WO2020026651A1

WO2020026651A1 - Harvesting machine, travel system, travel method, travel program, and storage medium

Info

Publication number: WO2020026651A1
Application number: PCT/JP2019/025305
Authority: WO
Inventors: 中林隆志; 佐野友彦; 吉田脩; 阪口和央
Original assignee: 株式会社クボタ
Priority date: 2018-08-01
Filing date: 2019-06-26
Publication date: 2020-02-06
Also published as: KR20210038917A; CN112752500A

Abstract

A harvesting machine capable of automatically travelling in a farm field is provided with: a manipulator which has the function for enabling a change in the state of a machine body during automatic travel while allowing automatic travel; a machine body state detection unit 57 which detects the state of the machine body; and a function setting unit 58 which, when the manipulator has been manipulated, activates or deactivates the function in accordance with the state of the machine body detected by the machine body state detection unit 57.

Description

Harvester, traveling system, traveling method, traveling program, and storage medium

The present invention relates to a harvester capable of automatically traveling in a field, a traveling system, a traveling method, a traveling program, and a storage medium related thereto.

[First background technology]
For example, Patent Document 1 discloses a harvester capable of automatically traveling in a field. The harvester is provided with operating tools such as a steering lever, for example, and when a monitor (including a driver) operates the operating tools, the automatic traveling ends.

[Second background technology]
Patent Literature 2 discloses an automatic traveling mode in which the vehicle automatically travels along a set route, a manual traveling mode in which the vehicle travels in response to an artificial operation, and a manual traveling preparation mode, which is a transition mode from the automatic traveling mode to the manual traveling mode. A tractor having an automatic traveling preparation mode, which is a transition mode from a manual traveling mode to an automatic traveling mode, is disclosed. In order to perform the field work by automatic traveling, the tractor is moved to a work start position in the field by manual operation. Then, when the automatic traveling start condition is satisfied, the mode shifts to the automatic traveling preparation mode, and when all the data necessary for the automatic traveling are prepared, the mode shifts to the automatic traveling mode and the automatic traveling is started. The automatic driving start conditions include a vehicle speed lower than a set speed, a forward / reverse switching lever in a neutral state, a clutch pedal in a non-operating state, a brake pedal in a non-operating state, a parking lever in a non-operating state, an auxiliary gearshift lever in a low speed position, and a set rotation. More than the engine speed, the steering wheel in the straight position, the normal battery voltage, the normal oil pressure, the normal cooling water temperature. The data necessary for automatic traveling includes traveling route data, work data, position data from GPS, and data from gyro sensors and direction sensors.

Patent Literature 3 discloses an automatic traveling control unit that performs automatic traveling based on a vehicle position and a target traveling route, and a manual traveling control that performs manual traveling based on an operation signal from a traveling operation unit that is manually operated. And a tractor comprising: In this tractor, when the tractor stops in manual traveling, detection of the neutral state of the forward / reverse operating tool, detection of the OFF state of the PTO drive operating tool, confirmation of the automatic traveling enabled state, detection of the ON state of the signal for automatic traveling, The transition from manual traveling to automatic traveling is estimated on the condition that there is an automatic traveling request signal for requesting automatic traveling. Further, an automatic traveling request signal generated by operating a traveling operation unit such as a switch or a button provided on the tractor in a state where a signal (eg, a GPS signal) relating to the own vehicle position from the own vehicle position detecting module is also input. Is input, the automatic traveling of the vehicle is started.

Japanese Patent Application Publication No. 2018-99043 Japanese Patent Application Laid-Open No. 2014-180894 Japanese Patent Application Laid-Open No. 2016-168883

[1] The [first issue] corresponding to the above-mentioned [first background art] is as follows. When the harvester travels automatically, the optimum conditions for automatic travel vary depending on the condition of the field and the type of crop. In order to realize optimal automatic driving, it is conceivable to equip the learning function with the automatic driving function and repeat the automatic driving of the field to learn, but the state of the field and the state of the crop change every season Therefore, it is difficult for the learning function to appropriately perform learning. For this reason, it is desirable that the observer can fine-tune the state of the machine body while operating the operating tool according to the condition of the field and the type of crop, but the automatic traveling ends each time the monitoring operator operates the operating tool. With such a configuration, the operability is impaired.

In view of the above-described circumstances, it is an object of the present invention to provide a harvester in which the operation of an operating tool is allowed under certain conditions while automatic traveling is continued, and suitable automatic traveling is performed.

［[Second problem] corresponding to the above [Second background art] is as follows. In the tractors capable of automatic traveling disclosed in

Patent Literatures

2 and 3, the vehicle stops at a position where automatic traveling is to be started, and conditions are established in order to shift the state of vehicle equipment from manual traveling to automatic traveling. Automatic driving is started on condition that the vehicle is located and that position data from GPS or the like is acquired. In automatic traveling, the tractor is automatically steered such that the center (control reference point) of the tractor calculated based on the acquired position data is on the traveling route calculated in advance. At that time, it is necessary to capture the travel route developed in the memory at the stop position where automatic driving is to be started, based on the position of the stopped vehicle. In a car traveling on a road, a route having a road width is used as a target travel route instead of a target travel route as a single-track travel route. Absent. However, in a farm work vehicle such as a harvester, it is necessary to automatically travel along a specific strip formed in a field, and thus capturing a travel route is important. If the stop position is inappropriate, there arises a problem that a target traveling route for automatic traveling cannot be captured, or the calculation time until capturing becomes long, and automatic traveling cannot be started. If the number of travel routes calculated for automatic travel is not one as in a single stroke, there is a problem of capturing a plurality of travel routes and a problem of capturing an incorrect travel route. When such a traveling route capture error occurs, even if automatic driving is to be started by satisfying the conditions for shifting to automatic driving, a target for automatic driving cannot be found, automatic steering cannot be performed, and the vehicle stops. Will remain. This makes the driver and the observer anxious. Under such circumstances, there is a demand for a harvester that solves the above-mentioned problem and smoothly transitions from manual traveling to automatic traveling.

[First solution] corresponding to the above-mentioned [first problem] is as follows.
That is, the harvester of the present invention is a harvester capable of automatic traveling in a field, and an operating tool having a function capable of changing the state of the aircraft body while continuing the automatic traveling during the automatic traveling. A body state detection unit that detects a state of the body, and a function of enabling or disabling the function according to a state of the body detected by the body state detection unit when the operation tool is operated. And a setting unit.

According to the present invention, since the operating tool has a function of changing the state of the aircraft while continuing the automatic traveling, the observer can fine-tune the state of the aircraft even during the automatic traveling. Further, the configuration in which the function of the operating tool is enabled or disabled according to the state of the body limits the operation of the operating tool during automatic traveling to a necessary range for changing the state of the body. Thereby, the operation of the operating tool is allowed under a certain condition while the automatic traveling is continued, and a harvester in which a suitable automatic traveling is performed is realized.

技術 The technical features of the harvester described above can also be applied to traveling systems. The automatic traveling system in this case is a traveling system for a harvester capable of automatically traveling in a field, and a body state detection unit that detects a state of the body, and a state of the body while continuing the automatic traveling. A function setting for enabling or disabling the function according to the state of the aircraft detected by the aircraft state detection unit when an operating tool having a function that can be changed is operated during the automatic traveling. And a unit.

技術 The technical features of the harvester described above can also be applied to running programs. Therefore, in the present invention, the traveling program can be a right object. Furthermore, a storage medium such as an optical disk, a magnetic disk, or a semiconductor memory in which a running program having this technical feature is stored can be a target of the right. The traveling program in this case is a traveling program for a harvester capable of automatic traveling in a field, and has an aircraft state detecting function of detecting an aircraft state, and changing the state of the aircraft while continuing the automatic traveling. A setting function for enabling or disabling the function according to the state of the aircraft detected by the aircraft state detection function when an operating tool having a function capable of performing the operation is operated during the automatic traveling. , On a computer.

In addition, the technical features of the harvester, the traveling system, and the traveling program described above can be applied to the traveling method. Therefore, in the present invention, the driving method can be covered by the right. The traveling method in this case is a traveling method for a harvester capable of automatic traveling in a field, and is an aircraft state detecting step of detecting an aircraft state, and changing the state of the aircraft while continuing the automatic traveling. A setting step of enabling or disabling the function according to the state of the aircraft detected by the aircraft state detection function when an operating tool having a function capable of performing the operation is operated during the automatic traveling. , Are included.

In the present invention, as the operation tool, a speed change operation tool for instructing a change in forward / reverse speed is provided, and the function setting unit is configured to move the speed change operation tool forward when the forward traveling is performed by the automatic traveling. It is preferable that the function of the speed change operation tool be validated when operated within the speed change area, and that the function of the speed change operation tool be disabled when the speed change operation tool is operated within the reverse speed change area.

According to this configuration, while the forward traveling is being performed in the automatic traveling, the operation of the speed change operation tool is enabled in the forward speed changing area, so that the vehicle speed of the forward traveling can be adjusted by manual operation. That is, the operation of the speed change operation tool during automatic traveling is limited to a range necessary for forward traveling.

As the operation tool, a speed change operation tool for instructing a forward / backward speed change is provided, and the function setting section is configured such that when the reverse running is being performed by the automatic running, the speed change operation tool is in a forward speed change area. It is preferable to invalidate the function of the speed change operation tool and to instruct the vehicle to stop regardless of whether the operation is performed in the reverse speed change area or when the vehicle is operated in the reverse speed change area.

Compared to the forward running, the monitoring requires more attention to the surroundings than the forward running. Therefore, the stopping of the aircraft is given priority over the adjustment of the vehicle speed based on the operation of the shift operation device. With this configuration, when the observer intends to stop the combine with an immediate decision during automatic traveling, the combine can be stopped by operating the shift operation tool.

In the present invention, the automatic traveling, automatic work traveling to travel while harvesting a crop along a set traveling route, and automatic turning traveling to turn toward the next traveling route after the completion of the automatic work traveling. Automatic ejection traveling moving away from the traveling route to another target point, and a harvesting section operating tool for operating a harvesting section is provided as the operating tool, and the function setting section includes the automatic setting section. When the work traveling is being performed, the function of the harvesting section operating tool is enabled, and when the automatic turning travel or the automatic discharge traveling is being performed, the function of the harvesting section operating tool is disabled. This is preferable.

According to this configuration, since the operation of the harvesting section operation tool is enabled only during the automatic operation traveling, the operation of the harvesting section operation tool during the automatic traveling is limited to a necessary range for crop harvesting. .

In the present invention, a turning operation tool for instructing turning of the body is provided as the operation tool, and the function setting unit invalidates a function of the turning operation tool during the automatic traveling, and Is preferably configured to instruct a stop when an operation is performed larger than a preset operation amount.

With this configuration, when the observer intends to stop the combine with an immediate judgment during automatic traveling, the combine can be stopped by operating the turning operation tool largely. Further, according to the present configuration, the harvester does not stop if the operation amount of the turning operation tool is smaller than the preset operation amount, so that the monitor operator's body touches the turning operation tool or the like, so that the monitoring operation of the monitoring operator may be stopped. The possibility that the harvester stops unexpectedly is reduced.

[Second solution] corresponding to the above-mentioned [Second problem] is as follows.
That is, the harvester capable of performing automatic operation and manual operation according to the present invention includes a manual traveling control unit that performs the manual traveling based on a manual operation signal, and an inner peripheral side of a field by cutting around in the manual traveling. A route calculation unit that calculates a traveling route for automatic traveling with respect to an unworked region that is an inner region of an outer peripheral region that is a worked region of the field formed on the basis of the own vehicle position and the traveling route. An automatic driving control unit for performing the automatic driving, and determining whether or not the automatic driving is permitted based on an automatic driving permission condition. If the determination result indicates that the automatic driving is permitted, the automatic driving control unit issues an automatic driving start command to the automatic driving control unit. And a management unit. Further, the automatic traveling permission condition includes that the vehicle is located at an automatic traveling start point at which an automatic traveling start traveling route selected from the traveling routes can be captured.

In automatic driving, in which the vehicle is automatically steered to match the position of the own vehicle with a previously calculated driving route, an automatic driving program captures a driving route set near the position of the own vehicle and sets a target driving route for the automatic driving. Need to be determined. In this configuration, one of the automatic traveling permission conditions is that a traveling route (automatic traveling start traveling route) used when starting automatic traveling is captured. For this reason, when automatic traveling is permitted, the traveling route to be the target of automatic steering is captured programmatically, and the deviation between the traveling route necessary for automatic steering and the vehicle position (positional deviation). And azimuth deviation) can be calculated. As a result, as in the related art, various devices mounted on the harvester are in a state suitable for automatic traveling, the position of the own vehicle is calculated, and the shift to automatic traveling is permitted. Therefore, the problem that the automatic driving is not started because the driving route to be the target of the automatic steering can not be found programmatically and the driver and the supervisor become uneasy is avoided.

技術 The technical features of the harvester described above can also be applied to traveling systems. The automatic travel system in this case is a travel system for a harvester capable of automatic travel and manual travel, and a manual travel control unit that causes the harvester to perform the manual travel based on a manual operation signal. A route calculation unit that calculates a traveling route for automatic traveling with respect to an unworked area formed on the inner peripheral side of the field by the perimeter mowing traveling in the manual traveling, and based on the own vehicle position and the traveling route, An automatic traveling control unit for causing the harvester to perform the automatic traveling, and determining whether or not the automatic traveling is permitted based on the automatic traveling permission condition. If the result of the determination is permission, the automatic traveling start command is transmitted to the automatic traveling control unit. And the automatic traveling permission condition includes that the vehicle is located at an automatic traveling start point at which an automatic traveling start traveling route selected from the traveling route can be captured. And wherein the are.

技術 The technical features of the harvester described above can also be applied to running programs. Therefore, in the present invention, the traveling program can be a right object. Furthermore, a storage medium such as an optical disk, a magnetic disk, or a semiconductor memory in which a running program having this technical feature is stored can be a target of the right. The traveling program in this case is a traveling program for a harvester capable of automatic traveling and manual traveling, and a manual traveling control function for causing the harvester to perform the manual traveling based on a manual operation signal; A path calculation function for calculating a traveling path for automatic traveling with respect to an unworked area formed on the inner peripheral side of the field by the perimeter cutting traveling by manual traveling, and the harvesting based on the own vehicle position and the traveling path. An automatic traveling control function for causing the vehicle to perform the automatic traveling, and determining whether or not the automatic traveling is permitted based on the automatic traveling permission condition.If the result of the determination is permission, an automatic traveling start command is transmitted to the automatic traveling control function. The automatic driving management function to be given to the computer is executed by the computer, and the automatic driving start condition at which the automatic driving start driving route selected from the driving route can be captured in the automatic driving permission condition. It is characterized in that it contains are positioned.

In addition, the technical features of the harvester, the traveling system, and the traveling program described above can be applied to the traveling method. Therefore, in the present invention, the driving method can be covered by the right. The traveling method in this case is a traveling method for a harvester capable of automatic traveling and manual traveling, and a manual traveling control step of causing the harvester to perform the manual traveling based on a manual operation signal; A route calculating step of calculating a traveling route for automatic traveling with respect to an unworked area formed on the inner peripheral side of the field by the perimeter cutting traveling by manual traveling, and the harvesting based on the own vehicle position and the traveling route. An automatic traveling control step of causing the vehicle to perform the automatic traveling, and determining whether or not the automatic traveling is permitted based on an automatic traveling permission condition.If the result of the determination is permission, an automatic traveling start command is transmitted to the automatic traveling control function. Providing an automatic traveling management step, wherein the automatic traveling permission condition includes an automatic traveling start point at which an automatic traveling start traveling route selected from the traveling route can be captured. It is characterized in that it contains.

Even if the traveling route is captured at the own vehicle position calculated based on the position information from the satellite positioning unit, if the own vehicle position is inaccurate, an incorrect traveling route, that is, unsuitable for starting automatic traveling. It is more likely that the user is capturing a suitable travel route. The accuracy level of the vehicle position calculated based on the position information from the satellite positioning unit varies depending on the number of satellites used for calculating the vehicle position. For this reason, the accuracy of the satellite positioning unit is required to be at such a level that the own vehicle position can be calculated to such an extent that an erroneous traveling route acquisition error does not occur. For this reason, in one preferred embodiment of the present invention, when a satellite positioning unit that outputs position information used for calculating the own vehicle position is provided, the automatic driving permission condition includes the following. This includes that the accuracy of the satellite positioning unit exceeds a predetermined level.

During the automatic traveling, if the accuracy of the position of the own vehicle deteriorates, that is, if the accuracy of the satellite positioning unit decreases, the deviation between the traveling route and the aircraft increases. In the case of a harvester, harvesting in line with the crop planting line is also important for good harvesting efficiency, and traveling that greatly deviates from the row must be avoided. For this reason, in one preferred embodiment of the present invention, when the accuracy of the satellite positioning unit that outputs the position information used to calculate the vehicle position decreases to a predetermined level, the automatic driving is canceled. You. Even if automatic running is canceled due to a decrease in accuracy of the satellite positioning unit, the harvesting operation can be continued by manual running.

(4) In the case where the harvester is a combine or the like that temporarily accumulates harvested crops as it travels in a tank, when the tank is full, it is necessary to discharge to a truck waiting around the field. For this reason, if the tank becomes full during automatic traveling, the vehicle will head to the discharge stop position for discharging the crop. When such travel to the discharge stop position is also included in the automatic travel, automatic travel to the discharge stop position when the tank is full is not possible unless the discharge stop position is set in the automatic travel control system. It becomes possible and the harvester gets stuck. In order to avoid this, in one of the preferred embodiments of the present invention, a discharge position setting unit that sets a discharge stop position for discharging the harvested crop is provided, and the automatic driving permission condition includes: This includes that the discharge stop position is set. A preferred discharge stop position is a place near a field boundary, such as a shore, where the surrounding mowing becomes a cut area and the harvester can freely move during the work. However, at the discharge stop position, it is desirable that a space necessary for performing accurate positioning travel can be secured, and thus the corner portion of the field is not appropriate. For this reason, in one of the preferred embodiments of the present invention, the discharge stop position is an outer peripheral area formed on the outer peripheral side of the field by the peripheral mowing travel, and a place other than a corner portion of the outer peripheral area. Is set to

収穫 The harvester must manually travel to the automatic travel start point, which is the position where the automatic travel start travel path, which is the travel path at the start of automatic travel, can be captured. This automatic traveling start point is preferably close to the automatic traveling start traveling route. The automatic travel start travel path is one of the travel paths calculated for the unworked area before the start of the automatic travel, and the first selected travel path that is optimal for sequentially running through the travel path It is. In the case of the harvester, as a convenient traveling pattern that runs through the unworked area along the traveling path, a reciprocating traveling pattern in which a plurality of parallel traveling paths are connected by a U-turn and the outer periphery of the unworked area are conventionally used. A spiral running pattern running in a spiral shape is known. In these two traveling patterns, the position at which the automatic traveling is started is common, but the direction of the body at which the traveling starts is often different. For this reason, in one preferred embodiment of the present invention, the traveling pattern in the automatic traveling includes a reciprocating traveling pattern in which the plurality of parallel traveling paths are connected by a U-turn, And a spiral running pattern running spirally along the outer edge. The automatic running start point is calculated by a different algorithm according to the running pattern.

(4) When the automatic traveling permission condition is satisfied, the automatic traveling control system enters an automatic traveling permission state, and waits for an automatic traveling start command to be input. The automatic traveling start command is generated based on an operation of a driver or a monitor. In manual traveling, the body starts moving when the driver operates the shift lever from the neutral position to the forward shift position. Therefore, if an automatic traveling start command for causing the body to start moving in automatic traveling is generated by the same operation, there is no difference between the manual operation and the automatic operation, which is advantageous. For this reason, in one preferred embodiment of the present invention, the automatic traveling start command is given to the automatic traveling control unit with the displacement of the transmission lever from the neutral position to the forward transmission position as a trigger.

運転 In the operation of a harvester such as a combine, the gearshift lever not only determines the forward speed and the reverse speed of the machine, but also functions as a brake lever. This is because the running resistance in the field is large, and thus, when the shift lever is returned to the neutral position, the machine stops. For this reason, it is advantageous to provide the shift lever with a similar function in automatic traveling. In particular, in automatic traveling, an emergency stop is required in reverse traveling where visibility in the traveling direction is poor. From this, in one of the preferred embodiments of the present invention, when the shift lever is displaced during the reverse travel in the automatic travel, the vehicle stops and the automatic travel is released, and the automatic travel is canceled during the forward travel. When the shift lever is displaced to the stop position, the vehicle stops, but does not necessarily release the automatic traveling, and waits for transmission in the automatic traveling in that state. When the harvester travels in the field, the aircraft does not always stop at the neutral position, and the aircraft often stops even at the shift position near the neutral position. In consideration of this, the shift position at which such an aircraft stops is defined as the stop position, and the stop position means the operation range of the shift lever including the neutral position. This is because, when the vehicle is moving forward, even during automatic operation, it is often the case that the vehicle is temporarily stopped for checking the field and checking the harvest. For this reason, even if the vehicle is stopped using the shift lever during forward movement, it is preferable that the automatic traveling state be maintained, since the return to the automatic traveling is quicker.

移行 When the driver or the supervisor shifts from manual driving to automatic driving due to an unexpected operation, the driver or the supervisor is surprised unexpectedly. In order to avoid this problem, it is preferable that the driver or the administrator manually output the signal for requesting automatic driving with a clear intention. For this reason, in one preferred embodiment of the present invention, the automatic driving permission condition includes an operation of an automatic driving permission operating tool, and the automatic driving permission operating tool has a plurality of operation units, In the manual traveling, a signal requesting the automatic traveling is output by an operation on a plurality of the operation units, and in the automatic traveling, the automatic traveling is canceled by an operation on at least one of the operation units. In this configuration, in order to start the automatic traveling, it is necessary to operate the plurality of operation units so that the signal requesting the automatic traveling is output, so that the unexpected start of the automatic traveling is avoided. .

The harvester may suddenly have a machine state that is inappropriate for work traveling, especially automatic work traveling, for example, inclination of the body, malfunction of the engine, malfunction of the control system, and the like. Automated driving in such an aircraft condition must be avoided. For this reason, in one preferred embodiment of the present invention, when the automatic traveling permission condition includes a specific aircraft state, and in the automatic traveling, an abnormality occurs in at least one of the aircraft states. , The automatic running is canceled.

It is a side view of a combine as an example of a harvester. It is a figure showing the outline of automatic running of a combine. It is explanatory drawing which shows the driving | running pattern which repeats the reciprocating driving | running | working connected by U-turn in the driving | running route in automatic driving | running. It is explanatory drawing which shows the driving | running | working pattern which runs toward the center in the shape of a spiral. It is a functional block diagram of a first embodiment showing a configuration of a combine control system. It is a system block diagram of a first embodiment showing a control system in automatic traveling. FIG. 3 is a diagram of a first embodiment showing a traveling route and a discharging route in automatic traveling. It is a figure of the first embodiment which shows the validity or invalidity of the operation tool in automatic running. It is a functional block diagram of a second embodiment showing a configuration of a combine control system. It is a top view of the general purpose terminal in a second embodiment. It is explanatory drawing of 2nd embodiment explaining capture of a driving route. It is explanatory drawing of 2nd Embodiment which shows the relationship between the driving | running route in a reciprocating driving | running | working pattern, and an automatic driving | running | working start point. It is explanatory drawing of 2nd embodiment which shows the relationship between the driving | running route in a spiral running pattern, and an automatic driving | running | working start point. It is explanatory drawing of 2nd embodiment which shows 270 degree rotation in a spiral running pattern.

形態 An embodiment for carrying out the present invention will be described with reference to the drawings. In the following description, the direction of arrow "F" shown in FIG. 1 is the forward direction of the aircraft, and the direction of arrow "B" is the backward direction of the aircraft unless otherwise specified. The direction of arrow "U" shown in FIG. 1 is the upward direction, and the direction of arrow "D" is the downward direction.

[Overall structure of combine]
As shown in FIG. 1, an ordinary combine which is a form of a harvester includes a body 10, a crawler-type traveling device 11, an operating unit 12, a threshing device 13, a grain tank 14, and a harvesting device H as a harvesting unit. , A transport device 16, a grain discharging device 18, and a vehicle position detecting module 80.

The traveling device 11 is provided below the body 10 in the combine. The combine can be driven by the traveling device 11 by itself.

運転 Further, the operating unit 12, the threshing device 13, and the grain tank 14 are provided above the traveling device 11, and these are configured as an upper portion of the body 10. A driver who drives the combine or a monitor who monitors the work of the combine can board the driving unit 12. Usually, the driver and the supervisor are concurrently used. When the driver and the monitor are different persons, the monitor may monitor the combine operation from outside the combine. That is, the monitor in the present invention may include a driver.

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

The harvesting device H is provided at the front of the combine. The transport device 16 is provided adjacent to and behind the harvesting device H. Further, the harvesting device H includes a reaper 15 (cutting mechanism) and a reel 17. The cutting device 15 cuts the planted grain culm in the field. Further, the reel 17 scrapes the planted grain stem to be harvested while being driven to rotate. With this configuration, the harvesting device H harvests cereals (a kind of agricultural crop) in the field. Then, the combine is capable of cutting and traveling (working traveling) in which the harvesting device H travels by the traveling device 11 while cutting the planted grain culm in the field.

Thus, the combine has the harvesting device H that cuts the planted grain culm as a crop in the field.

刈 The harvested stalks harvested by the cutting device 15 are transported by the transport device 16 to the threshing device 13. In the threshing device 13, the harvested culm is threshed. Grains as harvested products obtained by threshing are stored in a grain tank 14. The grains stored in the grain tank 14 are discharged out of the machine by a grain discharging device 18 as necessary.

運転 Further, the general-purpose terminal 4 is installed in the driving unit 12. The general-purpose terminal 4 is configured to be able to display various information. In the present embodiment, the general-purpose terminal 4 is fixed to the driving unit 12. Note that the general-purpose terminal 4 may be configured to be detachable from the driving unit 12, or may be located outside the combine.

コン As shown in FIG. 2, the combine automatically travels along a travel route set in a field. Therefore, it is necessary to detect the position of the own vehicle. The own vehicle position detection module 80 is used to detect the own vehicle position. The vehicle position detection module 80 includes a satellite navigation module 81 (satellite positioning unit) and an inertial navigation module 82 (inertial navigation unit). The satellite navigation module 81 receives a GNSS (Global Navigation / Satellite / System) signal (including a GPS signal) from the artificial satellite GS and outputs positioning data for calculating the position of the own vehicle. The inertial navigation module 82 incorporates a gyro acceleration sensor and a magnetic direction sensor, and outputs a position vector indicating an instantaneous traveling direction. The inertial navigation module 82 is used to supplement the own vehicle position calculation by the satellite navigation module 81. The inertial navigation module 82 may be installed at a different location from the satellite navigation module 81.

手順 The procedure for performing harvesting work in the field using this combine is as described below.

First, the driver (supervisor) manually operates the combine and performs harvesting traveling so as to orbit along the boundary of the field at the outer peripheral portion in the field as shown in FIG. This round running is referred to as peripheral mowing running. The area that has been cut (the already-worked area, the already-worked place) by the surrounding mowing travel is set as the outer peripheral area SA. Then, an area left as an uncut area (unworked area, unworked area) inside the outer peripheral area SA is set as a work target area CA. FIG. 2 shows an example of the outer peripheral area SA and the work target area CA. In this embodiment, the surrounding mowing travel is performed so that the work target area CA becomes a quadrangle. Of course, a triangular or pentagonal work area CA may be employed.

At this time, in order to secure the width of the outer peripheral area SA to some extent, the observer makes the body 10 travel two or three times. In this traveling, the width of the outer peripheral area SA is increased by the working width of the combine every time the body 10 makes a round. First, for example, when two or three rounds of traveling are completed, the width of the outer peripheral area SA becomes about twice to three times the working width of the combine.

(4) The outer peripheral area SA is used as a space for the combine to change directions when performing harvesting traveling in the work target area CA. In addition, the outer peripheral area SA is also used as a space for movement when the harvest travel is once completed and the grain is moved to a grain discharge location, or is moved to a fuel supply location.

The carrier CV shown in FIG. 2 can collect and transport the grains discharged from the grain discharge device 18 of the combine. In discharging the grains, the combine moves to the vicinity of the transport vehicle CV, and then discharges the grains to the transport vehicle CV by the grain discharging device 18.

When the outer peripheral area SA and the work target area CA are set, the traveling route in the work target area CA is calculated as shown in FIGS. First, when inside map data indicating the shape of the work target area CA is created, a path element is calculated. The path element is calculated so as to be parallel to at least one side of the quadrangular work target area CA and to have an interval in consideration of the work width and the overlap. A traveling route for automatic traveling is calculated based on this route element. The traveling route is a route for automatically traveling the combine so as to cover the work target area CA, and differs depending on the traveling pattern. A reciprocating traveling pattern and a spiral traveling pattern are exemplified in FIGS. 3 and 4 as traveling patterns mainly used in the combine. The reciprocating traveling pattern is a traveling pattern in which a plurality of parallel traveling paths are connected by a U-turn, and the spiral traveling pattern is a traveling pattern in which the traveling traveling spirally along the outer edge of the work target area CA.

In the reciprocating traveling pattern shown in FIG. 3, the combine travels while connecting a traveling path parallel to one side of the work target area CA by a U-turn turning traveling. In the work target area CA, a plurality of parallel straight traveling routes are generated in a strip shape, and the traveling routes are set so as to be arranged at equal intervals. A U-turn travel (for example, a 180-degree turning travel) is performed to move from one end of the travel path indicated by one straight line to one end of the travel path indicated by another straight line. Automatic traveling while connecting such parallel traveling paths by U-turn traveling is hereinafter referred to as “reciprocating traveling”. The U-turn traveling includes a normal U-turn traveling and a switchback-turn traveling. The normal U-turn traveling is performed only by the forward movement of the aircraft 10, and its traveling locus is U-shaped. The normal U-turn running shown in FIG. 3 is a 180-degree turn including two forward 90-degree turns and straight-ahead running, and the straight-ahead running may be omitted. The switchback turn traveling is performed by using the forward and backward movements of the aircraft 10, and the traveling trajectory is not U-shaped, but as a result, the combine can obtain the same turning traveling as the normal U-turn traveling. . The switchback turn running shown in FIG. 3 is a 180-degree turning using a 90-degree forward turn and a reverse and 90-degree forward turn. In order to perform a normal U-turn traveling, a distance between two or more traveling route elements is required between the route changeable point before the direction change traveling and the route changeable point after the direction change traveling. For shorter distances, switchback turn travel is used. In other words, the switchback turn traveling reversely travels differently from the normal U-turn traveling, so that there is no influence of the turning radius of the aircraft 10, and there are many choices of traveling route elements to which the switchover is performed. However, since the forward / backward switching is performed in the switchback turn traveling, basically, the switchback turn traveling takes longer time than the normal U-turn traveling.

In the spiral running pattern shown in FIG. 4, the combine is performed in a spiral like a spiral, with a round running on a running path similar to the outer shape of the work area CA. A turn called an alpha turn using a straight turn, a reverse turn, and a forward turn is used for turning at a corner in each round trip. It is also possible to change from the spiral running to the reciprocating running or from the reciprocating running to the spiral running during the work.

The driving route shown in FIGS. 3 and 4 is not limited to a straight line, but may be a curved line or a combination of a curved line and a straight line. The interval between the traveling paths arranged in parallel is determined based on the working width, which is the cutting width of the harvesting device H, and the overlap for absorbing a traveling error. The calculated travel routes are sequentially set based on the work travel pattern, and the combine is automatically controlled to travel along the set travel route.

The contents described above with reference to FIGS. 1 to 4 are common to both the first embodiment and the second embodiment described later.

[Description of First Embodiment]
As a first embodiment of the present invention, FIG. 5 shows a control system of a combine using an automatic steering system according to the present invention. The control system of the combine includes a control unit 5 (control device) and various input / output devices that perform signal communication (data communication) with the control unit 5 through a wiring network such as an in-vehicle LAN. The control unit 5 is a core element of the control system, and is shown as an aggregate of a plurality of ECUs. A signal from the vehicle position detection module 80 is input to the control unit 5 through the on-vehicle LAN.

The control unit 5 includes an output processing section 59 as an input / output interface, a state input processing section 57 as a machine state detection section, and an operation input processing section 58 as a function setting section. The output processing unit 59 is connected to various operating devices 70 via a device driver 65. The operation devices 70 include a traveling device group 71 that is a traveling-related device and a work device group 72 that is a work-related device. The traveling equipment group 71 includes, for example, steering equipment, engine equipment, transmission equipment, braking equipment, and the like. The work equipment group 72 includes power control equipment and the like in the harvest work apparatus (the harvest apparatus H, the threshing apparatus 13, the transport apparatus 16, and the grain discharging apparatus 18) as shown in FIG.

The state input processing unit 57 is connected to a running state sensor group 63, a work state sensor group 64, and the like. The running state sensor group 63 includes a vehicle speed sensor, an engine speed sensor, an overheat detection sensor, a brake pedal position detection sensor (parking brake detection sensor), a shift position detection sensor, a steering position detection sensor, and the like. The work state sensor group 64 includes a sensor for detecting a drive state of a harvesting work device (a harvesting device H, a threshing device 13, a transport device 16, and a grain discharging device 18) as shown in FIG. Sensors for detecting the state are included. As described above, the state input processing unit 57 as the body state detecting unit detects the state of the body 10 (see FIGS. 1 to 3, the same applies hereinafter) via the traveling state sensor group 63, the work state sensor group 64, and the like. .

The operation input processing unit 58 is connected to the work operation unit 30, the traveling operation unit 90, and the like. The work operation unit 30 and the traveling operation unit 90 are a general term for operating tools that are manually operated by a driver (monitoring person) and whose operation signals are input to the control unit 5. The work operation unit 30 includes a harvesting elevating lever 31 as a harvesting unit operating tool for operating the harvesting device H (see FIG. 1). The harvesting elevating lever 31 is used to control the harvesting device H to move up and down by swinging back and forth. It is an operation tool. Although not shown, the harvesting device H is driven upwardly when the harvesting elevating lever 31 is swung back and forth, and the harvesting device H is driven downward when the harvesting elevating lever 31 is swung forward and backward. In addition, the raising / lowering drive of the harvester H is stopped in a state where the mowing elevating lever 31 is located at the front and rear neutral position. The traveling operation unit 90 includes a main shifting operation tool 91 (for example, a main shifting lever), a steering operation tool 92 (for example, a steering lever) as a turning operation tool, a mode switching operation tool 93 (for example, a mode switching switch), and an automatic traveling permission operation. Tool 94 (automatic start operation tool), and the like. The steering operation tool 92 instructs the turning of the body 10. The work operation unit 30 and the traveling operation unit 90 have a function of changing the state of the aircraft 10 while continuing the automatic traveling during the automatic traveling. Although details will be described later, the operation input processing unit 58 as a function setting unit activates or invalidates the function of the operation tool according to the state of the machine body 10 when the operation tool is operated.

The main speed change operation tool 91 is, for example, a speed change lever, and is an operation tool for driving the traveling device 11 (see FIG. 1) forward or backward and instructing a change in forward / reverse speed. When the vehicle speed is adjusted to the neutral position where the vehicle speed becomes zero in the vehicle speed adjustment range of the main transmission operation tool 91, the traveling device 11 stops. Of the vehicle speed adjustment range of the main speed change operation tool 91, a range forward of the neutral position is a forward speed change area. When the main speed change operation tool 91 is operated in the forward speed change area, the vehicle travels with the vehicle speed adjustment. The device 11 is driven forward. Further, of the vehicle speed adjustment range of the main speed change operation tool 91, a range behind the neutral position is a reverse speed change area, and when the main speed change operation tool 91 is operated in the reverse speed change area, the traveling device 11 Drives backward.

In the manual traveling mode, when the steering operation tool 92 is swung left and right from the neutral position, the crawler speed of the left crawler mechanism and the crawler speed of the right crawler mechanism are adjusted, and the orientation of the machine body 10 is changed. .

The mode switching operation tool 93 is, for example, a mode switching switch, and has a function of sending a command to the control unit 5 for switching between an automatic driving mode in which automatic driving is performed and a manual driving mode in which manual driving is performed. The automatic driving permission operation tool 94 has a function of transmitting an automatic driving permission signal, which is a final permission signal for starting automatic driving, to the control unit 5 through an operation by the driver (one of the automatic driving permission conditions). . In other words, the automatic start operation tool 94 has a function of giving the control unit 5 a final automatic start command for starting automatic traveling. Although only one automatic travel permission operating tool 94 is shown in FIG. 5, in this embodiment, the automatic travel permission operating tool 94 includes two button switches as two operation units. Unless the first button (first operating device) and the second button (second operating device) as the components of the automatic travel permission operation tool 94 are simultaneously operated, no automatic travel permission signal is output, and Permission conditions are not met. Thereby, erroneous operation of the automatic traveling permission operation tool 94 is prevented.

移行 The transition from the automatic traveling mode to the manual traveling mode may be automatically performed by software regardless of the operation by the mode switching operation tool 93. For example, when a situation in which automatic driving is impossible occurs, the control unit 5 forcibly executes a transition from the automatic driving mode to the manual driving mode.

The notification device 62 is a device for notifying a monitoring person or the like of a work traveling state or various warnings, and includes a buzzer, a lamp, a speaker, a display, and the like. The communication unit 66 is used by the control system of the combine to exchange data with the general-purpose terminal 4 (see FIG. 1) or with a management computer installed at a remote place. The general-purpose terminal 4 includes a tablet computer operated by an observer standing on the field or an observer riding on the combine, a computer installed in his home or a management office, and the like. Similarly to the notification device 62, the general-purpose terminal 4 also functions as a device that notifies a driver or the like of a working state, a traveling state, and various information through display on a display.

The control unit 5 includes a travel control unit 51, a work control unit 52, a travel mode management unit 53, a travel route setting unit 54, a vehicle position calculation unit 55, a notification unit 56, and the like. Based on the positioning data sequentially sent from the vehicle position detection module 80, the vehicle position calculation unit 55 calculates the vehicle position that is the map coordinates (or the field coordinates) of the specific location of the aircraft 10 that is set in advance. calculate. As the own vehicle position, the position of a reference point of the body 10 (for example, the center of the vehicle body, the center of the harvesting device H shown in FIG. 1, and the like) can be set. The own vehicle position calculation unit 55 can also calculate the own vehicle position using the position vector from the inertial navigation module 82 and the travel distance. The own vehicle position calculation unit 55 can also calculate the own vehicle position by combining signals from the satellite navigation module 81 and the inertial navigation module 82. Further, the vehicle position calculation unit 55 can acquire the accuracy level of the satellite navigation module 81 from the positioning data from the satellite navigation module 81. This accuracy level is determined based on the number of satellites used for generating positioning data, the intensity of satellite radio waves, and the like. If the accuracy level falls below a predetermined level, it becomes impossible to reliably calculate the position of the own vehicle, so that automatic traveling becomes impossible.

The notification unit 56 generates notification data based on a command or the like from each functional unit of the control unit 5 and provides the notification data to the notification device 62.

The travel control unit 51 has an engine control function, a steering control function, a vehicle speed control function, and the like, and provides a control signal to the traveling equipment group 71. The work control unit 52 sends a control signal to the work equipment group 72 to control the movement of the harvesting work device (the harvesting device H, the threshing device 13, the transport device 16, the grain discharging device 18, etc.) as shown in FIG. give.

This combine can be run in both automatic operation, in which harvesting is performed automatically, and manual operation, in which harvesting is performed manually. Therefore, the traveling control unit 51 includes a manual traveling control unit 51A and an automatic traveling control unit 51B. Note that the automatic driving mode is set when performing the automatic driving, and the manual driving mode is set for performing the manual driving. The switching of the traveling mode is managed by the traveling mode management unit 53. That is, the traveling mode management unit 53 is configured to be able to switch the traveling mode between an automatic traveling mode for executing automatic traveling and a manual traveling mode for executing manual traveling.

The driving mode management unit 53 is configured to be switchable between the automatic driving mode and the manual driving mode, but the driving mode is not limited to the automatic driving mode and the manual driving mode. For example, when the traveling mode management unit 53 switches from the automatic traveling mode to the manual traveling mode, the traveling mode management unit 53 first switches to the manual preparation mode, and switches to the manual traveling mode after the conditions for the manual traveling are satisfied. There may be. Further, when the aircraft 10 is stopped by operation of the operating tool during automatic traveling, the traveling mode management unit 53 may be configured to switch from the automatic traveling mode to an abnormal mode indicating a state abnormality.

When the automatic driving mode is set, automatic driving is performed based on a control block as shown in FIG. The automatic traveling control unit 51B controls the traveling equipment group 71 by generating a control signal for vehicle speed change including automatic steering and stopping. The traveling route is set by the traveling route setting unit 54, and the own vehicle position is calculated by the own vehicle position calculating unit 55. Then, the control signal relating to the automatic steering is generated such that the azimuth deviation and the positional deviation between the own vehicle position and the traveling route are eliminated. The control signal for changing the vehicle speed is generated based on a vehicle speed value set in advance. As the vehicle speed value set in advance, a vehicle speed value set corresponding to the position of the main speed change operation tool 91 in the forward speed change area is shown as an example. Although details will be described later, when a stop instruction is output by the operation input processing unit 58, the automatic traveling control unit 51B stops the traveling equipment group 71, thereby causing the aircraft 10 (see FIGS. 1 to 3) to stop. Stop.

The traveling route setting unit 54 generates the traveling route by the route calculation algorithm by itself. The travel route setting unit 54 may download and use the travel route generated by the general-purpose terminal 4 (see FIG. 1) or a remote management computer.

場合 When the manual traveling mode is selected, the manual traveling control unit 51A generates a control signal based on an operation by the observer and controls the traveling equipment group 71, thereby realizing the manual driving. Note that the traveling route calculated by the traveling route setting unit 54 can be used for guidance for the combine to travel along the traveling route even in manual operation.

[About enabling and disabling the operating tool in the first embodiment]
When the automatic traveling mode is selected, each of the operation tools included in the work operation unit 30 and the traveling operation unit 90 includes an operation tool that can be operated even during automatic traveling and an operation tool that cannot be operated during automatic traveling. And, it is divided into. For example, the steering operation tool 92 becomes inoperable during automatic traveling. FIG. 7 shows an example in which the combine automatically travels along the travel route, and FIG. 8 shows a valid or invalid state of the operating tool for each type of travel route.

In FIG. 7, a plurality of lines L are generated in a strip shape as a traveling route, and the body 10 reciprocates in order from the line L on one end side of the field. The discharge position DP is set in a part of the outer peripheral area SA at a ridge where the transport vehicle CV can be laid sideways. During the automatic traveling of the combine, after the mowing traveling along one line L is completed, when traveling to the adjacent line L, the turning traveling by the switchback turn traveling is performed. For example, after the forward movement of the body 10 is performed along the transfer source line L (1) and the forward travel path ML1 (1), the aircraft 10 temporarily stops, and then moves along the reverse travel path ML2 (1). 10 reverse running is performed. Then, after the aircraft 10 stops again, the forward traveling of the aircraft 10 is performed again along the forward traveling route ML3 (1), and reaches the destination line L (2). The discharge path Pt is a path for the body 10 to leave the line L and move to the discharge position DP. In FIG. 7, when the forward movement of the machine body 10 is performed along the line L (4), the grains stored in the grain tank 14 reach the set amount, and the machine body 10 passes through the discharge path Pt. To the discharge position DP. The amount of grains stored in the grain tank 14 (see FIG. 1, the same applies hereinafter) can be detected by, for example, a yield sensor (not shown) provided in the working state sensor group 64. When the machine body 10 reaches the discharge position DP, the grains stored in the grain tank 14 are discharged to the transport vehicle CV.

Automatic traveling includes automatic work traveling, automatic turning traveling, and automatic discharging traveling. The automatic operation traveling is a form of automatic traveling in which the combine travels along a set line L as a traveling route while harvesting planted cereal culm as a crop. The automatic turning travel is a form of automatic travel in which the aircraft 10 turns toward the next line L after completion of the automatic work travel, and is automatic along the forward travel path ML1, the reverse travel path ML2, and the forward travel path ML3. A turning run is performed. The automatic discharge travel is a form of automatic travel in which the body 10 leaves the line L as a travel route and moves to the discharge position DP as another target point, and automatically discharges along the discharge route Pt. Running is performed.

When the mode switching operation tool 93 (see FIG. 5) is turned on and the body 10 arrives at the start position of the line L (1), and the predetermined conditions are satisfied, the traveling mode of the control unit 5 is switched to the automatic traveling mode. It becomes possible. When the automatic traveling permission operation tool 94 (see FIG. 5) is turned on, the traveling mode of the control unit 5 shifts to the automatic traveling mode.

場合 When the automatic running of the body 10 is performed in the field, the forward running of the body 10 is performed along the line L, the forward running path ML1, the forward running path ML3, and the discharge path Pt. During this time, since the operation of the main speed change operation tool 91 (see FIGS. 5 and 6, the same applies hereinafter) in the forward speed change area is enabled, the main speed change operation tool 91 is operated in the forward speed change area. Then, the forward traveling is continued while the vehicle speed of the aircraft 10 is adjusted. That is, the operation input processing unit 58 (see FIGS. 5 and 6, the same applies hereinafter) as a function setting unit is configured to move the main speed change operation tool 91 within the forward speed change area when the forward traveling is performed by the automatic traveling. When operated, the function of the main transmission operation tool 91 is activated.

The operation input processing unit 58 as a function setting unit invalidates the function of the main speed change operation tool 91 when the main speed change operation tool 91 is operated in the reverse speed change area during forward running by automatic running. Become For this reason, if the observer operates the main transmission operation tool 91 in the reverse speed change area while the forward traveling of the body 10 based on the automatic traveling is performed, the operation input processing unit 58 outputs the stop instruction. The stop instruction is input to the automatic traveling control unit 51B, and the aircraft 10 stops based on the stop instruction. Then, the traveling mode of the control unit 5 is switched from the automatic traveling mode to the manual traveling mode.

では On the reverse travel route ML2, the aircraft 10 travels backward. During this time, in the main speed change operation tool 91, both the operation in the forward speed change area and the operation in the reverse speed change area are invalidated. In other words, the backward traveling requires more attention to the surroundings by the observer than the forward traveling, so that the stop of the body 10 has priority over the adjustment of the vehicle speed based on the operation of the main shift operation tool 91. For this reason, when the observer operates the main shift operation tool 91 while the vehicle 10 is traveling backward based on the automatic traveling, the operation input processing unit 58 outputs a stop instruction. The stop instruction is input to the automatic traveling control unit 51B, and the aircraft 10 stops based on the stop instruction. Then, the traveling mode of the control unit 5 is switched from the automatic traveling mode to the manual traveling mode. That is, the operation input processing unit 58 as a function setting unit operates in the reverse speed changing area even when the main speed change operation tool 91 is operated in the forward speed changing area when the reverse running is performed by the automatic running. Even if this is done, the function of the main speed change operation tool 91 is invalidated and a stop is instructed. Thereby, the operation of the main speed change operation tool 91 during automatic traveling is limited to a range necessary for forward traveling.

機能 The function of the reaping elevating lever 31 (see FIGS. 5 and 6, the same applies hereinafter) is enabled only while the automatic work traveling along the line L is performed. That is, the elevation control of the harvesting device H based on the operation of the harvesting elevation lever 31 can be performed only during the automatic operation traveling. While the machine body 10 is automatically turning along the forward travel route ML1, the reverse travel route ML2, and the forward travel route ML3, the function of the mowing lift lever 31 is disabled. Also, the function of the reaping elevating lever 31 is disabled while the machine body 10 is automatically discharging and traveling along the discharging path Pt. Even if the mowing elevating lever 31 is operated while the function of the mowing elevating lever 31 is disabled, the elevating control of the harvesting device H is not performed. As described above, the operation input processing unit 58 as the function setting unit enables the function of the harvesting elevating lever 31 as the harvesting unit operating tool when the automatic work traveling is performed, and performs the automatic turning traveling or the automatic turning traveling. When the discharging travel is being performed, the function of the mowing elevating lever 31 is invalidated. Thereby, the operation of the mowing elevating lever 31 during the automatic traveling is limited to a range necessary for harvesting the crop.

As shown in the row of the steering operation tool 92 in FIG. 8, the steering function of the steering operation tool 92 (see FIGS. 5 and 6; the same applies hereinafter) is disabled during the automatic traveling. For this reason, during the automatic work traveling along the line L, during the automatic turning traveling along the forward traveling route ML1, the backward traveling route ML2, and the forward traveling route ML3, and during the automatic discharging traveling along the discharging route Pt, The body 10 does not turn even if the steering operation tool 92 is operated. As shown in the row of “large operation amount” in FIG. 8, when the steering operation tool 92 is operated larger than a preset operation amount, the operation input processing unit 58 outputs a stop instruction, and the automatic traveling is stopped. Stop. The stop instruction from the operation input processing unit 58 is input to the automatic traveling control unit 51B, and the aircraft 10 stops based on the stop instruction from the operation input processing unit 58. Then, the traveling mode of the control unit 5 is switched from the automatic traveling mode to the manual traveling mode, and the automatic traveling stops. In other words, when the observer intends to stop the aircraft 10 with an immediate judgment during automatic traveling, the operation input processing is performed so that the observer can operate the steering operation tool 92 to stop the aircraft 10 in a large manner. The unit 58 is configured. On the other hand, as shown in the row of “small operation amount” in FIG. 8, when the operation amount of the steering operation tool 92 is smaller than the operation amount during the automatic traveling, the operation input processing unit 58 outputs the stop instruction. Without this, automatic driving is continued. That is, the operation input processing unit 58 as a function setting unit invalidates the function of the steering operation tool 92 during automatic traveling, and stops the vehicle when the steering operation tool 92 is operated larger than a preset operation amount. To instruct. Thereby, the possibility that the body 10 stops due to an erroneous operation such as touching the steering operation tool 92 by the body of the observer is reduced.

As described above, the state input processing unit 57 as the body state detection unit is configured to control the body 10 based on the running state sensor group 63 (see FIGS. 5 and 6) and the work state sensor group 64 (see FIGS. 5 and 6). Detect the state of. Then, when the operating tool is operated, the operation input processing unit 58 as a function setting unit enables or disables the function of the operating tool according to the state of the machine 10.

[Another embodiment of the first embodiment]
The present invention is not limited to the configuration illustrated in the above-described first embodiment, but will exemplify another representative embodiment of the present invention.

(Another Embodiment 1 of First Embodiment) In the above-described embodiment, when the main shift operation tool 91 is operated in a state where the function of the main shift operation tool 91 is disabled, the operation input processing unit 58 stops. Although the aircraft 10 is configured to stop according to the instruction, the invention is not limited to this embodiment. Even if the main shift operation tool 91 is operated in a state where the function of the main shift operation tool 91 is disabled, the operation input processing unit 58 may not be configured to output the stop instruction. For example, in a state in which the function of the main speed change operation tool 91 is disabled, the operation input processing unit 58 may have a configuration in which the operation of the main speed change operation tool 91 is not accepted and the stop instruction is not output. In this state, the configuration may be such that the position of the main transmission operation tool 91 automatically returns to the position before the operation.

For example, when the forward traveling by the automatic traveling is performed, the operation input processing unit 58 does not accept the operation of the main transmission operation tool 91 even if the main transmission operation tool 91 is rocked in the reverse speed change area. A configuration in which the position of the shift operation tool 91 automatically returns to the position before the operation may be employed. Also, when the reverse traveling by the automatic traveling is performed, even if the main speed change operation tool 91 is rocked, the operation input processing unit 58 does not accept the operation of the main speed change operation tool 91 and the position of the main speed change operation tool 91 is changed. May automatically return to the position before the operation. That is, when the operating tool is operated, the operation input processing unit 58 as the function setting unit changes the function of the operating tool according to the state of the body 10 detected by the state input processing unit 57 as the machine state detecting unit. Any configuration that enables or disables the configuration may be used.

(Alternative Embodiment 2 of First Embodiment) In the above-described embodiment, when the vehicle is traveling backward by automatic traveling, the operation input processing unit 58 as a function setting unit performs all functions of the main speed change operation tool 91. Is invalidated, but is not limited to this embodiment. For example, when the reverse traveling is performed by the automatic traveling, the operation of the main speed change operation tool 91 in the forward speed change area may be enabled. With this configuration, even while the vehicle is traveling backward, the observer can adjust the vehicle speed in preparation for the next forward traveling.

(Alternative Embodiment 3 of First Embodiment) In the above-described embodiment, when the automatic operation traveling is performed, the operation input processing unit 58 activates the function of the reaping elevating lever 31 and performs the automatic turning traveling. Alternatively, the function of the mowing elevating lever 31 is invalidated when the automatic discharge traveling is being performed, but the present invention is not limited to this embodiment. For example, the operation input processing unit 58 may enable the function of the harvesting elevating lever 31 even when the automatic turning travel is being performed, or may perform the harvesting even when the automatic discharge travel is being performed. The function of the lifting lever 31 may be enabled.

(Fourth Embodiment of the First Embodiment) In the above-described embodiment, the operation input processing unit 58 invalidates the function of the steering operation tool 92 during automatic traveling, and operates the steering operation tool 92 in a preset operation. It is configured to instruct a stop when operated larger than the amount, but is not limited to this embodiment. For example, the operation input processing unit 58 may be configured to simply invalidate the function of the steering operation tool 92 during automatic traveling.

(Fifth Embodiment of First Embodiment) In the above-described embodiment, the switchback turn traveling shown in FIGS. 3 and 7 causes the body 10 to turn 180 degrees, but is not limited to this embodiment. The switchback turn traveling may be, for example, a process of turning the body 10 to about 90 degrees.

(Embodiment 6 of the first embodiment) Each functional unit in the above embodiment can be configured as a traveling system for a harvester. In addition, each functional unit in the above-described embodiment can be configured as a traveling program for the harvester. This running program is stored in a storage medium such as an optical disk, a magnetic disk (for example, a hard disk), a semiconductor memory (for example, flash memory, EPROM, EEPROM, mask ROM, FeRAM, MRAM, and ReRAM), and can be read by a computer. good. Further, the processing performed by each functional unit in the above-described embodiment may be configured as a traveling method.

[Description of Second Embodiment]
FIG. 9 shows a combine control system according to a second embodiment of the present invention. The control system of the combine includes a control unit 5 (control device) composed of a number of electronic control units called ECUs connected via an in-vehicle LAN, and various input / output devices for performing signal communication and data communication with the control unit 5. It is composed of

9, a satellite navigation module 81 (satellite positioning unit) and an inertial navigation module 82 (inertial navigation unit) included in the vehicle position detection module 80, a notification device 62, a traveling state sensor group 63, and a work state sensor group 64, a device driver 65, an operating device 70 (including a traveling device group 71 and a working device group 72), and a traveling operation unit 90 (a main shift operation device 91, a steering operation device 92, a mode switching operation device 93, and an automatic (Including the travel permission operation tool 94) is as described above with reference to FIG. In the control unit 5 of FIG. 9, the configurations of the work control unit 52, the vehicle position calculation unit 55, the notification unit 56, and the output processing unit 59 are as described above with reference to FIG. The input processing unit 570 includes the state input processing unit 57 and the operation input processing unit 58 in FIG. Note that the work operation unit 30 shown in FIG. 5 may be connected to the input processing unit 570.

The control unit 5 (control device) shown in FIG. 9 as the second embodiment is further connected to the general-purpose terminal 4 via the in-vehicle LAN. The general-purpose terminal 4 is a tablet computer having a touch panel 40. The general-purpose terminal 4 includes a route calculation unit 41, a work traveling management unit 42, and an input / output control unit 43. The input / output control unit 43 also has a function of constructing a graphic interface using the touch panel 40 and a function of exchanging data with the management computer 100 at a remote place via a wireless line or the Internet. In addition, the general-purpose terminal 4 functions as a device that notifies a driver or the like of a working state, a running state, and various kinds of information to a driver or the like through display on the touch panel 40, similarly to the notification device 62. In this embodiment, as shown in FIG. 10, a mode switching operation tool 93 (mode switching switch) and an automatic traveling permission operation tool 94 are attached to the right side of the general-purpose terminal 4.

As shown in FIG. 9, the work traveling management unit 42 includes a traveling locus calculation unit 421, a work area determination unit 422, and a discharge position setting unit 423. The travel locus calculation unit 421 calculates a travel locus based on the own vehicle position given from the control unit 5. The work area determination unit 422, as shown in FIG. 2, based on the traveling trajectory obtained by manually traveling the outer circumference area SA several times in the field, combine the outer circumference area SA and the work target area CA Is divided into The outermost line of the outer peripheral area SA calculates the boundary line with the ridge of the field, and the innermost line of the outer peripheral area SA calculates the unworked area (the shape of the work target area CA) in which automatic traveling is performed. When the grain tank 14 is full, the grains in the grain tank 14 are discharged to the transport vehicle CV by the grain discharge device 18, and the discharge position setting unit 423 sets the discharge stop position of the combine at that time. Set. The discharge stop position is limited so as to be set in an outer peripheral area SA formed on the outer peripheral side of the field by peripheral mowing traveling and at a position other than a corner of the polygonal outer peripheral area SA.

The route calculation unit 41 calculates a traveling route for automatic traveling with respect to the unworked area determined by the work area determination unit 422. A traveling pattern (reciprocating traveling pattern or spiral traveling pattern) for automatically traveling in the non-work area is input through the touch panel 40. When the driver inputs that the manual traveling in the outer peripheral area SA has been completed, the route calculation in the selected route pattern is automatically performed.

Like the travel control unit 51 described above with reference to FIG. 5, the travel control unit 510 illustrated in FIG. 9 has an engine control function, a steering control function, a vehicle speed control function, and the like. give. The combine can travel in both an automatic operation in which harvesting is performed by automatic traveling and a manual operation in which harvesting is performed by manual traveling. The traveling control unit 510 includes a manual traveling control unit 511, an automatic traveling control unit 512, a traveling route setting unit 513, and an automatic traveling management unit 514. The manual travel control unit 511 has the same configuration as the manual travel control unit 51A shown in FIG. The automatic traveling control unit 512 has the same configuration as the automatic traveling control unit 51B shown in FIG. The traveling route setting unit 513 is obtained by incorporating the traveling route setting unit 54 shown in FIG.

When a command to switch to the automatic traveling mode is output based on the operation of the mode switching operation tool 93, the automatic traveling management unit 514 determines whether to permit the automatic traveling based on the preset automatic traveling permission condition. I do. If the result of the determination is permission, the automatic traveling management unit 514 gives an automatic traveling start command to the automatic traveling control unit 51B. Note that the automatic traveling management section 514 may include the configuration of the traveling mode management section 53 shown in FIG.

The automatic traveling permission conditions relating to the machine state set in this embodiment are listed below.
(1) Relation of positioning data (1-1) The accuracy of the positioning data included in the position information from the satellite navigation module 81 exceeds a predetermined level.
(1-2) Since the satellite navigation module 81 uses RTK (Real Time Kinematic) GPS, the base station is located within 10 m of the predetermined position.

(2) Vehicle condition relationship (2-1) The entrance door of the cabin covering the driving unit 12 is closed.
(2-2) A seat belt is worn.
(2-3) The grain discharging device 18 is held at the storage position.
(2-4) Not refueling.
(2-5) Fine adjustment data of the operating device 70 is set.
(2-6) The main shift operation tool 91 (main shift lever) and the steering operation tool 92 (steering lever) are in the neutral position.
(2-7) The cutting threshing lever is at the stop position.
(2-8) The parking brake is released.
(2-9) The inclination of the body 10 is within a predetermined range.
(2-10) No clogging has occurred in the crop transfer system.
(2-11) The grain tank 14 is not full.

(3) Control relations (3-1) No ECU abnormality has occurred.
(3-2) No communication abnormality has occurred in the in-vehicle LAN.
(3-3) The discharge stop position is set in the discharge position setting unit 423.

(4) Travel Route Relationship (4-1) Map information of the work target area CA which is an unworked area is created, and a travel route for automatically traveling in the work target area CA is calculated.
(4-2) The traveling route (automatic traveling start traveling route) used when starting the automatic traveling selected by the traveling route setting unit 513 is captured at the current vehicle position, in other words, combine. Is located at the automatic driving start point where the automatic driving start driving route can be captured.

捕捉 Using FIG. 11, the capture of a traveling route will be schematically described. FIG. 11 schematically shows a combine, a traveling route, and a route search zone. In the drawing, CP is a reference point of the combine, and the own vehicle position calculated by the own vehicle position calculation unit 55 is the coordinate position of this reference point. The automatic traveling start traveling route is indicated by Ls, and the other traveling routes are indicated by Lo. In this example, the path search zone, which is lightly painted in the figure, has a sector shape with a central angle of about 45 ° that spreads in the traveling direction around the own vehicle position. From this, the automatic traveling permission condition that the traveling route used for starting the automatic traveling is captured at the own vehicle position is satisfied if the automatic traveling start traveling route is found in the route search zone. When a traveling route is calculated and a traveling pattern is selected, an automatic traveling start point is calculated. At this time, the automatic driving start point is calculated such that when the combine is located near the automatic driving start point, the automatic driving start driving route is captured in the route search zone.

The automatic driving start point is calculated by a different algorithm depending on the selected driving pattern. In the reciprocating traveling pattern, as shown in FIG. 12, an end of any one of a plurality of traveling paths (in FIG. 12, denoted by reference symbols L1 to L13) covering the work target area CA. (Indicated by an arrow in FIG. 12). However, basically, in consideration of work efficiency, the outermost traveling route L1 close to the current position of the host vehicle of the combine is set as the automatic traveling start traveling route Ls. However, when the work target area CA is vast, a travel path that divides the work target area CA into two, which is referred to as intermediate split travel, is set as the automatic travel start travel path Ls. The target traveling route after the automatic traveling start traveling route Ls is set in consideration of a distance required for a 180-degree U-turn of the combine.

In the spiral traveling pattern, as shown in FIG. 13, the automatic traveling start point is set in the outer peripheral area SA near any corner of the outermost spiral traveling path (in FIG. 13, L1... L4 is provided). Can be set. In the example of FIG. 13 as well, in consideration of work efficiency, the counterclockwise running route L1 at the corner closest to the current vehicle position of the combine is set as the automatic running start running route Ls.

すると When all the automatic driving permission conditions are satisfied, it is notified that the automatic driving is permitted. In the automatic driving permission state, the combine is stopped, but is in the automatic driving state. The first button and the second button constituting the automatic driving permission operation tool 94 have a lamp function, and are turned on in the automatic driving permission state. Note that the first button and the second button repeatedly flash rapidly in a state where the combine has reached an automatic traveling start point at which the combine can capture the automatic traveling start traveling route. When the first button and the second button are pressed and all the automatic driving permission conditions are satisfied, the blinking changes to lighting. When the driver displaces the main shift operation tool 91 from the neutral position to the forward shift position in the automatic driving permission state (the combine is stopped but the automatic driving state is maintained), the displacement is triggered. Then, the traveling start command is given to the automatic traveling control unit 512, and the combine starts the automatic traveling along the automatic traveling start traveling route. Note that the automatic traveling permission operation tool 94 is not limited to two of the first button and the second button, and may be configured by three or more buttons.

If the above-mentioned automatic traveling permission condition is not satisfied during the automatic traveling, the automatic traveling is stopped. The automatic driving stop conditions for stopping the automatic driving are listed below.
(1) Relation of positioning data (1-1) Accuracy of positioning data is reduced below a predetermined level.

(2) Vehicle condition relationship (2-1) The entrance door of the cabin is opened.
(2-2) The seat belt is detached after a predetermined time.
(2-3) The grain discharging device 18 operates.
(2-4) Slip exceeding the allowable range occurs.
(2-5) The steering operation tool 92 (steering lever) is operated.
(2-6) The main shift operation tool 91 (main shift lever) is operated to the stop position during forward running, or the main shift operation tool 91 is operated during reverse running.
(2-7) The harvesting threshing lever is operated.
(2-8) The parking brake is operated.
(2-9) The body inclination exceeds a predetermined range.
(2-10) Clogging occurs in the crop transport system.

(3) Control relationship (3-1) An abnormality occurs in the ECU.
(3-2) A communication error occurs in the in-vehicle LAN.
(3-3) The mode switching operation tool 93 (mode switching switch) is switched to the manual traveling mode.
(3-4) At least one of the first button and the second button of the automatic traveling permission operation tool 94 is operated.

(4) Travel route relationship (4-1) The travel route cannot be captured for a predetermined time or more.

(4) The touch panel 40 of the general-purpose terminal 4 has a function as a graphic interface capable of input and output, so that various input operations can be performed. However, operation during traveling has a safety problem. However, the touch panel 40 displays information that the user wants to check even during traveling, such as the position of the combine in the field, the relationship between the traveling route that is the traveling target and the position of the own vehicle, and the like. For this reason, even during traveling, only the screen enlargement, the screen reduction, and the current location display of the touch panel 40 can be operated.

(4) In the spiral running pattern, as shown in FIG. 4, an alpha turn using straight running, backward turning, and forward turning is used as a quick and space-saving turning. The outer peripheral area SA, which is a cut area, is used as a space for the direction change at such a corner. However, as the work traveling in the spiral traveling pattern progresses, the outer peripheral area SA becomes larger and may be used for the direction change. The space that can be made becomes large. When the outer peripheral area SA becomes large in this way, in the counterclockwise spiral running, it is possible to shift to the next running route by making a rightward 270 degree turn as shown in FIG. This 270-degree turning does not require a reverse movement as compared to an alpha turn, and is a turning only forward movement. Therefore, there is an advantage that automatic steering control is simplified.

A farm work management unit 101 having a database function is built in the management computer 100 that can exchange data with the general-purpose terminal 4. The agricultural work management unit 101 stores and manages annual agricultural work information for each field. The farm work information includes map information on the field, map information on the farm road around the field, types and methods of the farm work performed on the field, and the like. For example, as the agricultural work information on the harvesting operation by the combine, the number of laps of the surrounding mowing, the adopted traveling pattern, the discharge stop which is the stop position in the field when discharging the grains accumulated in the grain tank 14 to the transport vehicle CV. A position, a traveling route, a traveling locus, a yield map, and the like are stored and managed. The agricultural work information stored for each harvest operation is then used for harvest operations and other agricultural operations. For example, when a harvesting operation is performed, if a traveling pattern in the previous harvesting operation, a discharge stop position, or the like is used as an initial value, the time and effort for the initial setting can be reduced.

[Another embodiment of the second embodiment]
(Alternative Embodiment 1 of Second Embodiment) The automatic driving permission condition and the automatic driving stop condition shown in the above-described second embodiment are examples, and the automatic driving start driving route characterizing the present invention. Any condition other than the condition that the vehicle is located at the automatic driving start point where the vehicle can be captured can be freely selected.

(Embodiment 2 of the Second Embodiment) Each functional unit shown in FIG. 9 is divided mainly for the purpose of explanation. In practice, each functional unit may be integrated with another functional unit, or may be divided into a plurality of functional units. For example, the functional unit constructed in the general-purpose terminal 4 may be incorporated in the control unit 5.

(Another Embodiment 3 of Second Embodiment) In the above-described second embodiment, the driver manually operates the combine, and as shown in FIG. Harvesting is performed so as to make a round, and thereafter, a traveling route is calculated and the mode is switched to automatic operation. However, the present invention is not limited to this, and the driving method may be such that a traveling route for a round trip is first calculated, the combine is automatically driven, and when a special situation occurs, the driving is switched to the manual driving. In addition, a driving method in which a straight or substantially straight traveling route is automatically operated, and a traveling route that involves a sharp turn such as a change of direction may be a manually operated driving method. At this time, the above-described automatic traveling permission condition is also applied to the transition from the manual driving to the automatic driving.

(Another Embodiment 4 of Second Embodiment) Each functional unit in the above-described embodiment can be configured as a traveling system for a harvester. In addition, each functional unit in the above-described embodiment can be configured as a traveling program for the harvester. This running program is stored in a storage medium such as an optical disk, a magnetic disk (for example, a hard disk), a semiconductor memory (for example, flash memory, EPROM, EEPROM, mask ROM, FeRAM, MRAM, and ReRAM), and can be read by a computer. good. Further, the processing performed by each functional unit in the above-described embodiment may be configured as a traveling method.

The configuration disclosed in the above-described embodiment (including the first embodiment, the second embodiment, and each of the other embodiments, the same applies hereinafter) is disclosed in another embodiment unless inconsistency arises. It is possible to apply in combination with the configuration. The embodiment disclosed in the present specification is an exemplification, and the embodiment of the present invention is not limited thereto, and can be appropriately modified without departing from the object of the present invention.

The present invention can be used not only for a normal combine but also for a self-contained combine. The present invention can also be used for various harvesters such as a corn harvester, a potato harvester, a carrot harvester, and a sugarcane harvester.

(First embodiment)
10: Car body 31: Harvesting elevating lever (harvester operating tool)
57: state input processing unit (machine state detection unit)
58: Operation input processing unit (function setting unit)
91: Main speed change operation tool (speed change operation tool)
92: Steering operation tool (turning operation tool)
DP: Emission position (other target point)
H: Harvester (harvester)
L: Line (travel route)
(Second embodiment)
4: General-purpose terminal 40: Touch panel 41: Route calculation unit 42: Work travel management unit 421: Travel locus calculation unit 422: Work area determination unit 423: Discharge position setting unit 43: Input / output control unit 5: Control unit (control unit)
510: travel control unit 511: manual travel control unit 512: automatic travel control unit 513: travel route setting unit 514: automatic travel management unit 52: work control unit 55: own vehicle position calculation unit 56: notification unit 80: own vehicle position Detection module 81: Satellite navigation module (satellite positioning unit)
82: Inertial navigation module (Inertial navigation unit)
90: Travel operation unit 91: Main transmission operation tool (main transmission lever)
93: Mode switch (mode switch)
94: Automatic traveling permission operating tool 100: Management computer 101: Farm work management unit CA: Work target area SA: Outer circumference area

Claims

A harvester capable of automatically traveling in a field,
An operating tool having a function capable of changing the state of the aircraft while continuing the automatic traveling during the automatic traveling,
An aircraft state detection unit that detects a state of the aircraft,
And a function setting unit that enables or disables the function according to the state of the aircraft detected by the aircraft state detection unit when the operating tool is operated.
As the operating tool, a shift operating tool for instructing a change in forward / reverse speed is provided,
The function setting section activates the function of the speed change operation tool when the speed change operation tool is operated within the forward speed change area when the forward running is performed by the automatic running, and 2. The harvester according to claim 1, wherein the function of the speed change operation tool is invalidated when the operation tool is operated in the reverse speed change area. 3.
As the operating tool, a shift operating tool for instructing a change in forward / reverse speed is provided,
The function setting unit is configured such that when the reverse traveling is being performed by the automatic traveling, the shift operation tool is operated regardless of whether the shift operation tool is operated in the forward speed change area or the reverse speed change area. The harvester according to claim 1, wherein the function is invalidated and a stop instruction is issued.
In the automatic traveling, an automatic work traveling to travel while harvesting a crop along a set traveling route, an automatic turning traveling to turn toward the next traveling route after the completion of the automatic traveling, and the traveling route Automatic discharge driving to leave the vehicle and move to another target point,
As the operating tool, a harvesting unit operating tool for operating a harvesting unit is provided,
The function setting unit, when the automatic work travel is being performed, validates the function of the harvesting unit operation tool, and when the automatic turning travel or the automatic discharge travel is being performed, The harvester according to any one of claims 1 to 3, wherein the function of the harvesting unit operation tool is invalidated.
A turning operation tool for instructing turning of the aircraft is provided as the operation tool,
The function setting unit invalidates the function of the turning operation tool during the automatic traveling, and instructs a stop when the turning operation tool is operated larger than a preset operation amount. 5. The harvester according to any one of 4.
A traveling system for a harvester capable of automatically traveling in a field,
An aircraft state detection unit that detects the state of the aircraft,
When an operating tool having a function capable of changing the state of the aircraft while continuing the automatic traveling is operated during the automatic traveling, according to the state of the aircraft detected by the aircraft state detection unit, And a function setting unit for enabling or disabling the function.
The operation tool is a speed change operation tool for instructing a forward / backward speed change,
The function setting section activates the function of the speed change operation tool when the speed change operation tool is operated within the forward speed change area when the forward running is performed by the automatic running, and The traveling system according to claim 6, wherein the function of the shift operation tool is invalidated when the operation tool is operated in the reverse speed change area.
The operation tool is a speed change operation tool for instructing a forward / backward speed change,
The function setting unit is configured such that when the reverse traveling is being performed by the automatic traveling, the shift operation tool is operated regardless of whether the shift operation tool is operated in the forward speed change area or the reverse speed change area. The traveling system according to claim 6, wherein the function is invalidated and a stop is instructed.
In the automatic traveling, an automatic work traveling to travel while harvesting a crop along a set traveling route, an automatic turning traveling to turn toward the next traveling route after the completion of the automatic traveling, and the traveling route Automatic discharge driving to leave the vehicle and move to another target point,
The operating tool is a harvesting section operating tool for operating the harvesting section,
The function setting unit, when the automatic work travel is being performed, validates the function of the harvesting unit operation tool, and when the automatic turning travel or the automatic discharge travel is being performed, The traveling system according to any one of claims 6 to 8, wherein the function of the harvesting unit operation tool is invalidated.
The operating tool is a turning operating tool for instructing the turning of the aircraft,
7. The function setting unit according to claim 6, wherein the function of the turning operation tool is invalidated during the automatic traveling, and the vehicle is instructed to stop when the turning operation tool is operated larger than a preset operation amount. The traveling system according to claim 9.
A traveling program for a harvester capable of automatically traveling in a field,
An aircraft status detection function that detects the status of the aircraft,
When an operating tool having a function capable of changing the state of the aircraft while continuing the automatic traveling is operated during the automatic traveling, according to the state of the aircraft detected by the aircraft state detection function, And a setting function for enabling or disabling the function.
The operation tool is a speed change operation tool for instructing a forward / backward speed change,
The setting function activates the function of the speed change operation tool when the speed change operation tool is operated in a forward speed change area when the forward movement is performed by the automatic driving, and performs the speed change operation. The traveling program according to claim 11, wherein the function of the shift operation tool is invalidated when the tool is operated in a reverse speed change area.
The operation tool is a speed change operation tool for instructing a forward / backward speed change,
The setting function is configured such that when the reverse traveling is being performed by the automatic traveling, the shift operation tool is operated regardless of whether the shift operation tool is operated in the forward speed change area or the reverse speed change area. The running program according to claim 11, wherein the function is invalidated and a stop is instructed.
In the automatic traveling, an automatic work traveling to travel while harvesting a crop along a set traveling route, an automatic turning traveling to turn toward the next traveling route after the completion of the automatic traveling, and the traveling route Automatic discharge driving to leave the vehicle and move to another target point,
The operating tool is a harvesting section operating tool for operating the harvesting section,
The setting function validates the function of the harvesting section operating tool when the automatic work traveling is performed, and performs the harvesting when the automatic turning traveling or the automatic discharging traveling is performed. The traveling program according to any one of claims 11 to 13, wherein the function of the section operating tool is invalidated.
The operating tool is a turning operating tool for instructing the turning of the aircraft,
The said setting function invalidates the said function of the said turning operation tool during the said automatic driving | running, and instruct | indicates a stop when the turning operation tool is operated larger than a preset operation amount. The traveling program according to any one of the above.
A computer-readable recording medium on which the traveling program according to any one of claims 11 to 15 is recorded.
A traveling method for a harvester capable of automatically traveling in a field,
An aircraft state detection step of detecting an aircraft state;
When an operating tool having a function capable of changing the state of the aircraft while continuing the automatic traveling is operated during the automatic traveling, according to the state of the aircraft detected by the aircraft state detection function, And a setting step of enabling or disabling the function.
A harvester capable of automatic traveling and manual traveling,
A manual travel control unit that performs the manual travel based on a manual operation signal,
A route calculation unit that calculates a traveling route for automatic traveling with respect to an unworked area formed on the inner peripheral side of the field by the peripheral mowing traveling in the manual traveling,
An automatic traveling control unit that performs the automatic traveling based on the own vehicle position and the traveling route;
An automatic traveling management unit that determines whether to permit the automatic traveling based on the automatic traveling permission condition, and when the result of the determination is permission, provides an automatic traveling start command to the automatic traveling control unit.
The harvester, wherein the automatic traveling permission condition includes that the vehicle is located at an automatic traveling start point capable of capturing an automatic traveling start traveling route selected from the traveling route.
A satellite positioning unit that outputs position information used to calculate the vehicle position,
The harvester according to claim 18, wherein the automatic driving permission condition includes that the accuracy of the satellite positioning unit exceeds a predetermined level.
20. The harvester according to claim 19, wherein when the accuracy of the satellite positioning unit decreases to a predetermined level, the automatic traveling is canceled.
A discharge position setting unit that sets a discharge stop position for discharging the harvested crop is provided,
The harvester according to any one of claims 18 to 20, wherein the automatic traveling permission condition includes that the discharge stop position is set.
22. The harvester according to claim 21, wherein the discharge stop position is set in an outer peripheral area formed on the outer peripheral side of the field by the peripheral mowing traveling, and at a location other than a corner portion of the outer peripheral area.
The traveling pattern in the automatic traveling includes a reciprocating traveling pattern in which the plurality of parallel traveling paths are connected by a U-turn and a spiral traveling pattern in which the traveling path spirally travels along the outer edge of the unworked area. And
The harvester according to any one of claims 18 to 22, wherein the automatic traveling start point is calculated by a different algorithm according to the traveling pattern.
24. The harvester according to any one of claims 18 to 23, wherein the automatic travel start command is given to the automatic travel control unit with a trigger from a shift of a shift lever from a neutral position to a forward shift position as a trigger.
When the shift lever is displaced during the reverse travel in the automatic traveling, the vehicle stops, and the automatic traveling is released,
The harvester according to any one of claims 18 to 24, wherein the vehicle stops when the shift lever is displaced to a stop position during forward traveling in the automatic traveling.
The automatic driving permission condition includes an operation of an automatic driving permission operation tool,
The automatic traveling permission operation tool has a plurality of operation units, and in the manual traveling, a signal requesting the automatic traveling is output by an operation on the plurality of operation units, and in the automatic traveling, at least one of the operation units The harvester according to any one of claims 18 to 25, wherein the automatic traveling is canceled by an operation on.
The automatic traveling permission condition includes a specific aircraft state,
The harvester according to any one of claims 18 to 26, wherein in the automatic traveling, when an abnormality occurs in at least one of the body states, the automatic traveling is canceled.
A traveling system for a harvester capable of automatic traveling and manual traveling,
A manual travel control unit that causes the harvester to perform the manual travel based on a manual operation signal;
A route calculation unit that calculates a traveling route for automatic traveling with respect to an unworked area formed on the inner peripheral side of the field by the peripheral mowing traveling in the manual traveling,
An automatic traveling control unit that causes the harvester to perform the automatic traveling based on the own vehicle position and the traveling route,
An automatic traveling management unit that determines whether to permit the automatic traveling based on the automatic traveling permission condition, and when the result of the determination is permission, provides an automatic traveling start command to the automatic traveling control unit.
A traveling system in which the automatic traveling permission condition includes that the vehicle is located at an automatic traveling start point capable of capturing an automatic traveling start traveling route selected from the traveling route.
A satellite positioning unit that outputs position information used to calculate the vehicle position,
The traveling system according to claim 28, wherein the automatic traveling permission condition includes that the accuracy of the satellite positioning unit exceeds a predetermined level.
30. The traveling system according to claim 29, wherein the automatic traveling of the harvester is canceled when the accuracy of the satellite positioning unit decreases to a predetermined level.
A discharge position setting unit that sets a discharge stop position for discharging the harvested crop is provided,
31. The traveling system according to claim 28, wherein the automatic traveling permission condition includes that the discharge stop position is set.
32. The traveling system according to claim 31, wherein the discharge stop position is set in an outer peripheral area formed on the outer peripheral side of the field by the peripheral mowing traveling, and at a location other than a corner of the outer peripheral area.
The traveling pattern in the automatic traveling includes a reciprocating traveling pattern in which the plurality of parallel traveling paths are connected by a U-turn and a spiral traveling pattern in which the traveling path spirally travels along the outer edge of the unworked area. And
33. The traveling system according to claim 28, wherein the automatic traveling start point is calculated by a different algorithm according to the traveling pattern.
The travel system according to any one of claims 28 to 33, wherein the automatic travel start command is given to the automatic travel control unit with a displacement of a shift lever from a neutral position to a forward shift position as a trigger.
When the shift lever is displaced during reverse travel in the automatic traveling, the harvester is stopped, and the automatic traveling of the harvester is released,
The traveling system according to any one of claims 28 to 34, wherein the harvester is stopped when the shift lever is displaced to a stop position during forward traveling in the automatic traveling.
The automatic driving permission condition includes an operation of an automatic driving permission operation tool,
The automatic traveling permission operation tool has a plurality of operation units, and outputs a signal requesting the automatic traveling to the harvester by an operation on the plurality of operation units in the manual traveling. The traveling system according to any one of claims 28 to 35, wherein the automatic traveling of the harvester is canceled by an operation on the two operation units.
The automatic traveling permission condition includes a specific aircraft state,
The traveling system according to any one of claims 28 to 36, wherein, in the automatic traveling, when the abnormality occurs in at least one of the body states, the automatic traveling of the harvester is released.
A traveling program for a harvester capable of automatic traveling and manual traveling,
A manual travel control function for causing the harvester to perform the manual travel based on a manual operation signal;
A route calculation function for calculating a traveling route for automatic traveling with respect to an unworked area formed on the inner peripheral side of the field by the peripheral mowing traveling in the manual traveling,
An automatic traveling control function for causing the harvester to perform the automatic traveling based on the own vehicle position and the traveling route;
Determining whether to permit the automatic driving based on the automatic driving permission condition, and when the result of the determination is permission, causing the computer to execute an automatic driving management function of giving an automatic driving start command to the automatic driving control function;
A traveling program in which the automatic traveling permission condition includes that the vehicle is located at an automatic traveling start point capable of capturing an automatic traveling start traveling route selected from the traveling routes.
39. The traveling program according to claim 38, wherein the automatic traveling permission condition includes that the accuracy of a satellite positioning function for outputting position information used for calculating the own vehicle position exceeds a predetermined level.
40. The traveling program according to claim 39, wherein the automatic traveling of the harvester is canceled when the accuracy of the satellite positioning function decreases to a predetermined level.
Causing the computer to execute a discharge position setting function for setting a discharge stop position for discharging the harvested crop,
41. The traveling program according to claim 38, wherein the automatic traveling permission condition includes that the discharge stop position is set.
43. The travel program according to claim 41, wherein the discharge stop position is set in an outer peripheral area formed on the outer peripheral side of the field by the peripheral mowing traveling, and in a location other than a corner portion of the outer peripheral area.
The traveling pattern in the automatic traveling includes a reciprocating traveling pattern in which the plurality of parallel traveling paths are connected by a U-turn and a spiral traveling pattern in which the traveling path spirally travels along the outer edge of the unworked area. And
43. The traveling program according to claim 38, wherein the automatic traveling start point is calculated by a different algorithm according to the traveling pattern.
The running program according to any one of claims 38 to 43, wherein the automatic running start command is given to the automatic running control function by a displacement of a shift lever from a neutral position to a forward shift position as a trigger.
When the shift lever is displaced during reverse travel in the automatic traveling, the harvester is stopped, and the automatic traveling of the harvester is released,
The travel program according to any one of claims 38 to 44, wherein the harvester is stopped when the shift lever is displaced to a stop position during forward traveling in the automatic traveling.
The automatic driving permission condition includes an operation of an automatic driving permission operation tool,
The automatic traveling permission operation tool has a plurality of operation units, and outputs a signal requesting the automatic traveling to the harvester by an operation on the plurality of operation units in the manual traveling. The travel program according to any one of claims 38 to 45, wherein the automatic traveling of the harvester is released by an operation on the two operation units.
The automatic traveling permission condition includes a specific aircraft state,
The traveling program according to any one of claims 38 to 46, wherein in the automatic traveling, when an abnormality occurs in at least one of the body states, the automatic traveling of the harvester is canceled.
A computer-readable recording medium on which the travel program according to any one of claims 38 to 47 is recorded.
A traveling method for a harvester capable of automatic traveling and manual traveling,
A manual travel control step of causing the harvester to perform the manual travel based on a manual operation signal;
A route calculation step of calculating a traveling route for automatic traveling for an unworked area formed on the inner peripheral side of the field by the perimeter cutting traveling in the manual traveling,
An automatic traveling control step of causing the harvester to perform the automatic traveling based on the own vehicle position and the traveling route;
Determining whether or not to permit the automatic driving based on the automatic driving permission condition, and when the result of the determination is permission, an automatic driving management step of giving an automatic driving start command to the automatic driving control function,
The traveling method, wherein the automatic traveling permission condition includes that the vehicle is located at an automatic traveling start point at which an automatic traveling start traveling route selected from the traveling routes can be captured.