners P1, P2, P3, and P4. The corner P1 is a portion through which the machine body 10 is harvested and passed when the machine body 10 is directly straight without departing from the travel path at the departing position WP. After attempting to generate the first straight discharge path Pt1, the travel path setting unit 41 sets the first angular position C1 for turning the machine body 10 at a portion adjacent to the corner P1 in the outer peripheral area SA. In this way, the travel path setting unit 41 calculates the first angular position C1 of the corner P1 closest in the direction of travel of the machine body 10 from the current position. Next, the travel path setting unit 41 generates a first bypass discharge path Pd1 for causing the machine body 10 to travel in the outer peripheral area SA along the outer periphery of the work area CA between the disengagement position WP and the first angular position C1. At the same time, the travel path setting unit 41 generates a second turning path Pc2 in the shape of a circular arc based on the first angular position C1. One end of the first roundabout discharge path Pd1 is tangent to the circular arc of the second turning path Pc2 in the tangential direction. The first angular position C1 is used as a reference point when the second turning path Pc2 is generated. The second turning path Pc2 may be generated centering on the first angular position C1, or the second turning path Pc2 may be generated in a state where the first angular position C1 overlaps with the arc of the second turning path Pc 2. The first bypass discharge path Pd1 and the second bypass discharge path Pc2 are included in a part of the discharge path Pt.

After the first bypass discharge path Pd1 and the second bypass discharge path Pc2 are generated, the travel path setting unit 41 attempts to generate the second straight discharge path Pt2 that is linearly (or substantially linearly) movable between the first angular position C1 and the discharge position DP, while extending in the tangential direction from the arc of the second bypass discharge path Pc 2. At a position near the discharge position DP, one end of the second straight discharge path Pt2 is tangent to the arc of the first turning path Pc1 in the tangential direction. The travel route setting unit 41 determines whether or not the work area CA is present on the second straight discharge route Pt2 that connects the first angular position C1 and the discharge position DP.

When the work area CA is not present on the second straight discharge path Pt2, the travel path setting unit 41 generates the discharge path Pt based on the disengagement position WP which is the current position, the first angular position C1, and the discharge position DP. However, in the example shown in fig. 7, since the second straight discharge path Pt2 crosses the work target area CA, the second straight discharge path Pt2 is not used as the discharge path Pt, and the generation of the discharge path Pt is not determined.

The corner P2 is located on the opposite side of the corner P1 from the side where the first bypass discharge path Pd1 is located. After attempting to generate the second straight discharge path Pt2, the travel path setting portion 41 sets the second angular position C2 for turning the machine body 10 at a location adjacent to the corner P2 in the outer peripheral area SA. Next, the travel path setting unit 41 generates the second bypass discharge path Pd2 for causing the machine body 10 to travel in the outer peripheral area SA along the outer periphery of the work target area CA between the first angular position C1 and the second angular position C2. At the same time, the travel path setting unit 41 generates a third turning path Pc3 in the shape of a circular arc based on the second angular position C2. One end of the second roundabout discharge path Pd2 is tangent to the circular arc of the third turning path Pc3 in the tangential direction. The second angular position C2 is used as a reference point when the third turning path Pc3 is generated. The third turning path Pc3 may be generated centering on the second angular position C2, or the third turning path Pc3 may be generated in a state where the second angular position C2 overlaps with the arc of the third turning path Pc 3. The second bypass discharge path Pd2 and the third turning path Pc3 are included in a part of the discharge path Pt.

After the second bypass discharge path Pd2 and the third turning path Pc3 are generated, the travel path setting unit 41 attempts to generate a third straight discharge path Pt3 that is linearly (or substantially linearly) movable between the second angular position C2 and the discharge position DP while extending in the tangential direction from the arc of the third turning path Pc 3. One end of the third straight discharge path Pt3 is tangent to the circular arc of the first turning path Pc1 in the tangential direction. Further, the travel path setting unit 41 determines whether or not the work object area CA is present on the third straight discharge path Pt3 that connects the second angular position C2 with the discharge position DP. In the example shown in fig. 7, the third straight discharge path Pt3 is a path that can reach the discharge position DP without crossing the work area CA. Therefore, the third straight discharge path Pt3 is included in a part of the discharge path Pt. Therefore, in fig. 7, the travel path setting unit 41 generates the discharge path Pt based on the disengagement position WP as the current position, the first angular position C1, the second angular position C2, and the discharge position DP. As a result, the discharge path Pt is a path from the disengagement position WP to the discharge position DP via the first bypass discharge path Pd1, the second turning path Pc2, the second bypass discharge path Pd2, the third turning path Pc3, the third straight discharge path Pt3, and the first turning path Pc1 in this order.

In this way, the travel route setting unit 41 attempts to create the discharge route Pt preferentially using the straight route from the disengagement position WP to the discharge position DP. When the work area CA exists on the straight path, the discharge path Pt is generated by searching for the straight path up to the discharge position DP while inserting the detour path to the nearest angular position. In other words, when the work object area CA exists on another straight line (for example, the second straight discharge path Pt2) than the first straight discharge path Pt1, the travel path setting unit 41 repeats the above calculation until another straight line where the work object area CA does not exist is found.

At the escape position WP, the combine continues harvesting by the harvesting device H, and the combine departs from the travel path of the work area CA and moves to the discharge path Pt created in the outer peripheral area SA. The movement to the discharge path Pt is performed based on a control signal of the automatic travel control unit 51B. That is, the automatic travel control unit 51B moves the harvesting device H to the discharge position DP while moving the harvesting device H away from the traveling path during traveling toward the outer peripheral area SA. The body 10 moves diagonally forward while traveling forward from the disengagement position WP to the side of the discharge path Pt. This allows the machine body 10 to smoothly move to the discharge position DP without backward travel, and at this time, there is no possibility that the unharvested crop is pressed down by the machine body 10.

[ Generation of restoration route based on automatic travel control System ]

Generation of the restoration path Rt is described based on fig. 8 to 10. When the discharge of the grains from the grain tank 14 (see fig. 1) is completed, the harvesting of the crop by the harvesting device H can be restarted. In addition, the current position of the body 10 is detected based on the own vehicle position detection module 80. Therefore, after the work is performed at the discharge position DP, the deviation position calculation unit 43 sets the discharge position DP as the halfway work position as the deviation position WP. The discharge position DP may be a refueling position at which fuel can be replenished to a fuel tank (not shown). That is, the intermediate work position may include a discharge position DP at which grains stored in the grain tank 14 as a storage unit as harvested products can be discharged, or may include a refueling position at which fuel can be refueled to a fuel tank (not shown).

The travel route setting unit 41 shown in fig. 4 and 8 calculates the return position RP shown in fig. 9 and 10 based on the deviated position WP and the harvesting condition of the field. As a specific configuration example, the travel path setting unit 41 includes a return position calculation unit that calculates the return position RP. The return position calculation unit of the travel route setting unit 41 calculates the return position RP in the work target area CA so that the discharge route Pt when the machine body 10 is next separated from the travel route becomes the shortest, for example, in consideration of the capacity of the grain tank 14 and the like. The return position calculation unit of the travel route setting unit 41 is illustrated as an example, and the travel route setting unit 41 and the return position calculation unit may be configured as different modules.

That is, after the automatic travel is interrupted and the work is performed at the deviation position WP (halfway work position) set in advance in the field, the travel route setting unit 41 calculates the return position RP on the travel route based on the halfway work position and the harvesting condition of the field, and generates the return route Rt moving to the return position RP based on the return position RP and the harvesting condition of the field. The travel route setting unit 41 acquires position information of the working area CA, which is a non-working area in the field where the harvesting operation has not been completed, as the harvesting status of the field.

As shown in fig. 8 and 9, the travel route setting unit 41 may be configured as follows: the end of the travel path set in the non-work area (work target area CA) where the harvesting work in the field has not been completed, which is closest to the deviated position WP (halfway work position) on the traveling direction side of the machine body 10, is calculated as the return position RP. As shown in fig. 8 and 10, the travel route setting unit 41 may calculate the deviated position WP shown in fig. 7 as it is as the return position RP. The travel route setting unit 41 shown in fig. 4 and 8 may be configured as follows: the return position RP in the work target area CA is calculated so as to minimize the discharge path Pt (see fig. 6 and 7) when the machine body 10 is next separated from the travel path, for example, in consideration of the capacity of the grain tank 14.

When the travel route setting unit 41 generates the return route Rt, first, the travel route setting unit 41 sets the orientation of the machine body 10 at the time of completion of the work at the deviation position WP (the halfway work position) to the orientation at which the return route Rt is generated. A first turning path Rc1 at the disengagement start time when disengaging from the disengagement position WP is generated in front of the machine body 10, and a second turning path Rc2 for bringing the machine body 10 into the return position RP while turning is generated. At the same time, the travel path setting unit 41 attempts to generate a first straight recovery path Rt1 that is linearly (or substantially linearly) movable between the first turning path Rc1 located in the vicinity of the disengagement position WP and the second turning path Rc2 located in the vicinity of the recovery position RP. Both ends of the first straight restoration path Rt1 are tangent to respective circular arcs of the first turning path Rc1 and the second turning path Rc2 in the tangential direction. The travel route setting unit 41 determines whether or not the work target area CA in the field is present on the first straight return route Rt1 connecting the deviation position WP and the return position RP. In fig. 9, the first straight restoration path Rt1 is a path that can reach the restoration position RP without crossing the work target area CA. Thus, in fig. 9, the first straight restoration path Rt1 is used as the restoration path Rt, and generation of the restoration path Rt is determined. That is, when the work target area CA is not present on the first straight restoration path Rt1, the travel path setting unit 41 generates the restoration path Rt so as to approximate a straight line.

The first turning path Rc1 and the second turning path Rc2 have turning radii equal to the minimum turning radius of the machine body 10, for example, and the turning radii can be changed as appropriate. The third turning path Rc3, the fourth turning path Rc4, and the like described later may be configured to have different turning radii or the same turning radius, as the first turning path Rc1 and the second turning path Rc 2.

On the other hand, in fig. 10, since the first straight restoration path Rt1 crosses the work target area CA, the first straight restoration path Rt1 is not used as the restoration path Rt, and the generation of the restoration path Rt is not determined.

In fig. 10, the work area CA as a non-work area is formed in a square shape, and the work area CA formed in the square shape has corners R1, R2, R3, and R4. When performing the harvesting travel of the combine harvester in the field, the shape of the work target area CA continuously changes. Therefore, the positions of the corners R1, R2, R3, and R4 of the polygon in the work area CA also vary depending on the harvest conditions of the field. In this case, the travel route setting unit 41 (see fig. 4 and 8, the same applies hereinafter) generates the return route Rt for automatically moving the machine body 10 from the deviated position WP to the return position RP, based on the deviated position WP, the return position RP, and the harvesting condition of the field. The function of the travel route setting unit 41 that generates the restoration route Rt in this way is the "restoration route generating function" of the present invention. The halfway job path generation function is constituted by a program to be executed by a computer. In addition, the method of generating the restoration path Rt in this way is the "restoration path generation step" of the present invention. In fig. 10, the restoration path Rt is a path that bypasses the outside of the work target area CA.

The corner R1 is located on the forward side of the body 10 with respect to the disengagement position WP, and the corner R1 is the closest corner to the disengagement position WP (intermediate working position) among the corners R1, R2, R3, and R4. After attempting to generate the first straight return path Rt1, the travel path setting unit 41 sets the first angular position C11 for turning the machine body 10 at a location adjacent to the corner R1 in the outer peripheral region SA. In this way, when the travel path setting unit 41 calculates the angular position of the corner R1 closest to the disengagement position WP, the travel path setting unit 41 calculates the first angular position C11 of the corner R1 closest to the halfway work position on the travel direction side of the machine body 10. Next, the travel path setting unit 41 generates a first detour restoration path Rd1 for causing the machine body 10 to travel in the outer peripheral area SA along the outer periphery of the work area CA between the disengagement position WP and the first angular position C11. At the same time, the travel path setting unit 41 generates the third turning path Rc3 in the shape of a circular arc based on the first angular position C11. One end of the first roundabout recovery path Rd1 is tangent to the arc of the third turning path Rc3 in the tangential direction. The first angular position C11 is used as a reference point when generating the third turning path Rc 3. The third turning path Rc3 may be generated with the first angular position C11 as the center, or the third turning path Rc3 may be generated in a state where the first angular position C11 overlaps with the arc of the third turning path Rc 3. The first detour recovery path Rd1 and the third turning path Rc3 are included in a part of the recovery path Rt.

After the first detour restoration path Rd1 and the third turning path Rc3 are generated, the travel path setting unit 41 attempts to generate the second straight restoration path Rt2 that is linearly (or substantially linearly) movable between the first angular position C11 and the restoration position RP while extending in the tangential direction from the arc of the third turning path Rc 3. At a position near the restoration position RP, one end of the second straight restoration path Rt2 is tangent to the circular arc of the second turning path Rc2 in the tangential direction. Further, the travel path setting unit 41 determines whether or not the work target area CA is present on the second straight return path Rt2 that connects the first angular position C11 and the return position RP.

When the work target area CA is not present on the second straight restoration path Rt2, the travel path setting unit 41 generates the restoration path Rt from the departure position WP which is the current position, the first angular position C11, and the restoration position RP. However, in the example shown in fig. 10, since the second straight recovery path Rt2 crosses the work target area CA, the second straight recovery path Rt2 is not used as the recovery path Rt, and the generation of the recovery path Rt is not determined.

A corner R2 is present on the opposite side of the corner R1 from the side where the first roundabout restoration path Rd1 is present. After attempting to generate the second straight returning path Rt2, the running path setting portion 41 sets the second angular position C12 for turning the machine body 10 at a location adjacent to the corner R2 in the outer peripheral region SA. Next, the travel path setting unit 41 generates the second detour restoration path Rd2 for causing the machine body 10 to travel in the outer peripheral area SA along the outer periphery of the work object area CA between the first angular position C11 and the second angular position C12. At the same time, the travel path setting unit 41 generates the arc-shaped fourth turning path Rc4 based on the second angular position C12. One end of the second roundabout recovery path Rd2 is tangent to the arc of the fourth turning path Rc4 in the tangential direction. The second angular position C12 is used as a reference point when generating the fourth turning path Rc 4. The fourth turning path Rc4 may be generated centering on the second angular position C12, or the fourth turning path Rc4 may be generated in a state where the second angular position C12 overlaps with the arc of the fourth turning path Rc 4. The second detour recovery path Rd2 and the fourth turn path Rc4 are included in a part of the recovery path Rt.

After the second detour restoration path Rd2 and the fourth turning path Rc4 are generated, the travel path setting unit 41 attempts to generate a third straight restoration path Rt3 that is linearly (or substantially linearly) movable between the second angular position C12 and the restoration position RP while extending in the tangential direction from the arc of the fourth turning path Rc 4. At the position just before the return position RP, one end of the third straight return path Rt3 is tangent to the arc of the third turning path Rc3 in the tangential direction, but in fig. 10, the third straight return path Rt3 is linear between the second angular position C12 (on the arc of the fourth turning path Rc 4) and the return position RP.

The travel path setting unit 41 determines whether or not the work target area CA is present on the third straight return path Rt3 that connects the second angular position C12 and the return position RP. In the example shown in fig. 10, the third straight restoration path Rt3 is a path that can reach the restoration position RP without crossing the work target area CA. Therefore, the third straight restoration path Rt3 is included in a part of the restoration path Rt. Therefore, in fig. 10, the travel path setting unit 41 generates the return path Rt based on the disengagement position WP as the current position, the first angular position C11, the second angular position C12, and the return position RP. As a result, the return path Rt reaches the return position RP from the deviation position WP through the first turning path Rc1, the first detour return path Rd1, the third turning path Rc3, the second detour return path Rd2, the fourth turning path Rc4, and the third straight return path Rt3 in this order.

In this way, the travel route setting unit 41 attempts to create the restoration route Rt by preferentially using the straight route from the departure position WP to the restoration position RP. When the work area CA exists on the straight path, the straight path up to the return position RP is searched while inserting the detour path to the nearest angular position, and the return path Rt is generated. In other words, when the work target area CA exists on a straight line other than the first straight restoration route Rt1 (for example, the second straight restoration route Rt2), the travel route setting unit 41 repeats the above calculation until another straight line where the work target area CA does not exist is found.

[ other embodiments ]

The present invention is not limited to the configurations exemplified in the above embodiments, and other representative embodiments of the present invention are exemplified below.

(1) As the midway working position in the above embodiment, for example, the discharge position DP shown in fig. 7 is exemplified, but the midway working position is not limited to a position for discharging grains, and may be a position for replenishing fuel for a combine harvester, for example. Further, the discharge path Pt is exemplified as the intermediate work path, but the intermediate work path may be a path for refueling, for example. Therefore, the following structure is also possible: a refueling position is set as a midway operation position at a position other than the discharge position DP in the field, and a midway operation path corresponding to the refueling position is set. Further, the following structure is also possible: a plurality of intermediate work positions are provided for each application in a field, and an intermediate work route is set for each intermediate work position. The state detector is not limited to the storage measuring unit 64A, and the fuel measuring unit 63A (see fig. 4) or the like may be used. That is, the intermediate work position may include a refueling position at which fuel can be replenished to a fuel tank (not shown), or may include a discharge position DP at which grains as a harvest stored in a grain tank 14 (see fig. 1) as a storage unit can be discharged. The state detector for detecting the state of the harvester may include a storage measuring unit 64A for measuring the storage amount of grain as a harvest stored in the grain tank 14 as a storage unit, or may include a fuel measuring unit 63A for measuring the remaining amount of fuel stored in the fuel tank.

The interruption determination unit 59 shown in fig. 4 and 5 may be configured to determine the interruption of the automatic travel based on the remaining fuel amount in the fuel tank (not shown). That is, the interruption determination unit 59 may be configured to determine the interruption of the automatic traveling based on the measurement result of the state detection unit. In this case, the interruption determination unit 59 may determine that the automatic travel is interrupted when the remaining amount of the fuel stored in the fuel tank is lower than the set amount. The travel route setting unit 41 shown in fig. 4 and 8 may be configured as follows: the return position RP in the work target area CA is calculated so that the fuel supply path (the midway work path) when the engine body 10 is separated from the travel path next time becomes as short as possible, taking into account the capacity of the fuel tank and the like.

(2) In the above embodiment, the separating position calculating unit 43 (see fig. 4 and 5) calculates the separating position WP based on the current position of the machine body 10 when the storage amount of the grain detected by the storage measuring unit 64A (see fig. 4 and 5) is equal to or larger than the set amount. The separating position calculating section 43 may set the separating position WP before the storage amount of the grain reaches the set amount. For example, as shown in fig. 11, the disengagement position calculation unit 43 may be configured as follows: based on the detection value of the storage measurement unit 64A, a point at which the grain in the grain box 14 is in a full state (or substantially full state) is calculated, and a separation position WP is set. Further, the following structure is also possible: the travel path setting unit 41 generates the discharge path Pt, and when the machine body 10 reaches the disengagement position WP, the travel path is disengaged from the travel path of the work target area CA and moves to the discharge path Pt.

(3) In the above embodiment, the travel path setting unit 41 (see fig. 4 and 5) calculates the first angular position C1 of the corner P1 closest in the traveling direction from the current position toward the machine body 10, and generates the discharge path Pt based on the first angular position C1, but the present invention is not limited to this embodiment. Fig. 12 shows an example of the discharge path Pt that does not pass through the first angular position C1. The travel path setting unit 41 attempts to generate the first straight discharge path Pt11 that is linearly (or substantially linearly) movable between the disengagement position WP and the discharge position DP, together with the generation of the first turning path Pc 1. Thereafter, the travel path setting unit 41 calculates a first angular position C1 of the corner P1 closest to the traveling direction toward the machine body 10, and generates a first bypass discharge path Pd11 between the disengagement position WP and the first angular position C1. While repeating these calculations, the second bypass discharge path Pd12 and the third bypass discharge path Pd13 are generated by attempting to generate the second straight discharge path Pt12 and the third straight discharge path Pt13 associated with the generation of the fourth curved path Pc 4. In addition, a second turning path Pc2, a third turning path Pc3, and a fifth turning path Pc5 are also generated. The first to fifth turning paths Pc1 to Pc5 are generated in the same manner as the first to third turning paths Pc1 to Pc3 described above with reference to fig. 7, but the fourth turning path Pc4 is generated as the direction of entry of the body 10 to the discharge position DP changes. The fourth straight discharge path Pt14 is a path that can reach the discharge position DP without crossing the work area CA. Therefore, the travel route setting unit 41 can generate the discharge route Pt extending through the first bypass discharge route Pd11, the second bypass discharge route Pd12, the third bypass discharge route Pd13, and the fourth straight discharge route Pt 14.

However, in this case, since the machine body 10 travels a distance exceeding half a circumference along the outer periphery of the work area CA, the travel route setting unit 41 may be configured not to generate the discharge route Pt from the first bypass discharge route Pd11 to the fourth straight discharge route Pt 14. In this case, the travel route setting unit 41 determines whether or not the outer peripheral area SA deviated from the deviated position WP has a turning space of the machine body 10. When it is determined that there is a turning space in the outer peripheral area SA deviated from the deviated position WP, the travel path setting unit 41 calculates a fourth corner position C4 from the current position toward the nearest corner P4 on the opposite side to the traveling direction of the machine body 10. Next, the travel path setting unit 41 generates a fourth bypass discharge path Pd14 for causing the machine body 10 to travel in the outer peripheral region SA between the disengagement position WP and the fourth corner position C4, and generates an arc-shaped sixth turning path Pc6 tangent to the fourth bypass discharge path Pd14 in the tangential direction based on the fourth corner position C4. Thereafter, the travel path setting unit 41 tries to generate the fifth straight discharge path Pt15 that is linearly (or substantially linearly) movable between the fourth corner position C4 and the discharge position DP while extending in the tangential direction from the arc of the sixth curved path Pc 6. At a position near the discharge position DP, one end of the fifth straight discharge path Pt15 is tangent to the circular arc of the first turning path Pc1 in the tangential direction. The fifth straight discharge path Pt15 is a path that can reach the discharge position DP without crossing the work area CA. Therefore, the travel route setting unit 41 may be configured to generate the discharge route Pt extending through the fourth bypass discharge route Pd14 and the fifth straight discharge route Pt 15. With this configuration, the distance of the discharge path Pt becomes shorter than the path from the first bypass discharge path Pd11 to the fourth straight discharge path Pt 14. In this way, the travel route setting unit 41 may generate the discharge route Pt under the condition that the body 10 is oriented when it is determined that the automatic travel is interrupted. In this case, when the machine body 10 reaches the discharge position DP, the direction of travel of the machine body 10 is opposite to the direction of travel of the automatic travel. In this case, the machine body 10 may be configured to make a U-turn immediately before the halfway work at the discharge position DP, or the machine body 10 may be configured to make a U-turn immediately after the halfway work at the discharge position DP.

(4) When a turning space as shown in the fourth bypass discharge path Pd14 in fig. 12 is not secured in the outer peripheral area SA, the fourth bypass discharge path Pd14 may not be a path in which the machine body 10 turns. For example, instead of the fourth bypass discharge path Pd14, the machine body 10 may be retracted to reach the fifth straight discharge path Pt 15. On the other hand, when it takes time to travel only in reverse, it is also conceivable that the machine body 10 turns while performing wheel-rolling displacement in association with reverse travel, but in such wheel-rolling displacement turning, it may take time or crush a field. In this case, even in the route of the winding, the discharge route Pt that directly advances without changing the direction of the body 10 and extends over the first bypass discharge route Pd11, the second bypass discharge route Pd12, the third bypass discharge route Pd13, and the fourth straight discharge route Pt14 is preferable. In this way, the travel path setting unit 41 can generate the optimum discharge path Pt (intermediate work path) according to the actual state of the field, taking into account the orientation of the machine body 10. The travel route setting unit 41 can generate an optimum return route Rt according to the actual state of the field in consideration of the orientation of the machine body 10.

(5) In the above embodiment, the storage measuring portion 64A is provided as the state detecting portion, but the storage measuring portion 64A may be a sensor that detects the flow rate of the grain when the grain is fed from the threshing device 13 to the grain tank 14.

(6) In the above embodiment, the discharge path Pt is generated by the round harvesting as shown in fig. 3, but the discharge path Pt may be generated by the reciprocating harvesting as shown in fig. 13. For example, in fig. 13, a plurality of parallel lines L are generated as travel paths in the work target area CA, and the combine harvester successively performs reciprocal harvesting along the lines L from one end side of the field. In this case, the travel route setting unit 41 may calculate the deviated position WP and generate the discharge route Pt for passing the main body 10 from the deviated position WP to the discharge position DP through the outer peripheral area SA.

(7) In the above embodiment, the route generation module 4 includes the travel route setting unit 41, the discharge position setting unit 42, and the deviated position calculating unit 43, but is not limited to this embodiment. The travel route setting unit 41, the discharge position setting unit 42, and the deviation position calculating unit 43 may be integrally configured as a route setting unit.

(8) The first turning path Pc1, the second turning path Pc2, and the third turning path Pc3 shown in fig. 6, 7, 11, and 12 may not be independent structures. For example, the first turning path Pc1 shown in fig. 6 may be configured as a part of the first straight discharge path Pt 1. The first curved path Pc1 shown in fig. 7 may be a part of the third straight discharge path Pt3, and the second curved path Pc2 and the third curved path Pc3 may be a part of the adjacent bypass discharge path and straight discharge path. The fourth turning path Pc4, the fifth turning path Pc5, and the sixth turning path Pc6 shown in fig. 12 are also the same as the first turning path Pc1 and the like.

The first turning path Rc1, the second turning path Rc2, the third turning path Rc3, and the fourth turning path Rc4 shown in fig. 9 and 10 may not be independent structures. For example, the first turning path Rc1 shown in fig. 9 may be configured as a part of the first straight recovery path Rc 1. The second turning path Rc2 shown in fig. 10 may be configured as a part of the third straight recovery path Rt3, and the second turning path Rc2 and the third turning path Pc3 may be configured as a part of the adjacent detour recovery path and straight recovery path.

(9) Each of the functional units in the above-described embodiments may be configured as an automatic travel control program for the harvester. The automatic travel control program may be stored in a storage medium such as an optical disk, a magnetic disk (e.g., a hard disk), a semiconductor memory (e.g., a flash memory, an EPROM, an EEPROM, a mask ROM, an FeRAM, an MRAM, or a ReRAM) and may be read by a computer. The processing performed by each functional unit in the above-described embodiment may be configured as an automatic travel control method.

Note that the configuration disclosed in the above embodiment (including other embodiments, the same applies hereinafter) can be applied in combination with the configuration disclosed in the other embodiments as long as no contradiction occurs. The embodiments disclosed in the present specification are illustrative, and the embodiments of the present invention are not limited thereto, and may be appropriately modified within a range not departing from the object of the present invention.

Industrial applicability

The invention is an automatic driving control system for a harvester, therefore, the invention can be applied to not only a full-feeding combine harvester, but also a semi-feeding combine harvester. In addition, the present invention can also be applied to an automatic travel control system for various harvesters such as a corn harvester, a potato harvester, a carrot harvester, and a sugar cane harvester.

Description of the reference numerals

10: machine body

14: grain box (storage part)

41: travel route setting unit (route setting unit)

51B: automatic travel control unit

59: interruption determination unit

63A: fuel measuring part (State detecting part)

64A: storage measuring part (State detecting part)

CA: work area (non-work area)

DP: discharge position (midway work position)

RP: restoring position

WP: disengagement position (position of body)

Pt: discharge route (midway work route)

Rt: restoration path

P1: corner part

R1: corner part

C1: first angular position (angular position)

C11: first angular position (angular position)

Claims

1. An automatic travel control system for a harvester that harvests a crop in a field while automatically traveling and stores the harvested crop in a storage unit, the automatic travel control system comprising:

a route setting unit that sets a travel route for causing the harvester to perform the automatic travel;

an automatic travel control unit that performs automatic travel control of the machine body based on a position of the machine body and the travel route;

a state detection unit that detects a state of the harvester; and

an interruption determination unit capable of determining interruption of the automatic travel based on a detection result of the state detection unit,

when the interruption determination unit determines that the automatic travel is interrupted, the route setting unit generates an intermediate work route that moves to the intermediate work position, based on an intermediate work position that is set in advance for performing work after the interruption of the automatic travel in the field, the position of the machine body when the interruption of the automatic travel is determined, and the harvest condition of the field.

2. The automatic running control system according to claim 1,

the route setting unit generates the midway work route by adding the orientation of the machine body to the condition for joining the direction of the machine body when the automatic travel is determined to be interrupted.

3. The automatic running control system according to claim 1 or 2,

the path setting unit acquires, as the harvesting status of a field, position information of a non-operated area in the field where harvesting operation has not been completed.

4. The automatic running control system according to any one of claims 1 to 3,

the path setting unit determines whether or not there is an unworked area in the field where the harvesting operation has not been completed on a straight line connecting the current position of the machine body and the work-in-process position,

the path setting unit generates the midway working path so as to approximate the straight line when the non-working place is not present on the straight line,

the path setting unit calculates an angular position of a corner portion nearest to the current position in the non-working area when the non-working area exists on the straight line, then determines whether the non-working area exists on another straight line connecting the angular position and the work-in-process position, generates the work-in-process path based on the current position, the angular position, and the work-in-process position when the non-working area does not exist on the other straight line, and repeats these operations until another straight line on which the non-working area does not exist is found when the non-working area exists on the other straight line.

5. The automatic running control system according to claim 4,

the path setting unit calculates an angular position of a corner closest to the current position on the side of the traveling direction of the machine body when calculating the angular position of the corner closest to the current position.

6. The automatic running control system according to any one of claims 1 to 5,

the state detection part comprises a storage measurement part which is arranged in the storage part and measures the storage amount of the harvest stored in the storage part,

the midway working position includes a discharge position capable of discharging the harvest stored in the storage portion,

the interruption determination portion determines the interruption of the automatic travel when a set amount of the harvested goods is stored in the storage portion.

7. The automatic running control system according to any one of claims 1 to 6,

the state detection unit includes a fuel measurement unit that is provided in a fuel tank and measures a remaining amount of fuel stored in the fuel tank,

the midway working position includes a refueling position capable of refueling the fuel tank,

the interruption determination portion determines that the automatic travel is interrupted when a remaining amount of fuel stored in the fuel tank is lower than a set amount.

8. An automatic travel control system for a harvester that harvests a crop in a field while automatically traveling and stores the harvested crop in a storage unit, the automatic travel control system comprising:

a route setting unit that sets a travel route for causing the harvester to perform the automatic travel; and

an automatic travel control unit that performs automatic travel control of the machine body based on a position of the machine body and the travel route,

the route setting unit calculates a return position on the travel route based on the halfway work position and the harvesting condition of the field after the work is performed at the halfway work position set in advance in the field by the automatic travel interruption, and generates a return route moving to the return position based on the return position and the harvesting condition of the field.

9. The automatic running control system according to claim 8,

the path setting unit creates the restoration path by adding the orientation of the machine body to a condition for joining the machine body when the work at the halfway work position is completed.

10. The automatic running control system according to claim 8 or 9,

11. The automatic running control system according to any one of claims 8 to 10,

the route setting unit calculates, as the return position, an end portion of the travel route set in an unprocessed field where harvesting work in a field has not been completed, the end portion being closest to the halfway work position on the traveling direction side of the machine body.

12. The automatic running control system according to any one of claims 8 to 11,

the route setting unit determines whether or not there is an unworked area in the field where the harvesting operation has not been completed on a straight line connecting the halfway operation position and the return position,

the path setting unit generates the restoration path so as to approximate the straight line when the non-working place does not exist on the straight line,

the path setting unit calculates an angular position of a corner portion nearest to the halfway work position in the halfway work position when the halfway work position exists on the straight line, then determines whether the halfway work position exists on another straight line connecting the angular position and the return position, generates the return path based on the halfway work position, the angular position, and the return position when the halfway work position does not exist on the other straight line, and repeats these operations until another straight line on which the halfway work position does not exist is found when the halfway work position exists on the other straight line.

13. The automatic running control system according to claim 12,

the path setting unit calculates an angular position of a corner closest to the halfway work position on the side of the travel direction of the machine body when calculating the angular position of the corner closest to the halfway work position.

14. The automatic running control system according to any one of claims 8 to 13,

the midway working position includes a discharge position capable of discharging the harvest stored in the storage portion.

15. The automatic running control system according to any one of claims 8 to 14,

the intermediate work position includes a refueling position where fuel can be replenished to the fuel tank.

16. An automatic travel control method for a harvester that harvests crops in a field while automatically traveling and stores the harvested crops in a storage unit, the automatic travel control method comprising:

a route setting step of setting a travel route for causing the harvester to perform the automatic travel;

an automatic travel control step of performing automatic travel control of the machine body based on a position of the machine body and the travel route;

a state detection step of detecting a state of the harvester;

an interruption determination step of determining interruption of the automatic travel based on a detection result of the state detection step; and

and a midway working path creating step of creating a midway working path that moves to the midway working position based on a midway working position that is set in advance for performing work after the interruption of the automatic travel in the field, the position of the machine body when the interruption of the automatic travel is determined, and a harvesting condition of the field, when the interruption of the automatic travel is determined by the interruption determining step.

17. The automatic running control method according to claim 16, wherein,

in the intermediate work path generation step, the intermediate work path is generated by adding the orientation of the machine body to the condition when it is determined that the automatic travel is interrupted.

18. The automatic running control method according to claim 16 or 17,

the midway work path creating step acquires position information of a non-work area where the harvesting work in a field has not been completed as a harvesting state of the field.

19. The automatic running control method according to any one of claims 16 to 18,

in the midway job path generating step, in the step of generating the midway job path,

determining whether or not there is an unworked area in the field where the harvesting operation has not been completed on a straight line connecting the current position of the machine body and the halfway operation position,

generating the midway working path in a manner similar to the straight line when the non-working place does not exist on the straight line,

when the non-working place exists on the straight line, an angular position of a corner portion nearest to the current position in the non-working place is calculated, then it is determined whether or not the non-working place exists on another straight line connecting the angular position and the working-halfway position, when the non-working place does not exist on the other straight line, the working-halfway path is generated from the current position, the angular position, and the working-halfway position, and when the non-working place exists on the other straight line, these operations are repeated until another straight line on which the non-working place does not exist is found.

20. The automatic running control method according to claim 19,

in the halfway work path generating step, when calculating the angular position of the corner closest to the current position, the angular position of the corner closest to the current position on the side of the traveling direction of the machine body is calculated.

21. The automatic running control method according to any one of claims 16 to 20,

the state detecting step includes a storage measuring step of measuring a storage amount of the harvest stored in the storage part,

the interruption determining step determines the interruption of the automatic travel when a set amount of the harvested goods is stored in the storage portion.

22. The automatic running control method according to any one of claims 16 to 21,

the state detecting step includes a fuel measuring step of measuring a remaining amount of fuel stored in the fuel tank,

in the interruption determining step, the interruption of the automatic travel is determined when a remaining amount of fuel stored in the fuel tank is lower than a set amount.

23. An automatic travel control method for a harvester that harvests crops in a field while automatically traveling and stores the harvested crops in a storage unit, the automatic travel control method comprising:

an automatic travel control step of performing automatic travel control of the machine body based on a position of the machine body and the travel route; and

a restoration route generation step of calculating a restoration position on the travel route based on the halfway working position and the harvesting condition of the field after the work is performed at the halfway working position set in advance in the field due to the interruption of the automatic travel, and generating a restoration route moving to the restoration position based on the restoration position and the harvesting condition of the field.

24. The automatic running control method according to claim 23,

in the restoration path generation step, the restoration path is generated by adding the orientation of the machine body to a condition for completion of the work at the halfway work position.

25. The automatic running control method according to claim 23 or 24,

in the recovery route generation step, position information of a non-operation area in a field where a harvesting operation has not been completed is acquired as a harvesting status of the field.

26. The automatic running control method according to any one of claims 23 to 25,

in the restoration route generating step, an end portion of the travel route set in an unworked area where harvesting work in a field has not been completed is calculated as the restoration position, the end portion being closest to the midway work position on the traveling direction side of the machine body.

27. The automatic running control method according to any one of claims 23 to 26,

in the restoration path generation step, it is possible to,

determining whether or not there is an unworked area in the field where the harvesting operation has not been completed on a straight line connecting the halfway operation position and the return position,

generating the restoration path in a manner similar to the straight line in a case where the non-working place does not exist on the straight line,

when the non-working place exists on the straight line, an angular position of a corner portion nearest to the halfway working position in the non-working place is calculated, it is then determined whether or not the non-working place exists on another straight line connecting the angular position and the return position, when the non-working place does not exist on the other straight line, the return path is generated from the halfway working position, the angular position, and the return position, and when the non-working place exists on the other straight line, these operations are repeated until another straight line where the non-working place does not exist is found.

28. The automatic running control method according to claim 27, wherein,

in the return path generating step, when calculating the angular position of the corner closest to the halfway work position, the angular position of the corner closest to the halfway work position on the side of the traveling direction of the machine body is calculated.

29. The automatic running control method according to any one of claims 23 to 28,

30. The automatic running control method according to any one of claims 23 to 29,

31. An automatic travel control program for a harvester that harvests crops in a field while automatically traveling and stores the harvested crops in a storage unit, wherein the automatic travel control program causes a computer to execute the following functions:

a route setting function of setting a travel route for causing the harvester to perform the automatic travel;

an automatic travel control function that performs automatic travel control of a machine body based on a position of the machine body and the travel path;

a state detection function that is a function of detecting a state of the harvester;

an interruption determination function that is a function capable of determining interruption of the automatic travel based on a detection result of the state detection function; and

a halfway job path generation function, which is a function of: when the interruption determination function determines that the automatic travel is interrupted, an intermediate work path that moves to the intermediate work position is generated based on an intermediate work position that is set in advance for performing work after the interruption of the automatic travel in the field, the position of the machine body when the interruption of the automatic travel is determined, and a harvesting condition of the field.

32. The automatic running control program according to claim 31, wherein,

the halfway work path generation function generates the halfway work path under the condition that the orientation of the machine body is added when the automatic travel is determined to be interrupted.

33. The automatic running control program according to claim 31 or 32, wherein,

the midway work path creating function acquires, as a harvesting status of a field, position information of a non-worked area in the field where harvesting work has not been completed.

34. The automatic running control program according to any one of claims 31 to 33,

the midway working path creating function determines whether or not there is an unworked area in the field where the harvesting work has not been completed on a straight line connecting the current position of the machine body and the midway working position,

the halfway job path generating function generates the halfway job path in a manner similar to the straight line when the non-job site does not exist on the straight line,

35. The automatic running control program according to claim 34, wherein,

the halfway work path generation function calculates the angular position of the corner closest to the current position on the side of the traveling direction of the machine body when calculating the angular position of the corner closest to the current position.

36. The automatic running control program according to any one of claims 31 to 35,

the state detecting function includes a storage measuring function of measuring a storage amount of the harvest stored in the storage portion,

the interruption determination function determines the interruption of the automatic travel when a set amount of the harvested goods is stored in the storage portion.

37. The automatic running control program according to any one of claims 31 to 36,

the state detecting function includes a fuel measuring function of measuring a remaining amount of fuel stored in the fuel tank,

the interruption determination function determines the interruption of the automatic travel when a remaining amount of fuel stored in the fuel tank is lower than a set amount.

38. An automatic travel control program for a harvester that harvests crops in a field while automatically traveling and stores the harvested crops in a storage unit, wherein the automatic travel control program causes a computer to execute the following functions:

an automatic travel control function of performing automatic travel control of the machine body based on a position of the machine body and the travel path; and

and a return path generation function that calculates a return position on the travel path based on the halfway working position and a harvesting condition of the field after the work is performed at the halfway working position set in advance in the field due to the automatic travel interruption, and generates a return path that moves to the return position based on the return position and the harvesting condition of the field.

39. The automatic running control program according to claim 38, wherein,

the restoration path generation function generates the restoration path by adding the orientation of the machine body to a condition of joining the orientation of the machine body when the work at the halfway work position is completed.

40. The automatic running control program according to claim 38 or 39, wherein,

the recovery path generation function acquires, as a state of harvesting of a field, position information of a non-operated area in the field where harvesting operation has not been completed.

41. The automatic running control program according to any one of claims 38 to 40,

the restoration route generation function calculates, as the restoration position, an end portion of the travel route set in an unworked area where harvesting work in a field has not been completed, the end portion being closest to the midway work position on the traveling direction side of the machine body.

42. The automatic running control program according to any one of claims 38 to 41,

in the restoration path generation function, it is possible to,

43. The automatic running control program according to claim 42, wherein,

the restoration path generation function calculates an angular position of a corner closest to the halfway work position on the side of the traveling direction of the machine body when calculating the angular position of the corner closest to the halfway work position.

44. The automatic running control program according to any one of claims 38 to 43,

45. The automatic running control program according to any one of claims 38 to 44,

46. A recording medium on which the automatic travel control program according to any one of claims 31 to 45 is recorded and which is readable by a computer.