CN112868367B - Automatic running control system, combine harvester and harvester - Google Patents

Abstract

An automatic travel control system, a combine harvester and a harvester are provided. One of the automatic travel control systems is an automatic travel control system for a combine harvester that performs turning travel in a harvested region, comprising: a reciprocating travel path setting unit capable of setting a plurality of reciprocating travel paths parallel to each other in a non-harvesting area; and a turning path setting unit that can set a turning path that is entered to an end of a following reciprocating path after the combine has finished harvesting the reciprocating path in the harvested region. The turning path includes a path for making the combine harvester travel forward turning and a path for making the combine harvester travel backward turning. The turning path setting unit can set the turning path as follows: after the combine is driven to make a forward turning travel on one of the left and right sides, the combine is driven to make a backward turning travel on the other of the left and right sides. This enables the combine harvester to quickly perform turning in the harvested region.

Description

Automatic driving control system, combine harvester, harvester

Technical Field

The present invention relates to an automatic driving control system for a combine harvester that harvests crops while reciprocating in an unharvested area of a field and performs turning driving for the reciprocating driving in a harvested area outside the unharvested area, and a combine harvester.

The invention relates to a harvester which can automatically travel along a set travel path.

Background technique

<Background Technology 1>

For example, Patent Document 1 discloses a turning path for a combine harvester to make a U-turn in a harvested area outside an unharvested area. FIG. 18 of Patent Document 1 shows a turning path for a combine harvester to enter the end of the next reciprocating driving path after harvesting the reciprocating driving path ("travel path element" in the document). The turning path includes a path for the combine harvester to make a forward turn and a path for the combine harvester to travel backward.

<Background Technology 2>

The combine harvester for harvesting standing grain stalks in a field described in Patent Document 2 performs harvesting work while automatically traveling along a set travel path. The travel path is set so that the harvesting work of the entire field can be efficiently performed.

Prior art literature

Patent Literature

Patent Document 1: Japanese Patent Application Publication No. 2018-92620

Patent Document 2: Japanese Patent Application Publication No. 2002-358122

Summary of the invention

Technical problem to be solved by the invention

<Technical Issue 1>

As for the technology of Background Art 1, the path of the backward travel in the turning path shown in FIG. 18 of Patent Document 1 is a path for the combine harvester to travel backward along the outer peripheral shape of the unharvested area. However, if the structure of Patent Document 1 is used, the combine harvester does not turn in the backward travel path, and the combine harvester only turns during forward travel, so the turning path tends to become longer. Therefore, from the perspective of shortening the turning travel of the combine harvester, there is still room for improvement in the turning path.

A first object of the present invention is to provide an automatic driving control system for enabling a combine harvester to quickly make a turn in a harvested area.

<Technical Issue 2>

Regarding the technology of Background Art 2, however, during automatic travel, the actual position of the machine traveling on the set travel path may not be appropriate with respect to the conditions of the field, such as the position of the worked area formed by the work travel and the standing condition of the planted grain stalks.

For example, if the position information of the machine body cannot be accurately obtained during operation, the actual position of the machine body will deviate from the set driving path. In addition, when setting the driving path, there are cases where operational errors occur, the equipment for setting the driving path is in poor condition, and the driving path itself is inappropriate for the conditions of the field.

When the actual position of the machine body is inappropriate for the field conditions as described above, the machine body can be manually changed to an appropriate position by changing the machine body's travel direction, but usually the machine body will stop if a steering operation is performed during automatic travel. Furthermore, it is necessary to stop the automatic travel after manually correcting the travel path and then restart the automatic travel.

Therefore, a second object of the present invention is to adjust the travel path by simple operation while the automatic travel is continued so that the position of the machine body actually traveling becomes appropriate with respect to the condition of the field.

Means for solving technical problems

<Solution 1>

In order to achieve the above-mentioned first purpose, the present invention is an automatic driving control system, which is an automatic driving control system for a combine harvester that performs reciprocating driving while harvesting crops in an unharvested area of a field, and performs turning driving for the reciprocating driving in a harvested area further outward than the unharvested area, characterized in that the automatic driving control system comprises: a reciprocating driving path setting unit, which is capable of setting a plurality of reciprocating driving paths parallel to each other in the unharvested area; a turning path setting unit, which is capable of setting a turning path in the harvested area for the combine harvester to drive to the next end of the reciprocating driving path after harvesting the reciprocating driving path; the turning path includes a path for the combine harvester to perform forward turning driving and a path for the combine harvester to perform backward turning driving, and the turning path setting unit is capable of setting the turning path in the following manner: after the combine harvester performs the forward turning driving to one side or the other, the combine harvester performs the backward turning driving to the other side or the other.

According to the present invention, after the combine harvester makes a forward turn, it changes the direction of the turn and makes a backward turn, so that the combine harvester can make a turn more quickly than a structure in which the combine harvester only makes a turn while moving forward. In addition, by allowing the combine harvester to make a turn while moving backward, the turning space can be made smaller than a structure in which the combine harvester does not make a turn while moving backward. Thus, an automatic driving control system for making the combine harvester make a turn quickly in a harvested area can be realized. In addition, a combine harvester equipped with the automatic driving control system of the present invention is also included in the object of the right.

In the present invention, it is preferable that the turning route setting unit sets the turning route in such a manner that, when the combine harvester finishes the reverse turning travel, the combine harvester is located on an extension line of the next reciprocating travel route.

If it is this structure, when the combine harvester completes the backward turn, the combine harvester is located on the extension line of the next reciprocating travel path, so the combine harvester can easily enter the unharvested area along the next reciprocating travel path. Note that in the present invention, the meaning of "the combine harvester is located on the extension line of the next reciprocating travel path" is not limited to the meaning of the state in which the position of the combine harvester is completely consistent with the extension line of the next reciprocating travel path. The present invention also includes the meaning of the state in which the position of the combine harvester is roughly overlapping with the extension line of the next reciprocating travel path, and the meaning of the state in which the position of the combine harvester is roughly overlapping with the extension line of the next reciprocating travel path.

In the present invention, it is preferred that the turning route setting unit sets the turning route in such a manner that, when the combine harvester finishes the reverse turning travel, the forward direction of the combine harvester follows the travel direction of the next reciprocating travel route.

If it is this structure, when the combine harvester completes the backward turn, the forward direction of the combine harvester follows the driving direction of the next reciprocating driving path, so the combine harvester can easily enter the unharvested area along the next reciprocating driving path. Note that in the present invention, the meaning of "the forward direction of the combine harvester follows the driving direction of the next reciprocating driving path" is not limited to the meaning that the forward direction of the combine harvester is completely consistent with the driving direction of the next reciprocating driving path. The present invention also includes the meaning that the forward direction of the combine harvester is roughly consistent with the driving direction of the next reciprocating driving path, and the meaning that the forward direction of the combine harvester is roughly consistent with the driving direction of the next reciprocating driving path.

In the present invention, preferably, the automatic driving control system includes a plurality of turning modes for setting the turning route, and the turning route setting unit switches the plurality of turning modes according to a condition of a field.

According to this configuration, the turning path setting unit can select a turning pattern according to the shape of the unharvested area and the space of the harvested area. As a result, the combine harvester can turn more quickly in the harvested area.

In the present invention, it is preferable that the plurality of turning patterns include a pattern for causing the combine harvester to turn toward a side where the next reciprocating travel path is located in the first forward turning travel after the combine harvester has harvested the reciprocating travel path.

According to this structure, the turning mode includes a mode in which the combine harvester turns toward the side where the next reciprocating driving path is located during the initial forward turning driving. Therefore, the turning driving distance during the backward turning driving becomes shorter, and when the combine harvester completes the backward turning driving, the position of the combine harvester is likely to be located on the extension line of the next reciprocating driving path, and the forward direction of the combine harvester is likely to be along the driving direction of the next reciprocating driving path. As a result, the combine harvester is likely to enter the unharvested area along the next reciprocating driving path during the forward driving after the backward turning driving.

In the present invention, preferably, the plurality of turning patterns include a pattern for turning the combine harvester to a side opposite to a side where the next reciprocating travel path is located in the first forward turning travel after the combine harvester has harvested the reciprocating travel path.

According to this structure, the turning mode includes a mode in which the combine harvester turns to the side opposite to the side where the next reciprocating driving path is located during the initial forward turning driving. Therefore, even if there is no extra turning space on the side where the next reciprocating driving path is located, the combine harvester can quickly turn in the harvested area.

<Solution 2>

In order to achieve the above-mentioned second purpose, a harvester of one embodiment of the present invention is a harvester having a harvesting part and automatically performing harvesting operations, wherein the harvester is provided with: a path setting part, which sets a driving path for performing the harvesting operation; an automatic driving control part, which controls the harvesting operation along the driving path; and a path correction part, which moves the driving path in parallel by a specified distance based on satisfying a specified correction condition.

With this configuration, even when the position of the machine body actually traveling deviates from the condition of the field, the travel path of the automatic travel can be easily corrected, and the work travel can be appropriately continued by the automatic travel.

In addition, the harvester may also include a path changing operation unit, which is used to manually select a direction in which the driving path moves in parallel from any one of the left and right directions of the machine body, and the correction condition is a selection operation of the path changing operation unit, and the path correction unit moves the driving path in parallel to the direction selected by the path changing operation unit.

With this configuration, the direction of parallel movement of the travel path can be easily selected manually based on the positional relationship of the machine body actually traveling according to the conditions of the field, and work travel can be more easily and appropriately continued by automatic travel.

In addition, it is also possible that the harvester can selectively perform either automatic driving or manual driving, the harvester has a steering rod for steering operation during manual driving, the path change operation unit is the steering rod, and the path correction unit uses the steering rod being operated at a set swing angle as the correction condition to move the driving path parallel to the direction selected by the steering rod, and the set swing angle has a specified range.

This structure allows the steering rod to be used to adjust the travel path without providing a new route change operation unit. In addition, generally speaking, the steering rod is often prohibited from being operated during automatic travel, and the travel path is parallelly moved only when the steering rod is operated within a set swing angle range, so that the steering rod whose operation is prohibited can be used to adjust the travel path.

Furthermore, it is preferable that the automatic travel control unit stops the machine body when the steering lever is operated at an angle larger than a maximum value of the set swing angle.

In order to cope with emergency abnormal situations, etc., usually, during automatic driving, if the steering rod is operated, the machine body stops. With the above-mentioned structure, parallel movement of the driving path is performed only when the steering rod is operated within the range of the set swing angle. When the steering rod is operated beyond the set swing angle, it can be determined that an abnormal situation has occurred and the machine body can be stopped. It is not only possible to easily cope with abnormal situations during automatic driving, but also possible to appropriately continue working driving by automatically driving by using the steering rod to adjust the driving path.

In addition, the harvester may also include a path changing operation unit that requires parallel movement of the driving path, the correction condition may be the operation of the path changing operation unit, and the path correction unit may use the operation of the path changing operation unit as an opportunity to cause the driving path to move parallel to a predetermined direction.

In this way, by providing the route change operation unit for parallel movement of the travel route as a dedicated tool, the operability of the route change operation tool can be freely set, and the operability of parallel movement of the travel route can be improved.

Furthermore, when the route change operation unit is operated again after the travel route is parallel-shifted, the route correction unit may parallel-shift the travel route in a direction opposite to the predetermined direction.

With this structure, when grain stalks are planted in a staggered manner in a part of the field, the driving path is corrected only within this range, and the original driving path can be easily restored when exceeding this range. As a result, working driving can be carried out on an appropriate driving path according to the planting state of the grain stalks, and working driving can be appropriately continued by automatic driving.

Furthermore, the route setting unit may set the travel route including a travel route along a row direction, and the direction of the parallel movement may be a direction orthogonal to the travel route.

When standing stalks form a row, the travel path is set so that the machine body goes along the row and harvests standing stalks at both ends of the row. Therefore, in a field where row planting is performed by a rice transplanter or the like, harvesting can be performed efficiently with reduced harvesting losses.

However, in such fields where row planting is carried out, the row spacing is not that wide (generally about 30 cm), so if the path deviates slightly, the straw divider provided at the front end of the machine body may pierce the roots of the standing grain stalks, pulling out or crushing the standing grain stalks.

According to the present structure, since the parallel movement is performed in a direction intersecting the row direction, the parallel movement amount is set in consideration of the row spacing, and the penetration of the above-mentioned grain divider into the standing grain stalks can be easily avoided without significantly changing the path.

Furthermore, the travel route may include a plurality of travel routes that are substantially parallel to any side of the field, and when the travel route is parallelized during travel on any of the travel routes, the route correction unit parallelizes all of the travel routes in the same direction and by the same distance.

With this configuration, when the travel path in the entire field deviates, the travel path in the entire field can be rationalized by a single correction operation, and work travel can be continued appropriately by automatic travel.

Furthermore, the travel path after the parallel movement may be corrected to the same position as the travel path set by the path setting unit, or corrected to a position deviated in one direction from the travel path set by the path setting unit.

By making the driving path after parallel movement always located in one direction relative to the driving path when initially set, the driving paths in adjacent driving paths do not move in parallel in directions away from each other. Therefore, it is possible to suppress the unharvested areas from remaining between the areas where harvesting driving is performed in each driving path, i.e., the harvested areas. If unharvested areas remain, it is ultimately necessary to perform operation driving only in the areas, but by suppressing the unharvested areas from remaining, it is possible to suppress the repeated operation driving, and it is possible to perform operation driving efficiently.

In addition, the harvester may also include a driving part having a boarding opening for a driver, wherein the boarding opening is eccentrically arranged relative to the left and right direction of the machine body, and the initial parallel movement is performed in the left and right direction of the machine body in a direction opposite to the side where the boarding opening is located.

In the harvesting operation, the turning direction is mostly biased to one side of the left or right, and the worked area is mostly on the other side of the left and right direction of the machine body. Therefore, the boarding port is often eccentric to the other side of the machine body, and the working machine is often structured to easily harvest the standing grain stalks in this direction (the other side). Since the standing grain stalks on the other side are easy to harvest, even if the overlap between the lateral end of the harvestable area and the worked area in the driving route after the parallel movement is reduced by the initial parallel movement to one side of the left and right direction of the machine body, the harvesting operation can be performed with the harvesting omission suppressed.

Furthermore, the travel path may include a plurality of travel routes substantially parallel to any side of the field, and the path correction unit may perform parallel movement of the travel routes only once in each of the left and right directions at most during the harvesting operation along each of the travel routes.

Excessive correction of the driving path may sometimes lead to deviation from the appropriate driving path. On the contrary, in the case where there are some errors in the position information of the machine body or the driving path, sometimes the errors can be roughly eliminated for the entire field by correcting the driving path once. In addition, there are cases where the planted stalks in a part of the field are planted off-site. In this case, the driving path is corrected only within this range, and when the range is exceeded, it is sufficient to restore the original driving path. In the above case, according to the above structure, it is possible to perform working driving on the appropriate driving path according to the standing state of the planted stalks, and it is possible to appropriately continue working driving by automatic driving.

In addition, the harvester may also be equipped with a warning device, and in each of the driving routes, when the correction condition is met for the first time in the left and right directions, the warning device issues a first warning, and the path correction unit performs parallel movement of the driving route, and when the correction condition is met for the second or subsequent times, the warning device issues a second warning different from the first warning, and maintains the driving route.

With this structure, when the correction conditions are satisfied by operating the route change operation unit, the driver can easily understand whether the correction is actually performed. As a result, the driver can reliably prepare when the driving route is corrected, and take measures when the driving route is not corrected, and can appropriately continue the working driving by automatic driving.

In addition, the harvester may include a warning device that issues a warning when the travel path is moved in parallel.

With this structure, the driver can accurately correct the travel path and can appropriately continue the working travel by automatic travel.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 : is a left side view of the combine harvester in Embodiment 1. FIG.

FIG. 2 is a diagram showing a circle travel in a field according to the first embodiment.

FIG. 3 is a diagram showing a reciprocating travel path in the inner area according to the first embodiment.

FIG. 4 is a block diagram showing a configuration related to a control unit according to the first embodiment.

FIG. 5 is a diagram showing a turning path between reciprocating travel paths in the prior art.

FIG. 6 is a diagram showing a curve path between reciprocating travel paths according to the first embodiment of the present invention.

FIG. 7 is a diagram showing a curve path between reciprocating travel paths according to the first embodiment of the present invention.

FIG. 8 is a diagram showing a curve path between reciprocating travel paths according to the first embodiment of the present invention.

FIG. 9 is a diagram showing a curve path between reciprocating travel paths according to the first embodiment of the present invention.

FIG. 10 is a diagram showing a turning path between reciprocating travel paths in the prior art.

FIG. 11 is a diagram showing a curve path between reciprocating travel paths according to the first embodiment of the present invention.

FIG. 12 is a diagram showing a curve path between reciprocating travel paths according to the first embodiment of the present invention.

FIG. 13 is a diagram showing a turning path between reciprocating travel paths in the prior art.

FIG. 14 is a diagram showing a curve path between reciprocating travel paths according to the first embodiment of the present invention.

FIG. 15 is a left side view showing the combine harvester according to the second embodiment.

FIG. 16 is a plan view showing the combine harvester according to the second embodiment.

FIG. 17 : is a figure which shows the outline|summary of the automatic travel of the combine harvester in Embodiment 2. FIG.

FIG. 18 is a diagram showing a travel route during automatic travel according to the second embodiment.

FIG. 19 is a functional block diagram showing a configuration of a control system for a combine harvester according to the second embodiment.

FIG. 20 is a conceptual diagram for explaining correction of the travel route according to the second embodiment.

FIG. 21 is a diagram for explaining the operation angle of the steering lever for correcting the travel path according to the second embodiment.

Figure 22 is a diagram illustrating the overlapping changes of the harvested areas in embodiment 2.

Description of Reference Numerals

<Implementation Method 1>

1. Combine Harvester

23A: Reciprocating travel path setting unit

23B: Turning path setting unit

LS: reciprocating travel path

LS1: reciprocating travel path

LS2: reciprocating travel path

<Implementation Method 2>

3: Cutting part

5: Driving Department

13: Combine harvester

18: Grain Divider

20: Path correction department

54: Driving route setting unit (route setting unit)

62: Reporting device (warning device)

73: Automatic driving control unit

92: Steering lever (travel path operation unit)

S1: Driving path

SL1: Driving route

Detailed ways

<Implementation Method 1>

The embodiments of the present invention will be described with reference to the drawings. Note that in the following description, unless otherwise specified, the direction of arrow F shown in FIG. 1 is regarded as "front" and the direction of arrow B is regarded as "rear".

〔Overall structure of a combine harvester〕

As shown in Figure 1, a semi-feed type combine harvester 1 is a type of combine harvester to which the automatic driving control system of the present invention can be applied. The semi-feed type combine harvester 1 has a pair of left and right crawler-type driving devices 11, 11, a driving part 12, a threshing device 13, a grain box 14, a harvesting part H, a grain discharge device 18, and a satellite positioning module 80.

The travel device 11 is provided at the lower part of the combine harvester 1. The travel device 11 is driven by power from an engine (not shown). And the combine harvester 1 can move by itself by the travel device 11.

The driving unit 12, the threshing device 13, and the grain tank 14 are arranged above the travel device 11. An operator who monitors the operation of the combine harvester 1 can ride on the driving unit 12. Note that the operator can monitor the operation of the combine harvester 1 from outside the body of the combine harvester 1.

The grain discharge device 18 is connected to the grain tank 14. Moreover, the satellite positioning module 80 is attached to the ceiling|roof which covers the driving|operation cabin of the driving|operation part 12.

The harvester H is provided at the front of the combine harvester 1 and harvests crops in the field, specifically, standing grain stalks. The harvester H includes a clipper-type cutting device 15 and a conveying device 16. Note that the harvester H for harvesting six rows is provided in the present embodiment.

The cutting device 15 cuts the roots of crops in the field. Then, the conveying device 16 conveys the grain stems cut by the cutting device 15 to the rear side.

With this configuration, the harvesting unit H harvests crops on the field. The combine harvester 1 can perform harvesting travel in which the harvesting unit H harvests crops on the field while the combine harvester 1 travels with the travel device 11 .

The grain stems conveyed by the conveying device 16 are threshed in the threshing device 13. The grains obtained by the threshing are stored in the grain tank 14. The grains stored in the grain tank 14 are discharged to the outside of the machine body by the grain discharge device 18 as needed.

In addition, a communication terminal 4 (see FIG. 4 ) is disposed on the driving unit 12. The communication terminal 4 is, for example, an information terminal having a touch panel screen, and is configured to display various information. In the present embodiment, the communication terminal 4 is fixed to the driving unit 12. However, the present invention is not limited thereto, and the communication terminal 4 may also be configured to be removable relative to the driving unit 12, and the communication terminal 4 may also be located outside the body of the combine harvester 1.

Here, as shown in FIG. 2 and FIG. 3 , the combine harvester 1 is configured to travel in a circle while harvesting grains in an outer peripheral area SA in a field, and then travel to cut grains in an inner area CA to harvest the grains in the field.

In addition, the driving unit 12 is provided with a main gear lever 19 (see FIG. 4 ). The main gear lever 19 can be manually operated. When the combine harvester 1 is manually driven, if the operator operates the main gear lever 19, the vehicle speed of the combine harvester 1 changes. That is, when the combine harvester 1 is manually driven, the vehicle speed of the combine harvester 1 can be changed by the operator operating the main gear lever 19.

Note that the engine rotation speed can be changed by an operator operating the communication terminal 4 .

The appropriate working speed varies depending on the state of the crop. If the operator operates the communication terminal 4 to set the rotation speed of the engine to an appropriate rotation speed, the operation can be performed at a working speed suitable for the state of the crop.

In Fig. 2, arrows are used to show the travel path used by the combine harvester 1 to circle around the outer periphery of the field. In the example shown in Fig. 2, the combine harvester 1 circles three times. Then, when the harvesting travel is completed along the travel path, the field becomes the state shown in Fig. 3.

That is, the combine harvester 1 initially performs a swirling circular motion in the outer peripheral area SA while performing a harvesting motion. Thereafter, as shown in FIG3 , the combine harvester 1 repeats a harvesting motion and a direction change, wherein the harvesting motion refers to the combine harvester 1 harvesting while advancing along a reciprocating driving path LS in the inner area CA that is closer to the inner side than the outer peripheral area SA, and the direction change refers to the combine harvester 1 traveling along a turning path in the outer peripheral area SA. Thus, the combine harvester 1 harvests crops in a manner that covers the entire outer peripheral area SA and the inner area CA. In the present invention, the repeated harvesting motion accompanied by advancing and the driving with a direction change is referred to as "reciprocating driving".

In this embodiment, the circular driving shown in FIG2 is performed by manual driving. In addition, the cutting driving in the inner area shown in FIG3 is performed by automatic driving. Note that the present invention is not limited to this, and the circular driving shown in FIG2 can also be performed by automatic driving.

The left traveling device 11 of the left and right pair of traveling devices 11, 11 of the combine harvester 1 is mostly biased toward the lateral inner side of the machine body than the right traveling device 11. Therefore, if the harvesting driving is performed in a state where there is an unharvested area on the left side of the left side of the machine body and a harvested area on the right side of the right side of the machine body, the hidden danger of the crops in the unharvested area being crushed by the traveling device 11 can be reduced. In the present embodiment, the reciprocating driving path LS is set to make the right side of the machine body as adjacent to the harvested area as possible. That is, during the reciprocating driving, the combine harvester 1 performs harvesting driving alternately on the two sides along the row direction in the peripheral shape of the unharvested area, and the combine harvester 1 drives counterclockwise on the paper of Figure 3.

In FIG. 3 , the inner area CA is divided into partial operation areas CA1, CA2, and CA3. The combine harvester 1 performs harvesting and driving in sequence from the reciprocating driving paths LS at the upper and lower ends of each of the partial operation areas CA1, CA2, and CA3 toward the reciprocating driving paths LS at the upper and lower inner sides of the paper. Therefore, if the distance of the U-turn when the combine harvester 1 moves from the initial reciprocating driving path LS to the second reciprocating driving path LS becomes longer, the idling distance of the combine harvester 1 becomes longer, and the operation efficiency deteriorates. In addition, if the grain box 14 is filled during the harvesting and driving of the partial operation areas CA1, CA2, and CA3, so that the combine harvester 1 is separated from the reciprocating driving path LS for discharging grains, the operation efficiency deteriorates. Therefore, the width of each of the partial operation areas CA1, CA2, and CA3 and the number of rows of operation objects are determined in consideration of the distance between the two sides along the row direction in the outer peripheral shape of the inner area CA and the capacity of the grain box 14.

Thus, when the combine harvester 1 is harvesting in the inner area CA, the combine harvester 1 automatically travels in the harvested area on the outer periphery of the field, and automatically travels in the unharvested area inside the harvested area while harvesting standing grain stalks in the unharvested area.

〔Structure related to the control unit〕

The control system of the combine harvester 1 in this embodiment includes a plurality of electronic control units called ECUs, various motion devices, sensor groups, switch groups, and wiring networks such as an on-vehicle LAN for data transmission between them. The combine harvester 1 is provided with a control unit 20, which is a part of the control system. The control unit 20 is provided with a vehicle position calculation unit 21, a field data acquisition unit 22, a driving path setting unit 23, an automatic driving control unit 24, a vehicle speed setting unit 25, a storage unit 26, etc.

The satellite positioning module 80 receives GPS signals from artificial satellites used in the GPS (Global Positioning System) and transmits positioning data indicating the vehicle position of the combine harvester 1 to the vehicle position calculation unit 21 based on the received GPS signals.

The vehicle position calculation unit 21 calculates the position coordinates of the combine harvester 1 over time based on the positioning data output by the satellite positioning module 80. Note that the position coordinates of the combine harvester 1 represent the position of the body of the combine harvester 1. The calculated position coordinates of the combine harvester 1 over time are sent to the automatic driving control unit 24, the vehicle speed calculation unit 21B, and the driving track calculation unit 21A.

Note that the vehicle position calculation unit 21 obtains the position coordinates of the combine harvester 1 by calculating the position coordinates of the combine harvester 1. That is, the combine harvester 1 includes the vehicle position calculation unit 21, and the vehicle position calculation unit 21 obtains the position coordinates indicating the position of the machine body. The vehicle position calculation unit 21 includes a travel track calculation unit 21A and a vehicle speed calculation unit 21B.

The travel track calculation unit 21A calculates the travel track of the combine harvester 1 when the combine harvester 1 circles around the outer periphery of the field based on the position coordinates of the combine harvester 1 over time. The calculated travel track is sent to the travel route setting unit 23.

The vehicle speed setting unit 25 sets the driving speed of the travel device 11, that is, the vehicle speed, based on the operation amount of the main gear lever 19. The vehicle speed calculation unit 21B calculates the change amount of the position coordinate per unit time based on the position coordinate of the combine harvester 1 over time, and detects the vehicle speed of the combine harvester 1 based on the change amount. The vehicle speed detected by the vehicle speed calculation unit 21B is sent to the automatic travel control unit 24.

The field data acquisition unit 22 acquires field shape data, crop planting information, and the like from the management computer 5 via the communication unit 30 .

The driving route setting unit 23 receives the field shape and crop planting information from the field data acquisition unit 22, and sets a driving route for automatic driving. The driving route setting unit 23 distinguishes the outer area SA and the inner area CA based on the field shape data, and sets a reciprocating driving route LS for harvesting crops while reciprocating in the inner area CA.

The travel path setting unit 23 includes a reciprocating travel path setting unit 23A and a turning path setting unit 23B. The reciprocating travel path setting unit 23A sets a plurality of reciprocating travel paths LS for automatic travel in the inner area CA, and the plurality of reciprocating travel paths LS are parallel to each other. That is, the reciprocating travel path setting unit 23A can set a plurality of reciprocating travel paths LS parallel to each other in the unharvested area. The turning path setting unit 23B can set a turning path in the harvested area for the combine harvester 1 to drive to the end of the next reciprocating travel path LS after harvesting the inner area CA along the reciprocating travel path LS.

Moreover, the travel path setting part 23 can receive the travel path data of the combine harvester 1 calculated by the travel path calculation part 21A, and can change the reciprocating travel path LS and the turning path based on the travel path data.

The turning path uses a plurality of turning patterns, and FIGS. 5 to 14 show turning patterns of the turning path from the reciprocating driving path LS1 at the turning starting point to the reciprocating driving path LS2 at the turning target. The plurality of turning patterns are stored in the storage unit 26 of the control unit 20 shown in FIG. 4 . That is, the plurality of turning patterns for setting the turning path are provided. These turning patterns will be described in detail later.

In addition, the communication terminal 4 includes a first setting switch 4A and a second setting switch 4B. The first setting switch 4A is a pass switch for switching between the validity and invalidity of a first turning mode described later. In addition, the second setting switch 4B is a pass switch for switching between the validity and invalidity of a second turning mode described later. The first setting switch 4A and the second setting switch 4B are, for example, setting buttons displayed on a screen of a touch panel.

The automatic driving control unit 24 can control the driving device 11. Moreover, the automatic driving control unit 24 controls the automatic driving of the combine harvester 1 based on the position coordinates and the detected vehicle speed of the combine harvester 1 received from the vehicle position calculation unit 21, the reciprocating driving path LS and the turning path received from the driving path setting unit 23, and the set vehicle speed received from the vehicle speed setting unit 25. More specifically, as shown in FIG. 3, the automatic driving control unit 24 controls the driving of the combine harvester 1 so that the harvesting driving is performed by the automatic driving along the reciprocating driving path LS. That is, the combine harvester 1 can drive automatically.

[About turning paths]

In the inner area CA shown in FIGS. 5 to 14, reciprocating driving paths LS1 and LS2 are set, and the reciprocating driving paths LS1 and LS2 are parallel to each other and adjacent to each other. The inner area CA shown in FIGS. 5 to 14 is, for example, an unharvested area left over from harvesting in any of the partial working areas CA1, CA2, and CA3 shown in FIG. 3, and the unharvested area is twice the working width of the combine harvester 1. In the unharvested area, the reciprocating driving path LS2 on which the combine harvester 1 last traveled and the reciprocating driving path LS1 adjacent to the reciprocating driving path LS2 are set. The separation distance between the reciprocating driving paths LS1 and LS2 does not allow the combine harvester 1 to complete the turn with the minimum turning radius, so the combine harvester 1 temporarily moves backwards in the middle of the turn. That is, in the turning driving shown in FIGS. 5 to 14, the turning driving based on the return is performed in the peripheral area SA, that is, the harvested area.

FIG5 shows a turning path set by the prior art. A tangent circle CF1 tangent to the extended line of the reciprocating path LS1 on an arc and a tangent circle CF2 tangent to the extended line of the reciprocating path LS2 on an arc are set by the turning path setting unit 23B (refer to FIG4 , the same below). The tangent circle CF1 is tangent to the extended line of the reciprocating path LS1 at the tangent point PS from the side where the reciprocating path LS2 is located. In addition, the tangent circle CF2 is tangent to the extended line of the reciprocating path LS2 at the tangent point PE from the side where the reciprocating path LS1 is located.

The tangent point PE is set at a position that is a set distance D1 away from the side S1 intersecting the reciprocating driving paths LS1 and LS2 in the outer peripheral shape of the inner area CA. The area spanned by the set distance D1 is ensured as a margin area for the automatic driving control unit 24 to correct the positional deviation and azimuth deviation of the combine harvester 1 when the combine harvester 1 completes the turning driving and starts driving along the reciprocating driving path LS2 of the turning target.

The centers of the respective cutting circles CF1 and CF2 are set in parallel at positions which are away from the side S1 by a set distance D1. The cutting circles CF1 and CF2 respectively have a radius which is equal to the minimum turning radius of the combine harvester 1. The radii of the respective cutting circles CF1 and CF2 are set to be the same as each other. The minimum turning radius of the combine harvester 1 is a prescribed value, and the value of the minimum turning radius of the combine harvester 1 varies depending on the specifications of the combine harvester 1. Note that the radii of the respective cutting circles CF1 and CF2 may not be the same as the minimum turning radius, and for example, a reasonable turning radius may be pre-set by an operator using the communication terminal 4 (refer to FIG. 4 ). This is also the same for FIGS. 6 to 14 described later.

The forward turning path LC1 is set on the arc of the tangent circle CF1, and the forward turning path LC2 is set on the arc of the tangent circle CF2. As a straight path connecting the forward turning path LC1 and the forward turning path LC2, a backward intermediate path LM is set. The forward turning path LC1 and the backward intermediate path LM are tangent at the tangent point P1, and the forward turning path LC2 and the backward intermediate path LM are tangent at the tangent point P2. The backward intermediate path LM is a path parallel to the side S1 intersecting the reciprocating travel paths LS1 and LS2 in the outer peripheral shape of the inner area CA. In addition, the backward intermediate path LM is a path extending in the tangent direction relative to the tangent circles CF1 and CF2.

After the combine harvester 1 has harvested the inner area CA along the reciprocating driving path LS1 at the starting point of the turn, it continues to move forward and reaches the point of contact PS, and then starts turning. The turning continues until the combine harvester 1 reaches the point of contact PE. Before the combine harvester 1 reaches the point of contact PE, the combine harvester 1 performs forward turning along the forward turning path LC1, then performs backward driving along the backward intermediate path LM, and finally performs forward turning along the forward turning path LC2.

In this way, the combine harvester 1 performs turnaround travel via the forward turning path LC1, the backward intermediate path LM, and the forward turning path LC2 in sequence. Then, near the tangent point PE, if the difference between the direction of the combine harvester 1 and the direction of the reciprocating driving path LS2 of the turning target falls within the allowable value, the turning travel ends.

In addition, by performing steering control based on the distance and azimuth difference from the reciprocating driving path LS2 of the turning target, the combine harvester 1 can enter the reciprocating driving path LS2 of the turning target. Therefore, when the combine harvester 1 performs turning driving, the driving tracks of the forward turning driving and the backward driving may not be strictly consistent with the forward turning paths LC1, LC2, the backward intermediate path LM, etc. This is also the same for Figures 6 to 14 described later.

An example of the structure of the turning path in the present invention is shown in Fig. 6. The turning mode shown in Fig. 6 is a mode in which the combine harvester 1 turns toward the side where the next reciprocating driving path LS2 is located during the initial forward turning travel after the combine harvester 1 has harvested the inner area CA along the reciprocating driving path LS1. This turning mode is referred to as the "first turning mode".

The tangent circle CF1 tangent to the extended line of the reciprocating travel path LS1 and the tangent circle CB1 tangent to the extended line of the reciprocating travel path LS2 are set by the turning path setting unit 23B. In FIG. 6 , the forward turning paths LC1, LC2 and the backward intermediate path LM shown in FIG. 5 are shown by the dotted line LC0, so that it is easy to compare the turning path of the present invention shown in FIG. 6 with the turning path of the prior art shown in FIG. 5. In FIGS. 7 to 9 described later, the forward turning paths LC1, LC2 and the backward intermediate path LM shown in FIG. 5 are also shown by the dotted line LC0.

The tangent circle CF1 is tangent to the extension line of the reciprocating travel path LS1 at the tangent point PS from the side where the reciprocating travel path LS2 is located. In addition, the tangent circle CB1 is tangent to the extension line of the reciprocating travel path LS2 at the tangent point PE from the side opposite to the side where the reciprocating travel path LS1 is located. In this state, the arcs of the tangent circle CF1 and the tangent circle CB1 are tangent to each other at the tangent point P1. The tangent point P1 is located at a position closer to the side where the inner area CA is located than the tangent point PE, and is located on the side opposite to the side where the reciprocating travel path LS1 is located with respect to the extension line of the reciprocating travel path LS2. That is, the tangent circle CB1 is tangent to both the extension line of the reciprocating travel path LS2 and the tangent circle CF1 on the arc.

The virtual point PS0 is the tangent point PS shown in Fig. 5. The tangent point PS shown in Fig. 6 is located at a position closer to the inner area CA than the virtual point PS0, and the turning start point of the combine harvester 1 is set at a position closer to the inner area CA than the turning path shown in Fig. 5. The tangent point PS is set at a position where the crops in the unharvested area will not be crushed by the inner part of the turning of the travel device 11 when the combine harvester 1 starts turning.

The tangent point PE shown in Fig. 6 is set farther from the inner area CA than the tangent point PE shown in Fig. 5. That is, the tangent point PE shown in Fig. 6 is set farther from the inner area CA than a position away from the side S1 by a set distance D1.

The forward turning path LC1 is set on the arc of the tangent circle CF1, and the backward turning path LB is set on the arc of the tangent circle CB1. The forward turning path LC1 and the backward turning path LB are tangent at the tangent point P1. The forward turning path LC1 spans between the tangent points PS and P1, and the backward turning path LB spans between the tangent points P1 and PE.

After harvesting the inner area CA along the reciprocating driving path LS1 at the starting point of the turn, the combine harvester 1 continues to move forward as it is and reaches the point of contact PS, and then starts turning. The combine harvester 1 performs forward turning along the forward turning path LC1 to the point of contact P1, and crosses the extension line of the reciprocating driving path LS2 halfway. The forward turning path LC1 is a left-turning path, and the combine harvester 1 turns to the side where the next reciprocating driving path LS2 is located during the forward turning after harvesting the inner area CA along the reciprocating driving path LS1.

If the combine harvester 1 reaches the tangent point P1, the turn direction of the combine harvester 1 is turned in the opposite direction to the turn direction of the forward turning path LC1, and the combine harvester 1 performs a backward turn along the backward turning path LB. If the combine harvester 1 reaches the tangent point PE, the combine harvester 1 is located on the extension line of the next reciprocating driving path LS2, and the forward direction of the combine harvester 1 is along the forward direction of the reciprocating driving path LS2.

The tangent point PE shown in FIG6 is set to be farther from the inner area CA than the tangent point PE shown in FIG5, but the distance traveled by the combine harvester 1 along the backward turning path LB is equal to or less than the distance traveled by the combine harvester 1 along the backward middle path LM in FIG5. Therefore, the travel distance of the turning path based on the first turning pattern shown in FIG6 is shorter than the travel distance of the turning path shown in FIG5 by the amount that the forward turning path LC1 approaches the inner area CA.

FIG7 shows an example of the structure of the turning path in the present invention. The turning mode shown in FIG7 is a mode in which the combine harvester 1 turns to the side opposite to the side where the next reciprocating path LS2 is located during the initial forward turning travel after the combine harvester 1 has harvested the inner area CA along the reciprocating path LS1. This turning mode is called the "second turning mode". As described above based on FIG6, the tangent circle CF1 tangent to the extended line of the reciprocating path LS1 on the arc and the tangent circle CB1 tangent to the extended line of the reciprocating path LS2 on the arc are set by the turning path setting unit 23B.

The tangent circle CF1 is tangent to the extension line of the reciprocating travel path LS1 at the tangent point PS from the side opposite to the side where the reciprocating travel path LS2 is located. In addition, the tangent circle CB1 is tangent to the extension line of the reciprocating travel path LS2 at the tangent point PE from the side where the reciprocating travel path LS1 is located. In this state, the arcs of the tangent circle CF1 and the tangent circle CB1 are tangent to each other at the tangent point P1. The tangent point P1 is located at a position closer to the inner side of the area CA than the tangent point PE, and is located on the side opposite to the side where the reciprocating travel path LS2 is located with respect to the extension line of the reciprocating travel path LS1. That is, the tangent circle CB1 is tangent to both the extension line of the reciprocating travel path LS2 and the tangent circle CF1 on the arc.

Virtual point PS0 is the tangent point PS shown in FIG5 . The tangent point PS shown in FIG7 is located at a position closer to the inner area CA than the virtual point PS0, and the turning start point of the combine harvester 1 is set at a position closer to the inner area CA than the turning path shown in FIG5 . A forward turning path LC1 is set on the arc of the cutting circle CF1, and the forward turning path LC1 spans between the tangent point PS and the tangent point P1. The forward turning path LC1 is a right turn path, and the combine harvester 1 turns to the side opposite to the side where the next reciprocating driving path LS2 is located during the forward turning travel after harvesting the inner area CA along the reciprocating driving path LS1. The tangent point PS is set at a position where the crops in the unharvested area will not be crushed by the turning outer part of the travel device 11 when the combine harvester 1 starts to turn.

The tangent point PE shown in Fig. 7 is set farther from the inner area CA than the tangent point PE shown in Fig. 5. That is, the tangent point PE shown in Fig. 7 is set farther from the inner area CA than the position away from the side S1 by the set distance D1.

A backward turning path LB is set on the arc of the tangent circle CB1. The forward turning path LC1 is tangent to the backward turning path LB at the tangent point P1. The backward turning path LB is spanned between the tangent point P1 and the tangent point PE. In the area midway of the backward turning path LB shown in FIG7 , there is an area closer to the side where the inner area CA is located than the tangent point P1. Therefore, in the embodiment shown in FIG7 , the setting positions of the tangent points PS and P1 are considered to prevent the harvested crops in the inner area CA from being crushed by the turned outer part of the travel device 11 when the combine harvester 1 is traveling backward along the backward turning path LB.

After harvesting the inner area CA along the reciprocating travel path LS1 at the start of the turn, the combine harvester 1 directly moves forward and reaches the contact point PS, and then starts turning. The combine harvester 1 performs forward turning along the forward turning path LC1 to the contact point P1.

If the combine harvester 1 reaches the tangent point P1, the turn direction of the combine harvester 1 is turned in the opposite direction to the turn direction of the forward turning path LC1, and the combine harvester 1 performs a backward turning along the backward turning path LB. At this time, the combine harvester 1 crosses the extension line of the reciprocating driving path LS1 midway. If the combine harvester 1 reaches the tangent point PE, the combine harvester 1 is located on the extension line of the next reciprocating driving path LS2, and the forward direction of the combine harvester 1 is along the forward direction of the reciprocating driving path LS2.

The travel distance of the turning path based on the second turning pattern shown in Fig. 7 is substantially the same as the travel distance of the turning path based on the first turning pattern shown in Fig. 6. Therefore, the travel distance of the turning path based on the second turning pattern shown in Fig. 7 is shorter than the travel distance of the turning path shown in Fig. 5 by the amount that the entire turning path is closer to the side where the inner area CA is located.

In the embodiment shown in Fig. 6 and Fig. 7, if the combine harvester 1 completes the backward turning travel along the backward turning path LB, the position of the combine harvester 1 is consistent or substantially consistent with the extension line of the next reciprocating travel path LS2, and the forward direction of the combine harvester 1 is consistent or substantially consistent with the travel direction of the next reciprocating travel path LS2. Therefore, the automatic driving control unit 24 can perform automatic driving control along the reciprocating travel path LS2 only by making the combine harvester 1 move forward as it is from the tangent point PE. That is, in the embodiment shown in Fig. 6 and Fig. 7, compared with the turning path shown in Fig. 5, the automatic driving control unit 24 is more likely to correct the position offset and direction deviation of the combine harvester 1 before entering the inner area CA.

If the first setting switch 4A (refer to FIG. 4 , the same below) is set to OFF, the turning path setting unit 23B does not select the first turning mode shown in FIG. 6. If the second setting switch 4B (refer to FIG. 4 , the same below) is set to OFF, the turning path setting unit 23B does not select the second turning mode shown in FIG. 7. The first setting switch 4A and the second setting switch 4B are operated by the operator, and the operator can set the first turning mode and the second turning mode to be effective/ineffective according to his/her own preference.

If the first setting switch 4A and the second setting switch 4B are both turned off, the turning path setting unit 23B selects the conventional turning mode shown in FIG5. If at least one of the first setting switch 4A and the second setting switch 4B is turned on, the turning path setting unit 23B switches a plurality of turning modes according to the condition of the field. The condition of the field may be exemplified by the width of the peripheral area SA where the turning is performed, the possibility that the combine harvester 1 contacts the ridge of the field when the combine harvester 1 is turning, the possibility that the combine harvester 1 crushes the crops in the unharvested area when the combine harvester 1 is turning, and the like.

The priority order when the turning path setting unit 23B selects the turning mode is, in descending order of priority, the first turning mode, the second turning mode, and the conventional turning mode. In principle, when all three turning modes are selectable, the first turning mode is selected by the turning path setting unit 23B. Note that, when the turning distance of the second turning mode is shorter than the turning distance of the first turning mode, the second turning mode may be selected by the turning path setting unit 23B.

The first turning mode and the second turning mode described in Figures 6 and 7 may also be the modes shown in Figures 8 and 9. The first turning mode is shown in Figure 8, and the second turning mode is shown in Figure 9. In the first turning mode shown in Figure 6 and the second turning mode shown in Figure 7, when the reverse turning travel of the combine harvester 1 is completed, the combine harvester 1 is located on the extension line of the next reciprocating travel path LS2. On the other hand, in the first turning mode shown in Figure 8 and the second turning mode shown in Figure 9, after the reverse turning travel of the combine harvester 1 is completed, the forward turning travel of the combine harvester 1 is performed again.

In the embodiment shown in Fig. 8 and Fig. 9, as described above based on Fig. 5, the turning path setting unit 23B sets a tangent circle CF1 that is tangent to the extended line of the reciprocating travel path LS1 on an arc and a tangent circle CF2 that is tangent to the extended line of the reciprocating travel path LS2 on an arc. Furthermore, the turning path setting unit 23B sets a tangent circle CB1 that is tangent to the tangent circles CF1 and CF2 on an arc.

The tangent circle CF1 in FIG8 is tangent to the extension line of the reciprocating travel path LS1 at the tangent point PS from the side where the reciprocating travel path LS2 is located, and the tangent circle CF1 in FIG9 is tangent to the extension line of the reciprocating travel path LS1 at the tangent point PS from the side opposite to the side where the reciprocating travel path LS2 is located. In addition, the tangent circle CF2 in FIG8 is tangent to the extension line of the reciprocating travel path LS2 at the tangent point PE from the side where the reciprocating travel path LS1 is located, and the tangent circle CF2 in FIG9 is tangent to the extension line of the reciprocating travel path LS2 at the tangent point PE from the side opposite to the side where the reciprocating travel path LS1 is located.

In this state, the arcs of the tangent circle CF1 and the tangent circle CB1 are tangent to each other at the tangent point P1, and the arcs of the tangent circle CF2 and the tangent circle CB1 are tangent to each other at the tangent point P2. In FIG8, the tangent point P1 is located on the side opposite to the side where the reciprocating travel path LS1 is located across the extension line of the reciprocating travel path LS2, and the tangent point P2 is located on the side where the reciprocating travel path LS1 is located. In FIG9, the tangent point P1 is located on the side opposite to the side where the reciprocating travel path LS2 is located across the extension line of the reciprocating travel path LS1, and the tangent point P2 is located on the side opposite to the side where the reciprocating travel path LS1 is located across the extension line of the reciprocating travel path LS2.

In FIG8 and FIG9, the virtual point PS0 is the tangent point PS shown in FIG5. The tangent point PS is located at a position closer to the inner area CA than the virtual point PS0, and the turning start point of the combine harvester 1 is set at a position closer to the inner area CA than the turning path shown in FIG5. The tangent point PS is set at a position where the crops in the unharvested area will not be crushed by the inner part of the turning of the travel device 11 when the combine harvester 1 starts turning. In addition, a forward turning path LC1 is set on the arc of the cutting circle CF1, which spans between the tangent point PS and the tangent point P1.

The tangent point PE shown in FIG8 and FIG9 is set at the same position as the tangent point PE shown in FIG5. That is, the tangent point PE shown in FIG8 and FIG9 is set at a position away from the side S1 by a set distance D1. In addition, a forward turning path LC2 is set on the arc of the tangent circle CF2, which spans between the tangent point PE and the tangent point P2. In addition, a backward turning path LB is set on the arc of the tangent circle CB1, which spans between the tangent point P1 and the tangent point P2.

In Fig. 8, after harvesting the inner area CA along the reciprocating travel path LS1 at the start of the turn, the combine harvester 1 continues to move forward as it is and reaches the contact point PS, and then starts turning. The combine harvester 1 makes a forward turn along the forward turning path LC1 to make a left turn to the contact point P1, and crosses the extension line of the reciprocating travel path LS2 on the way.

If the combine harvester 1 reaches the tangent point P1, the turn direction of the combine harvester 1 is turned in the opposite direction to the turn direction of the forward turning path LC1, and the combine harvester 1 performs a backward turn along the backward turning path LB, crossing the extension line of the reciprocating driving path LS2 halfway. If the combine harvester 1 reaches the tangent point P2, the turn direction of the combine harvester 1 is turned in the opposite direction to the turn direction of the backward turning path LB, that is, the same turning direction as the turning direction of the forward turning path LC1, and the combine harvester 1 performs a forward turn of a left turn along the forward turning path LC2 to the tangent point PE.

9 , after harvesting the inner area CA along the reciprocating travel path LS1 at the start of the turn, the combine harvester 1 continues to move forward until it reaches the contact point PS and starts turning. The combine harvester 1 makes a right turn along the forward turning path LC1 and reaches the contact point P1.

If the combine harvester 1 reaches the tangent point P1, the turning direction of the combine harvester 1 is turned in the opposite direction to the turning direction of the forward turning path LC1, and the combine harvester 1 performs a backward turn along the backward turning path LB, crossing the extension lines of the reciprocating driving paths LS1 and LS2 on the way. If the combine harvester 1 reaches the tangent point P2, the turning direction of the combine harvester 1 is turned in the opposite direction to the turning direction of the backward turning path LB, that is, the same turning direction as the turning direction of the forward turning path LC1, and the combine harvester 1 performs a forward turn along the forward turning path LC2 to the tangent point PE.

There is an area on the side closer to the inner area CA than the tangent point P1 in the middle of the backward turning path LB shown in Fig. 9. Therefore, in the embodiment shown in Fig. 9, the setting positions of the tangent points PS and P1 are considered to prevent the harvested crops in the inner area CA from being crushed by the outer part of the turning of the travel device 11 when the combine harvester 1 is traveling backward along the backward turning path LB.

In the embodiment shown in Fig. 8 and Fig. 9, when the combine harvester 1 completes the backward turning travel along the backward turning path LB, the position of the combine harvester 1 is substantially consistent with the extension line of the next reciprocating travel path LS2, and the forward direction of the combine harvester 1 is substantially consistent with the travel direction of the next reciprocating travel path LS2. In addition, the position of the tangent point P2 shown in Fig. 8 and Fig. 9 is closer to the side where the inner area CA is located than the tangent point PE shown in Fig. 6 and Fig. 7. Therefore, in the embodiment shown in Fig. 8 and Fig. 9, compared with the embodiment shown in Fig. 6 and Fig. 7, the turn travel of the combine harvester 1 can be carried out in a more compact area, and the travel distance of the turn travel is shorter.

In addition, in the embodiments shown in Fig. 8 and Fig. 9, the degree of deviation of the azimuth of the forward direction of the combine harvester 1 at the tangent point P2 is also smaller than the azimuth deviation of the forward direction of the combine harvester 1 at the tangent point P2 shown in Fig. 5. Therefore, compared with the prior art shown in Fig. 5, the direction change of the combine harvester 1 on the forward turning path LC2 is easier.

In this way, the turning path shown in Figures 6 to 9 includes a path for the combine harvester 1 to make a forward turn and a path for the combine harvester 1 to make a backward turn. In addition, the turning path setting unit 23B is configured to set the turning path in the peripheral area SA so that the combine harvester 1 makes a backward turn to the other side after making a forward turn to one side. In addition, the turning path setting unit 23B sets the turning path so that if the combine harvester 1 completes the backward turn, the combine harvester 1 is located on the extension line of the next reciprocating driving path LS2. In addition, the turning path setting unit 23B sets the turning path so that if the combine harvester 1 completes the backward turn, the forward direction of the combine harvester 1 is along the driving direction of the next reciprocating driving path LS2.

Note that the radii of the cut circles CF1 and CB1 shown in Figures 6 to 9 are set to the same radius, but the radii of the cut circles CF1 and CB1 can also be set to a special radius. The cut circle CF2 shown in Figures 8 and 9 can also be set to a special radius different from the radii of the cut circles CF1 and CB1.

In FIGS. 10 to 14 , the side S1 intersecting the reciprocating travel paths LS1 and LS2 in the outer peripheral shape of the inner area CA is not orthogonal to the reciprocating travel paths LS1 and LS2 but intersects therein in an oblique direction.

In the side S1 shown in Figures 10 to 12, the side where the reciprocating travel path LS2 is located is located at a position closer to the right side of the paper than the side where the reciprocating travel path LS1 is located. Therefore, when the combine harvester 1 finishes harvesting the reciprocating travel path LS1, in order to avoid the harvesting residue on the left side of the traveling direction of the combine harvester 1, the combine harvester 1 needs to cut and drive straight along the reciprocating travel path LS1 to the boundary shown by the line S11. In addition, when the combine harvester 1 starts to cut and drive along the reciprocating travel path LS2, the cutting of the crops on the right side of the traveling direction of the combine harvester 1 starts earlier than the cutting of the crops on the left side of the traveling direction of the combine harvester 1. Therefore, it is necessary to make the combine harvester 1 drive straight along the reciprocating travel path LS2 after completing the turning until it reaches the boundary shown by the line S12.

FIG10 shows a turning pattern set by the prior art. The turning path setting unit 23B sets a tangent circle CF1 that is tangent to the extended line of the reciprocating path LS1 on an arc and a tangent circle CF2 that is tangent to the extended line of the reciprocating path LS2 on an arc. The tangent circle CF1 is tangent to the extended line of the reciprocating path LS1 at the tangent point PS from the side where the reciprocating path LS2 is located. In addition, the tangent circle CF2 is tangent to the extended line of the reciprocating path LS2 at the tangent point PE from the side where the reciprocating path LS1 is located.

The forward turning path LC1 is set on the arc of the tangent circle CF1, and the forward turning path LC2 is set on the arc of the tangent circle CF2. As a straight path connecting the forward turning path LC1 and the forward turning path LC2, a backward intermediate path LM is set. The forward turning path LC1 and the backward intermediate path LM are tangent at the tangent point P1, and the forward turning path LC2 and the backward intermediate path LM are tangent at the tangent point P2. The backward intermediate path LM is a path parallel to the side S1 in the outer peripheral shape of the inner area CA. In addition, the backward intermediate path LM is a path extending in the tangent direction relative to the tangent circles CF1 and CF2.

After the combine harvester 1 has harvested the inner area CA along the reciprocating driving path LS1 at the starting point of the turn, it continues to move forward as it is and reaches the point of contact PS, and then starts turning. The turning continues until the combine harvester 1 reaches the point of contact PE. The combine harvester 1 performs forward turning driving along the forward turning path LC1, then performs backward driving along the backward intermediate path LM, and finally performs forward turning driving along the forward turning path LC2, and then reaches the point of contact PE.

In this way, the combine harvester 1 performs turnaround travel via the forward turning path LC1, the backward intermediate path LM, and the forward turning path LC2 in sequence. Then, near the tangent point PE, if the difference between the direction of the combine harvester 1 and the direction of the reciprocating driving path LS2 of the turning target falls within the allowable value, the turning travel ends.

In FIG10 , the tangent point PE cannot be set at a position closer to the inner area CA than the boundary shown by the line S12, so the tangent point PE is almost never close to the inner area CA. In the turning path shown in FIG10 , the idling distance from the combine harvester 1 to the tangent point PS after harvesting the inner area CA along the reciprocating travel path LS1 is long. In order to reduce the idling distance, an example of the structure of the turning path in the present invention is shown in FIG11 and FIG12 .

FIG11 shows a first turning mode, and FIG12 shows a second turning mode. In FIG11 and FIG12, the forward turning paths LC1, LC2 and the backward intermediate path LM shown in FIG10 are shown by the dotted line LC0, so that it is easy to compare the turning paths of the present invention shown in FIG11 and FIG12 with the turning paths of the prior art shown in FIG10. In addition, the virtual point PS0 shown in FIG11 and FIG12 is the tangent point PS shown in FIG10.

The turning path based on the first turning mode shown in FIG11 is set by the above method according to FIG8, and the turning path based on the second turning mode shown in FIG12 is set by the above method according to FIG9. In both FIG11 and FIG12, the tangent point PS is set at a position closer to the inner area CA than the virtual point PS0, and the idle distance from the combine harvester 1 harvesting and completing the inner area CA along the reciprocating driving path LS1 to the tangent point PS is shorter than that in the case of FIG10.

In the inner area CA shown in FIG11 , the side where the reciprocating travel path LS2 is located is more protruded toward the outer peripheral area SA than the side where the reciprocating travel path LS1 is located. Therefore, in the first turning pattern shown in FIG11 , the position where the tangent point PS and the forward turning path LC1 are away from the inner area CA is set to such an extent that the combine harvester 1 does not overwhelm the crops in the inner area CA (unharvested area). In the first turning pattern shown in FIG11 , the distance of the turning path is shortened compared to the turning pattern of the prior art shown in FIG10 .

In the outer peripheral area SA where the combine harvester 1 is located after harvesting the inner area CA along the reciprocating driving path LS1, the area on the right turning side of the combine harvester 1 is wider than the area on the left turning side of the combine harvester 1. Therefore, the tangent point PS in FIG12 is set to a position closer to the inner area CA than the tangent point PS in FIG11. In addition, the driving distance of the second turning mode shown in FIG12 is shorter than the driving distance of the turning mode shown in FIG10 and FIG11.

The turning path of the second turning pattern shown in Fig. 12 is the shortest among the turning patterns shown in Fig. 10 to Fig. 12. Therefore, if the second setting switch 4B is turned on, the turning path setting unit 23B selects the second turning pattern shown in Fig. 12 among the turning patterns shown in Fig. 10 to Fig. 12.

If the second setting switch 4B is set to the off setting and the first setting switch 4A is set to the on setting, the turning path setting unit 23B selects the first turning pattern shown in Fig. 11 from the turning patterns shown in Fig. 10 to Fig. 12. In addition, if it is determined that the crops in the inner area CA (unharvested area) will be crushed when the combine harvester 1 turns based on the first turning pattern, the turning path setting unit 23B often selects the existing turning pattern shown in Fig. 10 even if the first setting switch 4A is set to the on setting.

Note that the second turning pattern shown in FIG12 may also be composed of a forward turning path LC1 and a backward turning path LB as shown in FIG7 , without a forward turning path LC2. In this case, when the backward turning travel of the combine harvester 1 ends, the combine harvester 1 is located on the extension line of the next reciprocating travel path LS2, and the forward direction of the combine harvester 1 is along the travel direction of the next reciprocating travel path LS2.

In the side S1 shown in Figures 13 and 14, the side where the reciprocating travel path LS1 is located is located at a position closer to the right side of the paper than the side where the reciprocating travel path LS2 is located. Therefore, when the combine harvester 1 finishes harvesting the reciprocating travel path LS1, in order to avoid the harvesting residue on the right side of the traveling direction of the combine harvester 1, the combine harvester 1 needs to cut and drive straight along the reciprocating travel path LS1 to the boundary shown by line S13. In addition, when the combine harvester 1 is cutting and driving along the reciprocating travel path LS2, the cutting of the crops on the left side of the traveling direction of the combine harvester 1 starts earlier than the cutting of the crops on the right side of the traveling direction of the combine harvester 1. Therefore, it is necessary to make the combine harvester 1 drive straight along the reciprocating travel path LS2 after completing the turning until it reaches the boundary shown by line S14.

The turning path set by the prior art is shown in Fig. 13. The method of setting the turning path is the same as that described above based on Fig. 10, so it is omitted.

The tangent point PS cannot be set at a position closer to the inner area CA than the boundary shown by the line S13, so the tangent point PS shown in FIG. 13 and FIG. 14 is almost never close to a position closer to the inner area CA than the position shown in the figure. Therefore, in the turning path shown in FIG. 13, the idling distance until the combine harvester 1 completes the turning and enters the inner area CA is long. In order to reduce the idling distance, an example of the structure of the turning path in the present invention is shown in FIG. 14.

The second turning mode is shown in Fig. 14. In addition, in Fig. 14, the forward turning paths LC1, LC2 and the backward intermediate path LM shown in Fig. 13 are shown by the dotted line LC0, so that it is easy to compare the turning path of the present invention shown in Fig. 14 with the turning path of the prior art shown in Fig. 13. In addition, the virtual point PE0 shown in Fig. 14 is the tangent point PE shown in Fig. 13.

The turning path based on the second turning mode shown in FIG14 is set by the above method according to FIG9. In FIG14, the tangent point PE is set at a position closer to the inner area CA than the virtual point PE0, and the idling distance until the combine harvester 1 completes the turning and enters the inner area CA is shortened. In this way, the driving distance of the turning path based on the second turning mode shown in FIG14 is shorter than the driving distance of the prior art shown in FIG13. Therefore, if the second setting switch 4B is turned on, the turning path setting unit 23B selects the second turning mode shown in FIG14 from the turning modes shown in FIG13 and FIG14.

In this way, when performing the switchback type turning driving illustrated in FIGS. 5 to 14 , the turning path setting unit 23B selects a turning mode according to the shape of the unharvested area in the inner area CA and the space of the harvested area. That is, the turning path setting unit 23B switches a plurality of turning modes according to the condition of the field. Moreover, among the plurality of turning modes, there is included a mode in which the combine harvester 1 turns toward the side where the next reciprocating driving path LS2 is located during the initial forward turning driving after the combine harvester 1 has harvested the inner area CA along the reciprocating driving path LS1. In addition, among the plurality of turning modes, there is included a mode in which the combine harvester 1 turns toward the side opposite to the side where the next reciprocating driving path LS2 is located during the initial forward turning driving after the combine harvester 1 has harvested the inner area CA along the reciprocating driving path LS1.

[Other implementation methods]

The present invention is not limited to the configurations described in the above-described embodiments, and other representative embodiments of the present invention will be described below.

(1) The turning path setting unit 23B shown in the above embodiment does not exclude the prior art shown in Figures 5, 10 and 13. The turning path setting unit 23B can also generate the turning path of the prior art shown in Figures 5, 10 and 13. For example, the turning path includes a path for the combine harvester 1 to make a forward turn and a path for the combine harvester 1 to make a backward turn, and can also include a path for the combine harvester 1 to make a straight backward drive. In addition, the turning mode for setting the turning path of the prior art shown in Figures 5, 10 and 13 can also be stored in the storage unit 26 of the control unit 20, and the turning path setting unit 23B switches between multiple turning modes according to the conditions of the field.

(2) In the embodiments shown in FIGS. 5 to 14 , the reciprocating paths LS1 and LS2 are adjacent to each other, but the present invention is not limited to this embodiment. For example, another reciprocating path LS may exist between the reciprocating paths LS1 and LS2, and the turning path setting unit 23B may skip the other reciprocating path LS and set a turning path that crosses the reciprocating paths LS1 and LS2. In short, the turning path setting unit 23B only needs to set a turning path in the harvested area so that the combine harvester 1 can enter the end of the next reciprocating path LS2 after harvesting the reciprocating path LS1.

(3) In the above embodiment, the travel route setting unit 23 is provided in the control unit 20 , but the present invention is not limited to this embodiment. For example, the travel route setting unit 23 may be provided in the communication terminal 4 or the management computer 5 .

(4) In the above embodiment, the plurality of turn patterns are stored in the storage unit 26 of the control unit 20 shown in FIG4 , but the present invention is not limited to this embodiment. For example, the plurality of turn patterns may be transmitted from the communication terminal 4 or the management computer 5 .

(5) In the embodiments described based on FIGS. 6 to 9, 11, 12, and 14, a straight path for at least one of the forward and backward movements may be set between the forward turning path LC1 and the backward turning path LB. In addition, in the embodiments described based on FIGS. 8 to 9, 11, 12, and 14, a straight path for at least one of the forward and backward movements may be set between the forward turning path LC2 and the backward turning path LB.

(6) The technical features of the automatic driving control system described above can also be applied to the automatic driving control method. The automatic driving control method in this case may include: a reciprocating driving path setting step, which can set a plurality of reciprocating driving paths LS parallel to each other in the unharvested area; a turning path setting step, which can set a turning path for the combine harvester 1 to enter the end of the next reciprocating driving path LS after harvesting the reciprocating driving path LS in the harvested area. Moreover, the turning path setting step can be configured to set the turning path in the following manner: after the combine harvester 1 makes a forward turn to one side, it makes a backward turn to the other side.

(7) The technical features of the automatic driving control system described above can also be applied to the automatic driving control program. The automatic driving control program in this case can enable the computer to execute: a reciprocating driving path setting function, which can set multiple reciprocating driving paths LS parallel to each other in the unharvested area; a turning path setting function, which can set a turning path for the combine harvester 1 to enter the end of the next reciprocating driving path LS after harvesting the reciprocating driving path LS in the harvested area. Moreover, the turning path setting function can be configured to set the turning path in the following manner: after the combine harvester 1 makes a forward turn to one of the left and right sides, it makes a backward turn to the other left and right side. In addition, the automatic driving control program with this technical feature can also be stored in a storage medium such as a CD, a magnetic disk, or a semiconductor memory.

Note that the structures disclosed in the above-mentioned embodiments (including other embodiments, the same below) can be combined and applied with the structures disclosed in other embodiments as long as no contradiction occurs. In addition, the embodiments disclosed in this specification are illustrative, and the embodiments of the present invention are not limited thereto, and can be appropriately changed within the scope of the purpose of the present invention.

Industrial Applicability

The present invention can be applied to an automatic driving control system for a combine harvester that reciprocates while harvesting crops in an unharvested area of a field and turns for the reciprocating in a harvested area outside the unharvested area. In addition, the present invention can also be applied to a combine harvester equipped with the automatic driving control system.

<Implementation Method 2>

〔Overall structure of a combine harvester〕

FIG. 15 and FIG. 16 show a semi-feed type combine harvester (hereinafter referred to as "combine harvester 13") as an example of a harvester. The semi-feed type combine harvester performs harvesting operations along rows in a field where standing grain stalks are arranged in a plurality of rows. The combine harvester 13 includes a body frame 1 and a crawler travel device 2. A cutting section 3 (equivalent to a "harvesting device") for cutting the standing grain stalks is provided in front of the body. A cab 4 is provided in the front part of the body. The cab 4 includes a driving section 5 for a driver to ride on and a shed 6 covering the driving section 5. An engine (not shown) is provided below the driving section 5. The driving section 5 is provided with a driver's seat 19 for a driver to sit on and a steering lever 92 (equivalent to a "path setting section") for steering the body. A boarding port (not shown) for the driver to board the driving section 5 is provided on the right side of the cab 4 in the left-right direction of the body.

The harvesting section 3 is provided with a clipper-type cutting device 10 and a straw dividing rod 15. Seven straw dividing rods 15 are arranged side by side at intervals along the lateral width direction of the machine body. A straw divider 18 is supported at the front end of each straw dividing rod 15. The interval between the straw divider 18 at the left end and the straw divider 18 at the right end is the harvesting width of the combine harvester 13. On the rear side of the straw divider 18, six lifting devices 16 are arranged side by side along the lateral width direction of the machine body. In the present embodiment, the combine harvester 13 is capable of independently introducing and harvesting at least 6 rows of standing grain stalks in 6 rows, but the combine harvester 13 can also be configured to independently introduce and harvest more than 6 rows or less than 6 rows of standing grain stalks. The cutting device 10 is arranged at the rear of the lower part of the lifting device 16. The cutting device 10 is arranged in a state of straddling the straw dividing rods 15 at both lateral ends. As the combine harvester 13 is operating, the divider 18 moves along the rows between adjacent rows. The standing stalks are distributed to the left and right of the machine body by the divider 18 and introduced toward the lifting device 16. The standing stalks are lifted by the lifting device 16, and the stem roots are cut by the cutting device 10.

In addition, the combine harvester 13 is equipped with a grain box 7, a grain discharge device 8, a threshing device 9, a discharged straw conveying device 11, and a discharged straw processing unit 12. The grain box 7 is provided at the rear of the cab 4, and stores the grains obtained by the threshing process. The grain discharge device 8 discharges the grains in the grain box 7. The threshing device 9 is provided at the left side of the grain box 7, and thres the cut straws conveyed by the feeding chain FC. The feeding chain FC is provided at the left side of the threshing device 9, and clamps and conveys the roots of the cut straws. The discharged straw conveying device 11 is connected to the rear of the threshing device 9, receives the discharged straw from the feeding chain FC, and conveys the discharged straw toward the rear of the machine body. The discharged straw processing unit 12 is provided at the rear of the threshing device 9, and processes the discharged straw conveyed by the discharged straw conveying device 11.

〔Automatic driving〕

The automatic driving of the combine harvester 13 is described using Figures 17 and 18. The combine harvester 13 automatically drives along the set driving path S1 in the field. The position of the vehicle is required for this. The vehicle position detection module 80 includes a satellite navigation module 81 and an inertial navigation module 82. The satellite navigation module 81 receives GNSS (global navigation satellite system) signals (including GPS signals) from artificial satellites GS, and outputs positioning data for calculating the position of the vehicle. The inertial navigation module 82 is assembled with a gyro acceleration sensor and a magnetic orientation sensor, and outputs a position vector representing the instantaneous driving direction. The inertial navigation module 82 is used to supplement the vehicle position calculation of the satellite navigation module 81. The inertial navigation module 82 can also be configured in other places different from the satellite navigation module 81.

Before the automatic driving, the driver manually operates the combine harvester 13, and as shown in FIG17, the combine harvester 13 is driven to harvest in a circle along the boundary line of the field in the peripheral part of the field. Note that if possible, the combine harvester can also be driven to harvest in a circle along the boundary line of the field by automatic driving. The area that has become the harvested land (the worked land) is set as the peripheral area SA. And, the area that is still left as the unharvested land (the unworked land) inside the peripheral area SA is set as the work object area CA. FIG17 shows an example of the peripheral area SA and the work object area CA.

If the peripheral area SA and the working area CA are set, the driving path S1 in the working area CA is calculated as shown in FIG18. The calculated driving path S1 is set sequentially based on the working driving mode, and the combine harvester 13 automatically drives along the set driving path S1. The driving path S1 is composed of a plurality of driving routes SL1 roughly parallel to any side of the field and a turning driving route R1 connecting the driving routes SL1. Therefore, the automatic driving repeats working driving and turning driving, the working driving is driving on the driving route SL1, and the turning driving is driving in a predetermined turning pattern between the driving routes SL1. In addition, as a turning mode for turning driving, the combine harvester 13 performs turning driving through various turning modes in addition to the U-shaped turning mode for turning along the U-shaped turning driving path shown in FIG18. For example, as a turning driving, an α-shaped turning mode for turning while repeatedly moving forward and backward, and a return turning mode for turning the same as the U-shaped turning mode by driving backward in an area narrower than the U-shaped turning mode can also be performed.

〔Control System〕

Next, the control system of the combine harvester 13 will be described with reference to FIG15 and FIG19. The control system of the combine harvester 13 includes a control unit 50 composed of a plurality of electronic control units called ECUs, and various input/output devices that perform signal communication (data communication) with the control unit 50 through a wiring network such as an on-board LAN. The control unit 50 is a core element of the control system, and the control unit 50 is embodied as a collection of a plurality of ECUs. The signal from the vehicle position detection module 80 is input to the control unit 50 through the on-board LAN.

The control unit 50 includes an input processing unit 57 and an output processing unit 58 as input/output interfaces. The output processing unit 58 is connected to various motion devices 60 via a device driver 65, and sends control signals to the motion devices 60. As the motion devices 60, there are a driving device group 67 as a device related to driving and an operation device group 68 as a device related to operation. The driving device group 67 includes, for example, a steering device 69, an engine device, a transmission, a brake device, etc. The operation device group 68 includes a power control device in the harvesting section 3, a threshing device 9, and a grain discharge device 8.

The input processing unit 57 is connected to the driving state sensor group 63, the working state sensor group 64, the driving operation unit 90, etc. The driving state sensor group 63 includes an engine speed sensor, an overheat detection sensor, a brake pedal position detection sensor, a gear position detection sensor, a steering operation position detection sensor, etc. The working state sensor group 64 includes a sensor for detecting the driving state of the harvesting operation device (the harvesting part 3, the threshing device 9, the grain discharge device 8, etc.), a sensor for detecting the state of the grain stalks and grains, etc.

The travel operation unit 90 is a general term for the operation members that are manually operated by the driver and whose operation signals are input to the control unit 50. The travel operation unit 90 includes a main transmission operation member 91, a steering lever 92, a mode operation member 93, an automatic start operation member 94, etc. In the manual travel mode, the track speed of the left track mechanism and the track speed of the right track mechanism are adjusted by swinging the steering lever 92 from the neutral position to the left and right, thereby changing the direction of the machine body (body). In the present invention, the operation of changing the direction of the machine body is generally referred to as a steering operation, and not only changing the direction of the wheels, but also adjusting the speed of the left and right tracks is also referred to as a steering operation. The mode operation member 93 has a function of issuing an instruction for switching between an automatic driving mode for automatic driving and a manual driving mode for manual driving to the control unit 50. The automatic start operation member 94 has a function of issuing a final automatic start instruction for starting automatic driving to the control unit 50. Note that sometimes, the automatic driving mode is automatically switched to the manual driving mode by software regardless of the operation of the mode operation member 93. For example, if a situation occurs where automatic driving cannot be performed, the control unit 50 forcibly switches from the automatic driving mode to the manual driving mode. Specifically, if the steering lever 92 is operated by a predetermined amount or more during automatic driving, the automatic driving mode is forcibly switched to the manual driving mode.

The reporting device 62 (equivalent to a "warning device") is a device for reporting the operating travel status and various warnings to the driver or the like, and is a buzzer, a lamp, a speaker, a display, or the like.

The control unit 50 includes a vehicle position calculation unit 55, a vehicle body orientation calculation unit 56, a reporting unit 59, a travel control unit 51, an operation control unit 52, a travel mode management unit 53, a travel route setting unit 54 (equivalent to a "route setting unit"), and a route correction unit 20. The reporting unit 59 generates reporting data based on instructions from each functional unit of the control unit 50, and sends it to the reporting device 62. The travel route setting unit 54 sequentially selects a travel route SL1 including a managed turning route, and sets the travel route SL1 as a travel route S1. The vehicle position calculation unit 55 calculates the map coordinates (or field coordinates) of the reference point of the vehicle body set in advance, that is, the vehicle position, based on the positioning data sequentially sent from the vehicle position detection module 80. That is, the vehicle position calculation unit 55 functions as a reference point calculation unit that calculates the position of the reference point of the vehicle body. The vehicle body orientation calculation unit 56 obtains the travel trajectory in a micro-time based on the vehicle position sequentially calculated by the vehicle position calculation unit 55 to determine the vehicle body orientation indicating the orientation of the vehicle body in the travel direction. Furthermore, the vehicle body orientation calculation unit 56 can also identify the vehicle body orientation based on orientation data included in the output data from the inertial navigation module 82 .

The travel control unit 51 includes a steering control unit 71, a manual travel control unit 72, and an automatic travel control unit 73. The travel control unit 51 has an engine control function, a steering control function, a vehicle speed control function, etc. The travel control unit 51 sends a control signal to the travel equipment group 67 to control the travel. The operation control unit 52 sends a control signal to the operation equipment group 68 to control the operation of the harvesting operation device (the harvesting unit 3, the threshing device 9, the grain discharge device 8, etc.).

The steering operation control unit 71 performs steering operation control (steering control) to reduce at least one of the position offset and the azimuth deviation between the target driving path S1 set by the driving path setting unit 54 and the vehicle position calculated by the vehicle position calculation unit 55. The combine harvester 13 can be driven by both automatic driving and manual driving. Automatic driving is driving to perform harvesting operations by automatic driving, and manual driving is driving to perform harvesting operations by manual driving. Therefore, the driving control unit 51 also includes a manual driving control unit 72 and an automatic driving control unit 73. Note that the automatic driving mode is set when performing automatic driving, and the manual driving mode is set for manual driving. The switching of driving modes is managed by the driving mode management unit 53.

When the automatic driving mode is set, the automatic driving control unit 73 cooperates with the steering operation control unit 71 to generate a control signal for the automatic steering operation for driving on the set driving path S1 and a vehicle speed change control signal including stopping the vehicle body, thereby controlling the driving equipment group 67. At this time, the control signal related to the vehicle speed change is generated in advance based on the set vehicle speed value.

When the manual driving mode is selected, the manual driving control unit 72 generates a control signal based on the driver's operation and controls the driving equipment group 67, thereby realizing manual driving. Note that the driving path S1 calculated by the driving path setting unit 54 can also be used in manual driving to guide the combine harvester 13 to travel along the driving path S1.

As described later, the path correction unit 20 corrects the set travel path S1 by satisfying a predetermined correction condition through manual operation or automatic control. For example, as a correction condition, the path correction unit 20 corrects the travel path S1 by operating the steering lever 92 .

[Correction of driving route]

Next, correction of the travel route S1 by the route correction unit 20 will be described using FIGS. 20 and 21 while referring to FIGS. 15 and 19 .

In order to properly perform a cutting operation (harvesting operation) on the standing grain stalks 14 (crops) standing in the field, a driving path S1 for performing a harvesting operation is generated in a harvester such as a combine harvester 13. For example, standing grain stalks 14 of rice and the like are planted in rows in the field. By operating the combine harvester 13 on the driving path S1 where the positional relationship between the row and the row is appropriate, the rice harvesting operation can be properly performed. Specifically, by causing the combine harvester 13 to operate on the driving path S1 in a manner such that the straw divider 18 enters between the rows, the rice can be properly introduced into the cutting device 10 and a proper harvesting operation can be performed.

Here, sometimes the path traveled by the combine harvester 13 is inconsistent with the set travel path S1 due to malfunction or accuracy error of the vehicle position calculation unit 55, the vehicle position detection module 80, etc. In addition, sometimes the position of the standing rice stalks 14 planted in the field deviates, and even if the operation is carried out on the set travel path S1, the harvesting operation will not be properly performed. As an example arising from the above-mentioned specific example, sometimes the rice divider 18 overlaps with the row and collides with the row, causing the rice grains to fall off, thereby reducing the harvest rate. In this case, it is more appropriate to correct the travel path S to fine-tune the path traveled by the combine harvester 13.

Therefore, when the driver feels that it is necessary to adjust the driving path S1, the driver operates the steering lever 92 as the path change operation unit to correct the driving path S1. Specifically, if the path correction unit 20 receives a signal indicating that the steering lever 92 has been operated to meet the prescribed correction condition via the input processing unit 57, the driving path S1 is corrected to generate a new driving path S2. For example, if the steering lever 92 is operated to the right or left in a range of 2° to 15° (set swing angle) as a correction condition, the path correction unit 20 moves the driving path S1 in parallel by 10 cm in the direction of the operation to generate a new driving path S2. The moving direction is a direction orthogonal to the driving route SL1, thereby enabling the driving route SL1 to be moved in parallel so that its starting point and end point are at appropriate positions. At this time, only the driving route SL1 in motion may be moved in parallel to become the new driving route SL2, or all the driving routes SL1 may be moved in parallel by 10 cm each to generate a new driving route SL2. In addition, as the travel route is corrected to the travel route SL2, the curve travel route R1 is also corrected to the curve travel route R2, and the travel path S1 is corrected to the travel path S2. Thereafter, the combine harvester 13 performs harvesting operation travel (harvesting operation travel) on the corrected travel path S2.

In this way, when the cutting operation cannot be performed properly even when the machine is operating on the driving path S1, the driving path S1 is corrected to the driving path S2 during the operating operation. As a result, the machine can be operated on the proper driving path S2, and the cutting operation can be continued properly by automatic driving. In addition, in most cases, the machine can be operated properly by only slightly adjusting the driving path S1, and can be operated properly by only performing parallel movement of a predetermined distance, such as 10 cm.

In addition, the distance of parallel movement is not limited to 10cm, and any distance can be set. Usually, by performing parallel movement of about 5cm to 15cm, the deviation of the travel path S1 can be eliminated. In addition, as the operating range for making the steering rod 92 meet the correction condition, it is more appropriate to set a certain insensitive zone to prevent malfunction. Therefore, the swing angle is set to be more than 2°. This angle is also not limited to 2°, but can be set arbitrarily, for example, it can be set to any value of more than 0° and less than 5°. In addition, in automatic driving, in order to avoid abnormal situations, it is more appropriate that if the steering rod 92 is operated by more than a certain amount, the automatic driving is released. Therefore, an upper limit is set for the set swing angle, and if the operation is performed beyond this range, the combine harvester 13 stops. Alternatively, when the operation is performed beyond the upper limit of the set swing angle, the combine harvester 13 stops and the automatic driving mode is released. Moreover, it can also be configured that when the operation is performed beyond the upper limit of the set swing angle, the combine harvester 13 turns corresponding to the operating direction. The upper limit is not limited to 15°, and can be set arbitrarily. For example, it can be set to any value between 10° and 20°.

[Other implementation methods]

(1) Two adjacent travel routes SL1 are generated such that the harvested areas SA1 where the standing grain stems have been harvested by causing the combine harvester 13 to perform harvesting travel on the respective travel routes SL1 overlap with each other by a width r.

As shown in FIG. 22, if the driving route SL1 adjacent to the driving route SLR that has completed the harvesting travel moves in parallel in the direction away from the driving route SLR (driving route SL2), the overlapping width becomes smaller. Since the overlapping width r is generally sufficiently larger than 10 cm, if the parallel movement distance is set to 10 cm, the overlapping portion will not disappear. However, if the driving route SL1 deviates due to the barrenness of the field, the error in the position of the vehicle, etc., the overlapping portion may disappear after one parallel movement. In addition, if the parallel movement is repeated multiple times in the driving route SL1 in the direction away from the driving route SLR (driving route SL3), the possibility of the overlapping portion disappearing becomes greater. Moreover, if the overlapping portion disappears, a gap is generated in the adjacent harvested area SA1, and the possibility of the harvesting residue of the planted grain stalks becomes greater. Therefore, it is necessary to subsequently carry out a harvesting travel on the harvesting residue, and the working efficiency becomes poor.

Therefore, it is preferable that, in all the driving routes SL1, the driving routes (SL2, SL3) corrected by the path correction unit 20 and after parallel movement are parallel moved in a manner that they are located in one direction side (one direction in the field, either left or right direction side in the figure) relative to the driving route SL1 set by the driving route setting unit 54. That is, when parallel movement is only performed once in each driving route SL1, the driving route SL2 is parallel moved in the same direction relative to each driving route SL1. In addition, even when parallel movement is performed multiple times in the driving route SL1, once parallel movement is performed to one direction side, parallel movement to the other side will not be performed across the driving route SL1. In this way, it is possible to suppress the overlapping width r from being repeatedly reduced. At this time, in each driving route SL1, when parallel movement is performed multiple times, it is preferable to perform parallel movement alternately left and right. Thus, the parallel movement in the same direction is not repeated, the overlap width can be suppressed from being reduced, and the travel route SL3 after the second parallel movement becomes a path substantially the same as the original travel route SL1, and the travel routes (SL2, SL3) after the parallel movement are located on the one direction side or at the same position relative to the travel route SL1, and the reduction of the overlap width can be suppressed to a minimum. Moreover, the direction of the parallel movement (one direction side) can also be a direction close to the harvested area SA1. Thus, the reduction of the overlap width can be suppressed.

In addition, the direction of the initial parallel movement may also be fixed to the left relative to the left-right direction of the machine body. Generally speaking, the combine harvester 13 performs harvesting operations counterclockwise from the outer peripheral side to the inner peripheral side of the field, and the harvested area SA1 exists on the lateral right side of the machine body. Therefore, in the combine harvester 13, the boarding port is eccentrically set to the right side in the lateral direction of the machine body, and the interval between the left end crop divider 18 and the adjacent crop divider 18 is wider than the interval between the right end crop divider 18 and the adjacent crop divider 18. Therefore, even if the parallel movement is performed to the lateral left side of the machine body, the width r of the overlap with the harvested area SA1 located on the lateral right side of the machine body becomes smaller, and the possibility that the crop divider 18 on the right end can rake up the standing grain stalks is also higher, and the possibility of harvesting residues is lower. Note that in the case of clockwise harvesting operations, the boarding port may also be eccentrically set to the left side in the lateral direction of the machine body, and the direction of the initial parallel movement may be fixed to the right side relative to the lateral direction of the machine body.

(2) In the above-mentioned embodiments, the path change operation unit may not use the steering rod 92, but may be provided with a switch, a rod, etc. as the path change operation unit. For example, a rod may be provided as the path change operation unit, and by operating the rod to the left or right, the travel path S1 is parallelly moved in the operated direction by a predetermined distance to set the travel path S2. In addition, a switch may be provided as the path change operation unit, and by pressing the switch, the travel path S1 is parallelly moved to the right or left side by a predetermined distance to set the travel path S2. Furthermore, two switches may be provided on the left and the right, and when the left switch is pressed, the travel path S1 is parallelly moved to the left by a predetermined distance to set the travel path S2, and when the right switch is pressed, the travel path S1 is parallelly moved to the right by a predetermined distance to set the travel path S2.

With this configuration, the travel path S1 can be corrected by a simple and reliable operation, and appropriate work travel can be continuously performed during automatic travel.

(3) In each of the above embodiments, the number of times the travel path S1 can be corrected in one travel path SL1 may be limited. For example, the path correction unit 20 is controlled in the following manner: in one travel path SL1, the travel path S1 can be corrected only once to the left and right. In the case where the standing grain stalks 14 are temporarily standing in disorder, it is sufficient to correct the slight deviation of the travel path S1 by temporarily correcting the travel path SL1 and making the combine harvester 13 work on the travel path SL2 and then returning to the original travel path SL1.

In addition, when parallel movement is repeated in the same direction, the distance between the adjacent driving paths SL1 may increase, resulting in harvest residues. By limiting the number of times the driving path S1 can be corrected, the distance between the driving paths SL1 can be suppressed from increasing excessively, and the possibility of harvest residues can be reduced.

Furthermore, in a state where frequent and repeated corrections are required, it is considered that some abnormality has occurred in the vehicle position calculation unit 55 or the vehicle position detection module 80, etc. In this case, eliminating the abnormality can more efficiently perform the operation driving than repeatedly performing corrections. Therefore, it is often effective to limit the number of times the driving path S1 can be corrected.

At this time, when a dedicated switch or the like is provided as the route change operation unit, the travel route SL1 can be moved parallel to one direction by the first operation, and the travel route SL1 can be restored to its original state by the second operation, which makes the operation easier.

In addition, when the number of times the travel path S1 can be corrected is limited, only the travel route SL1 in progress may be parallelized, or all the travel routes SL1 constituting the travel path S1 may be parallelized. Furthermore, it may be configured so that which method to use can be set separately.

When the standing grain stalks 14 are randomly planted in a part of the field, it is more effective to move only the running route SL1 in parallel. When the standing grain stalks 14 are planted in a deviated manner from the middle of the field, it is more effective to move all the running routes SL1 constituting the running path S1 in parallel. In addition, it is also possible to configure so that which method to use can be set separately, in which case, the best correction can be performed according to the state of the standing grain stalks 14.

(4) In the above-mentioned embodiments, when the travel route S1 is corrected, the reporting unit 59 may cause the reporting device 62 to issue a report indicating that the travel route S1 is corrected. For example, the reporting unit 59 may cause the reporting device 62 to generate an alarm sound. Thus, when the travel route S1 is corrected, attention is drawn, and even if the driver mistakenly corrects the travel route S1 in an undesirable manner, the driver can immediately notice this and take countermeasures such as correcting it again.

In addition, when the number of times that can be corrected is limited, the following control can be performed: when the path change operation unit is operated within the range of the number of times that can be corrected and when the path change operation unit is operated after the number of times that can be corrected is reached, the reporting unit 59 reports differently. For example, when the path change operation unit is operated when correction is possible, an alarm is issued once, and when the path change operation unit is operated when correction is not possible, two alarms are issued continuously. With this structure, the driver can recognize whether the driving path S1 has been corrected, and it is easy to continue to drive for appropriate operations.

In addition, when the direction of the initial parallel movement is determined, different alarms may be issued when the path change operation unit is operated in an appropriate direction and when the path change operation unit is operated in an inappropriate direction. Thus, the driver can recognize whether the appropriate operation is being performed and can easily continue to perform appropriate operation driving.

In addition, when the direction of parallel movement is restricted to alternate left and right, different alarms may be issued when the path change operation unit is operated in an appropriate direction and when the path change operation unit is operated in an inappropriate direction during the second and subsequent parallel movements. Thus, the driver can recognize whether the appropriate operation is being performed, and can easily continue to perform appropriate operation driving.

(5) In each of the above-mentioned embodiments, the correction of the travel path S1 is not limited to being performed manually by operating the path change operation unit, but can also be performed automatically. In this case, a sensor that detects the positional relationship between the standing grain stalks 14 and the combine harvester 13, or a sensor that detects the actual travel position of the body relative to the condition of the field, can be set on the body, and the correction condition can be determined based on the detection result of the sensor, so that the travel path S1 is moved parallel to a predetermined right or left side by a predetermined distance to set the travel path S2. Alternatively, the deviation direction can be determined based on the detection result of the sensor, and the travel path S1 is moved parallel to the direction by a predetermined distance to set the travel path S2. For example, the sensor is a camera that can take a picture of a part of the body and the field, and the path correction unit 20 analyzes the captured image to determine the positional relationship between the condition of the field and the body. As a result, it is easier to continue appropriate operation.

(6) Planting of grain stalks is not limited to rice, and crops such as soybeans and corn may also be used, and the driving path may be set regardless of the row. For example, the unworked land remaining after the harvesting operation in the field is considered, and the driving path is set in a manner that enables the harvesting operation to be carried out efficiently. In this case, the harvester performs harvesting operations with a certain width (harvesting width), and when operating and driving on the unworked land adjacent to the worked land, the driving path is set in a manner that has a margin so that the end of the working area corresponding to the harvesting width overlaps with the worked land. During automatic driving, if the margin width is inappropriate or harvest residues are generated on the side of the worked land, the driver operates the path change operation unit to correct the driving path.

Industrial Applicability

The present invention is not limited to a half-feeding combine harvester, but can also be applied to a full-feeding combine harvester or other harvesting machines.

Claims (7)

1. An automatic driving control system for a combine harvester that harvests crops while reciprocating in an unharvested area of a field and performs turning for the reciprocating in a harvested area outside the unharvested area, characterized in that the automatic driving control system comprises: A reciprocating travel path setting unit capable of setting a plurality of reciprocating travel paths parallel to each other in the unharvested area; a turning path setting unit capable of setting a turning path in the harvested area for the combine harvester to drive toward the end of the next reciprocating path after the combine harvester has finished harvesting the reciprocating path; The turning path includes a path for the combine harvester to make a forward turn along a first tangent circle tangent to a first tangent point of an extension line of the reciprocating driving path of the combine harvester, and a path for the combine harvester to make a backward turn along a second tangent circle tangent to the first tangent point at a side of the combine harvester moving forward from the first tangent point, The turning path setting unit may set the turning path in such a manner that the combine harvester performs the forward turning travel to one of the left and right directions and then performs the backward turning travel to the other of the left and right directions. The path for the forward turning is an arc starting from the first tangent point of the first tangent circle and ending at the second tangent point, and the path for the backward turning is an arc starting from the second tangent point of the second tangent circle, and the radius of the first tangent circle and the radius of the second tangent circle are set as the minimum turning radius. 2. The automatic driving control system according to claim 1, characterized in that: The turning route setting unit sets the turning route in such a manner that, when the combine harvester finishes the reverse turning travel, the combine harvester is located on an extension line of the next reciprocating travel route. 3. The automatic driving control system according to claim 2, characterized in that: The turning route setting unit sets the turning route in such a manner that, when the combine harvester finishes the reverse turning travel, the forward direction of the combine harvester follows the travel direction of the next reciprocating travel route. 4. The automatic driving control system according to any one of claims 1 to 3, characterized in that: The automatic driving control system includes a plurality of turning modes for setting the turning path. The turning route setting unit switches the plurality of turning modes according to a condition of a field. 5. The automatic driving control system according to claim 4, characterized in that: The plurality of turning patterns include a pattern for causing the combine harvester to turn toward a side where the next reciprocating travel path is located during the first forward turning travel after the combine harvester has harvested the reciprocating travel path. 6. The automatic driving control system according to claim 4, characterized in that: The plurality of turning patterns include a pattern for causing the combine harvester to turn toward a side opposite to a side where the next reciprocating travel path is located in the first forward turning travel after the combine harvester has harvested the reciprocating travel path. 7. A combine harvester, characterized in that the combine harvester is equipped with the automatic driving control system according to any one of claims 1 to 6.