CN112752500A

CN112752500A - Harvester, travel system, travel method, travel program, and storage medium

Info

Publication number: CN112752500A
Application number: CN201980051221.2A
Authority: CN
Inventors: 中林隆志; 佐野友彦; 吉田脩; 阪口和央
Original assignee: Kubota Corp
Current assignee: Kubota Corp
Priority date: 2018-08-01
Filing date: 2019-06-26
Publication date: 2021-05-04
Also published as: KR20210038917A; WO2020026651A1

Abstract

A harvester capable of performing automatic travel of a field, comprising: an operation tool having a function of changing a state of the machine body while continuing the automatic travel during the automatic travel; a body state detection unit (57) that detects the state of the body; and a function setting unit (58) that, when the operating element is operated, enables or disables a function according to the state of the body detected by the body state detection unit (57).

Description

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

Technical Field

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.

Background

[ first background Art ]

For example, patent document 1 discloses a harvester capable of automatically traveling in a field. This harvester is provided with an operation tool such as a steering lever, for example, and a monitor (including a driver) ends automatic travel by operating the operation tool.

[ second background Art ]

Patent document 2 discloses a tractor including an automatic travel mode, a manual travel preparation mode, and an automatic travel preparation mode, wherein the automatic travel mode is a mode for automatically traveling along a set route, the manual travel mode is a mode for traveling in response to a human operation, the manual travel preparation mode is a transition mode from the automatic travel mode to the manual travel mode, and the automatic travel preparation mode is a transition mode from the manual travel mode to the automatic travel mode. In order to perform a field work by automatic travel, a tractor is manually moved to a work start position in a field. If the automatic travel start condition is satisfied here, the automatic travel preparation mode is entered, and if the data required for automatic travel are all available, the automatic travel mode is entered and automatic travel is started. The automatic travel start conditions include a vehicle speed equal to or lower than a set speed, a forward/reverse switching lever in a neutral state, a clutch pedal in an inoperative state, a brake pedal in an inoperative state, a parking lever in an inoperative state, a sub-shift lever in a low speed position, an engine speed equal to or higher than a set speed, a steering operation in a straight travel position, a normal battery voltage, a normal hydraulic pressure, and a normal cooling water temperature. The data required for automatic travel include travel route data, work data, position data from a GPS, and data from a gyro sensor and an orientation sensor.

Patent document 3 discloses a tractor including an automatic travel control unit that performs automatic travel based on a vehicle position and a target travel route, and a manual travel control unit that performs manual travel based on an operation signal from a manually operated travel operation unit. In this tractor, when the tractor is stopped during manual travel, it is estimated that the tractor enters the automatic travel from the manual travel under the conditions of detecting that the forward/reverse operation element is in the neutral state, detecting that the PTO drive operation element is in the disengaged state, confirming that the automatic travel enabled state is recognized, detecting that the automatic travel signal is in the activated state, and providing an automatic travel request signal requesting the automatic travel. When an automatic travel request signal generated by operating a travel operation means such as a switch or button provided in the tractor is input in a state where a signal (such as a GPS signal) relating to the vehicle position from the vehicle position detection module is also input, automatic travel of the vehicle is started.

Documents of the prior art

Patent document

Patent document 1 Japanese patent laid-open publication No. 2018-99043

Patent document 2 Japanese patent laid-open No. 2014-180894

Patent document 3 Japanese laid-open patent publication No. 2016-

Disclosure of Invention

Technical problem to be solved by the invention

The [ first technical problem ] corresponding to the above [ first background art ] is as follows. In the case where the harvester is automatically driven, the optimum conditions for the automatic driving vary depending on the state of the field and the type of crop. In order to realize the most suitable automatic traveling, it is conceivable to mount a learning function in the automatic traveling function and perform learning by repeating the automatic traveling of the field, but since the state of the field and the state of the crop change depending on the season, it is difficult to perform learning by the learning function appropriately. Therefore, it is desirable that the monitor can finely adjust the state of the machine body while operating the operating elements according to the state of the field and the type of crop, but if the monitor finishes the automatic travel each time the monitor operates the operating elements, the operability is impaired.

In view of the above circumstances, an object of the present invention is to provide a harvester that allows appropriate automatic travel by operating an operation tool under certain conditions while continuing the automatic travel.

The [ second technical problem ] corresponding to the above [ second background art ] is as follows. The tractor capable of automatic travel disclosed in patent document 2 and patent document 3 starts automatic travel under the following conditions: the vehicle is stopped at a position where automatic travel is to be started, and a condition that the state of the vehicle device is changed from manual travel to automatic travel is satisfied, and position data from a GPS or the like is acquired. During automatic travel, automatic steering is performed so that the center (control reference point) of the tractor calculated based on the acquired position data comes on a travel path calculated in advance. In this case, it is necessary to capture the travel route expanded on the memory based on the position of the vehicle in the parking state at the parking position at which the automatic travel is to be started. In a vehicle traveling on a road, since the target travel route is not a straight travel route but a route having a road width, a problem that the target travel route for automatic travel cannot be captured does not substantially occur. However, since an agricultural vehicle such as a harvester needs to automatically travel along a specific row formed in a field, it is very important to catch a travel path. When the parking position is not appropriate, there is a problem that the target travel route for the next automatic travel cannot be captured, or the calculation time until the capture becomes long and the automatic travel cannot be started. If the travel route estimated for automatic travel is not one as in one stroke, a problem arises in that a plurality of travel routes are captured, and a problem arises in that an erroneous travel route is captured. If such a travel route capture error occurs, even if the automatic travel is started by satisfying the condition for entering the automatic travel, the target for the automatic travel cannot be found, the automatic steering cannot be performed, and the vehicle is kept stopped. This may cause uneasiness to the driver and the monitor. From such a practical point of view, a harvester that eliminates the above-described problems and smoothly goes from manual travel to automatic travel is desired.

Means for solving the problems

The [ first solving means ] corresponding to the above [ first technical problem ] is as follows.

That is, the harvester of the present invention is a harvester capable of automatically traveling in a field, the harvester including: an operation tool having a function of changing a state of the machine body while continuing the automatic travel during the automatic travel; a body state detection unit that detects a state of the body; and a function setting unit that, when the operating element is operated, activates or deactivates the function in accordance with the state of the body detected by the body state detection unit.

According to the present invention, since the operating element has a function of changing the body state while continuing the automatic travel, the monitor can finely adjust the body state even during the automatic travel. Further, the operation of the operating element during automatic travel can be limited to a range necessary for changing the state of the machine body by a configuration in which the function of the operating element is enabled or disabled according to the state of the machine body. Thus, a harvester that allows the operator to be operated under certain conditions while continuing the automatic travel and performs the appropriate automatic travel can be realized.

In addition, the technical features of the harvester described above can also be applied to a travel system. In this case, the automatic travel system is used for a harvester capable of automatically traveling a field, and is characterized by comprising: a body state detection unit that detects a state of the body; and a function setting unit that, when an operation element having a function capable of changing the state of the machine body while continuing the automatic travel is operated, activates or deactivates the function according to the state of the machine body detected by the machine body state detection unit.

In addition, the technical features of the harvester described above can also be applied to a travel program. Therefore, the present invention can also set the driving program as a right object. A storage medium such as an optical disk, a magnetic disk, or a semiconductor memory, which stores a running program having the above-described technical features, can be a rights object. The travel program in this case is for a harvester capable of automatically traveling a field, and the travel program causes a computer to execute: a body state detection function of detecting a state of the body; and a setting function of enabling or disabling a function according to a state of the machine body detected by the machine body state detection function when an operation element having the function is operated during the automatic travel, the function being a function capable of changing the state of the machine body while continuing the automatic travel.

In addition, the technical features of the harvester, the travel system, and the travel program described above can be applied to a travel method. Therefore, the present invention can also be applied to a driving method. The traveling method in this case is used for a harvester capable of automatically traveling a field, and includes: a body state detection step of detecting a state of a body; a setting step of, when an operation element having a function capable of changing the state of the machine body while continuing the automatic travel is operated, enabling or disabling the function in accordance with the state of the machine body detected by the machine body state detection step.

In the present invention, it is preferable that the operating element includes a shift operating element that instructs a speed change of forward and reverse, and the function setting unit enables a function of the shift operating element when the shift operating element is operated in a forward speed change region and disables the function of the shift operating element when the shift operating element is operated in a reverse speed change region during forward travel by the automatic travel.

According to this configuration, since the operation of the shift operation element is effective in the forward speed change region while the forward travel is performed by the automatic travel, the vehicle speed of the forward travel can be adjusted by the manual operation. That is, the operation of the shift operation member during automatic travel can be limited to the necessary range for forward travel.

Preferably, the operating device includes a shift operating device that instructs a change in forward/reverse speed, and the function setting unit invalidates a function of the shift operating device and instructs a stop regardless of whether the shift operating device is operated in a forward speed change region or a reverse speed change region when the vehicle is traveling backward by the automatic travel.

In the reverse travel, the monitor is required to pay attention to the confirmation of the surroundings more than in the forward travel, and therefore, the parking of the machine body is prioritized over the adjustment of the vehicle speed based on the operation of the shift operation device. According to this configuration, when the supervisor tries to stop the combine harvester for an instantaneous judgment during automatic travel, the combine harvester can be stopped by operating the speed change operation device.

In the present invention, it is preferable that the automatic travel includes an automatic work travel in which the vehicle travels while harvesting crops along a set travel path, an automatic turning travel in which the vehicle turns toward the next travel path after the automatic work travel is completed, and an automatic discharge travel in which the vehicle departs from the travel path and moves to another target point, and the vehicle further includes, as the operating element, a harvesting unit operating element for operating a harvesting unit, and the function setting unit enables a function of the harvesting unit operating element when the automatic work travel is being performed, and disables the function of the harvesting unit operating element when the automatic turning travel or the automatic discharge travel is being performed.

According to this configuration, since the operation of the harvesting portion operating element is effective only during the automatic working travel, the operation of the harvesting portion operating element during the automatic travel can be limited to the necessary range for harvesting crops.

In the present invention, it is preferable that the operating element includes a turning operating element that instructs the body to turn, and the function setting unit invalidates a function of the turning operating element during the automatic travel and instructs the vehicle to stop when the turning operating element is operated by more than a preset operation amount.

According to this configuration, when the supervisor tries to stop the combine for an instantaneous judgment during automatic travel, the combine can be stopped by largely operating the turning operation tool. Further, according to this configuration, if the operation amount of the turning operation member is smaller than the preset operation amount, the harvester does not stop, so that the possibility of stopping the harvester against the will of the supervisor due to an erroneous operation such as the body of the supervisor contacting the turning operation member can be reduced.

The [ second solving means ] corresponding to the above [ second technical problem ] is as follows.

That is, according to the present invention, a harvester capable of automatic driving and manual driving, the harvester includes: a manual travel control unit that performs the manual travel based on a manual operation signal; a route calculation unit that calculates a travel route for automatic travel for an unprocessed region of a field, the unprocessed region being formed on an inner peripheral side of the field by wrap-around reaping travel based on the manual travel and being a region inside an outer peripheral region of the field that is an already-operated region; an automatic travel control unit that performs the automatic travel based on a vehicle position and the travel route; and an automatic travel management unit that determines whether or not to permit the automatic travel based on an automatic travel permission condition, and if the determination result is permission, gives an automatic travel start command to the automatic travel control unit. The automatic travel permission conditions include: the host vehicle is located at an automatic travel starting point capable of capturing an automatic travel start travel route, which is a route selected from the travel routes.

In automatic travel in which automatic steering is performed so that the vehicle position is aligned with the travel path calculated in advance, the automatic travel program needs to capture the travel path set near the vehicle position and specify the travel path to be the target of automatic travel. In this configuration, capturing the travel route used when the automatic travel is started (automatic travel start travel route) is one of the automatic travel permission conditions. Therefore, when the permission for the automatic traveling is made, the traveling path to be the target of the automatic steering is already captured on the program, and the deviation (the positional deviation or the azimuth deviation) between the traveling path required for the automatic steering and the vehicle position can be calculated. Thus, the following problems in the related art can be avoided: even if various devices mounted on the harvester are in a state suitable for automatic travel, the vehicle position is calculated and entry into automatic travel is permitted, but since a travel route to be a target of automatic steering is not found in a program, automatic travel is not started, and a driver and a monitor are anxious.

In addition, the technical features of the harvester described above can also be applied to a travel system. The automatic travel system in this case is an automatic travel system for a harvester capable of automatic travel and manual travel, and is characterized by comprising: 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 travel route for automatic travel for an unprocessed region of a field, the unprocessed region being formed on an inner peripheral side of the field by wrap-around reaping travel based on the manual travel; an automatic travel control unit that causes the harvester to perform the automatic travel based on a vehicle position and the travel path; an automatic travel management unit that determines whether or not to permit the automatic travel based on an automatic travel permission condition, and if the determination result is permission, gives an automatic travel start command to the automatic travel control unit; the automatic travel permission conditions include: the host vehicle is located at an automatic travel starting point capable of capturing an automatic travel start travel route, which is a route selected from the travel routes.

In addition, the technical features of the harvester described above can also be applied to a travel program. Therefore, the present invention can also set the driving program as a right object. A storage medium such as an optical disk, a magnetic disk, or a semiconductor memory, which stores a running program having the above-described technical features, can be a rights object. The travel program in this case is a travel program for a harvester capable of automatic travel and manual travel, and is characterized in that the travel program causes a computer to execute: a manual travel control function that causes the harvester to perform the manual travel based on a manual operation signal; a route calculation function that calculates a travel route for automatic travel for an unprocessed region of a field, the unprocessed region being formed on an inner peripheral side of the field by wrap-around reaping travel based on the manual travel; an automatic travel control function that causes the harvester to perform the automatic travel based on a vehicle position and the travel path; an automatic travel management function that determines whether or not to permit the automatic travel based on an automatic travel permission condition, and if the determination result is permission, gives an automatic travel start instruction to the automatic travel control function; the automatic travel permission conditions include: the host vehicle is located at an automatic travel starting point capable of capturing an automatic travel start travel route, which is a route selected from the travel routes.

In addition, the technical features of the harvester, the travel system, and the travel program described above can be applied to a travel method. Therefore, the present invention can also be applied to a driving method. The traveling method in this case is a traveling method for a harvester capable of performing automatic traveling and manual traveling, and is characterized by comprising: 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 travel route for automatic travel for an unprocessed region of a field, the unprocessed region being formed on an inner peripheral side of the field by wrap-around reaping travel based on the manual travel; an automatic travel control step of causing the harvester to perform the automatic travel based on a vehicle position and the travel path; an automatic travel management step of determining whether or not to permit the automatic travel based on an automatic travel permission condition, and if the determination result is permission, giving an automatic travel start instruction to the automatic travel control step; the automatic travel permission conditions include: the host vehicle is located at an automatic travel starting point capable of capturing an automatic travel start travel route, which is a route selected from the travel routes.

Even if the vehicle position calculated based on the position information from the satellite positioning unit captures the travel path, when the accuracy of the vehicle position is poor, there is a high possibility that an erroneous travel path is captured, in other words, a travel path unsuitable for automatic travel start is captured. 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 to calculate the vehicle position, and the like. Therefore, the accuracy of the satellite positioning unit is required to be at a level that can calculate the position of the vehicle to such an extent that an erroneous capturing error of the travel route does not occur. Therefore, in a preferred embodiment of the present invention, when a satellite positioning unit is provided and the satellite positioning unit outputs position information for calculating the position of the vehicle, the automatic travel permission conditions include: the accuracy of the satellite positioning unit exceeds a specified level.

In the automatic traveling, if the accuracy of the vehicle position is deteriorated, in other words, if the accuracy of the satellite positioning means is lowered, the deviation between the traveling path and the vehicle body becomes large. In the case of harvesters, in order to achieve good harvesting efficiency, it is important to harvest in alignment with the planting line of the harvest, i.e. the planting row, and a travel largely deviating from the planting row must be avoided. In a preferred embodiment of the present invention, the automatic travel is canceled when the accuracy of the satellite positioning means that outputs the position information for calculating the position of the vehicle decreases to a predetermined level. Even if the automatic travel is released due to the reduction in the accuracy of the satellite positioning unit, the harvesting work can be continued by the manual travel.

In the case where the harvester is a combine or the like that temporarily stores harvested products harvested as the harvester travels in a box, if the box is full, the harvested products need to be discharged to a transport vehicle waiting in the vicinity of the field. Therefore, if the tank is full in the automatic travel, it will travel to a discharge stop position for discharging the harvest. In the case where such traveling to the discharge parking position is also included in the automatic traveling, if the discharge parking position is not set in the control system for the automatic traveling, the automatic traveling to the discharge parking position when the tank is full cannot be performed, and the harvester is damaged. In order to avoid this, in one preferred embodiment of the present invention, the vehicle further includes a discharge position setting unit that sets a discharge stop position for discharging the harvested material, wherein the automatic travel permission conditions include: the discharge parking position has been set. Preferred evacuation parking positions are the following places: a place near the field boundary such as a ridge and where the harvester can freely travel during the operation and has already traveled around the harvesting to become a harvested area. However, since it is desired to ensure a space necessary for accurate positioning travel at the discharge parking position, the corner portion of the field is not appropriate. In a preferred embodiment of the present invention, the discharge parking position is set in an outer peripheral region formed on an outer peripheral side of the field by the wrap-around mowing travel, and is set in a place other than a corner portion of the outer peripheral region.

The automatic travel starting point is a position where an automatic travel starting travel route, which is a travel route at the time of starting automatic travel, can be captured, and the harvester needs to manually travel to the automatic travel starting point. The automatic travel starting point is preferably close to the automatic travel starting travel path. The automatic travel start travel route is one of the travel routes calculated for the non-working area before the start of automatic travel, and is the most suitable travel route for the first selection of the travel routes running out in order. In the case of a harvester, as a suitable travel pattern for running out of an inoperable area along a travel path, a reciprocating travel pattern in which a plurality of parallel travel paths are connected by U-turn to travel and a vortex travel pattern in which the travel pattern travels in a vortex shape along the outer edge of the inoperable area are known in the related art. In these two travel modes, even if the position where automatic travel is started is the same, the orientation of the body from which travel is started is not always the same. In a preferred embodiment of the present invention, the travel pattern of the automatic travel includes a reciprocating travel pattern in which a plurality of parallel travel paths are connected by a U-turn to travel, and an eddy travel pattern in which the travel paths travel in an eddy shape along an outer edge of the non-working area, and the automatic travel start point is calculated by an algorithm different from the travel pattern.

When the automatic travel permission condition is satisfied, the automatic travel control system enters an automatic travel permission state and waits for an input of an automatic travel start command. The automatic travel start instruction is generated based on an operation by a driver or a monitor. In the manual travel, the driver operates the shift lever from the neutral position to the forward shift position to actuate the machine body. Therefore, if an automatic travel start command for activating the machine body during automatic travel is also generated by the same operation, there is no difference between the manual operation and the automatic operation, which is preferable. In a preferred embodiment of the present invention, the automatic travel control unit is provided with an automatic travel start command under a trigger condition of a shift of the shift lever from the neutral position to the forward shift position.

In addition, in a driving operation of a harvester such as a combine, the shift lever not only determines a forward speed and a backward speed of the machine body, but also functions as a brake lever. This is because the traveling resistance of the field is large, and therefore, when the shift lever is returned to the neutral position, the machine body stops. Therefore, it is preferable to provide the same function to the shift lever also during automatic traveling. In particular, during automatic traveling, an emergency stop is required during backward traveling in which the field of view in the traveling direction is poor. Therefore, in a preferred embodiment of the present invention, when the shift lever is displaced during backward movement of the automatic travel, the vehicle stops and the automatic travel is released, and when the shift lever is displaced to a stop position during forward movement of the automatic travel, the vehicle stops. During the field travel of the harvester, the machine body is not necessarily stopped at the neutral position, and the machine body is also stopped at a shift position near the neutral position. In view of this, a shift position where such a body is stopped is defined herein as a parking position, which means a shift lever operation range including a neutral position. This is because, during traveling, even during automatic driving, there are not a few cases where the vehicle is temporarily stopped for field inspection or harvested material inspection. Therefore, maintaining the automatic travel state even when parking using the shift lever while traveling forward is preferable because the return to automatic travel becomes quick.

If the vehicle enters the automatic travel from the manual travel due to an accidental operation by the driver or the monitor, the driver or the monitor may feel a sudden and frightened feeling. In order to avoid this problem, it is preferable that the driver or the administrator manually output a signal requesting automatic travel with a clear intention. In a preferred embodiment of the present invention, the automatic travel permission condition includes an operation of an automatic travel permission operation member having a plurality of operation portions, the signal requesting the automatic travel is output by the operation of the plurality of operation portions during the manual travel, and the automatic travel is canceled by the operation of at least one of the operation portions during the automatic travel. In this configuration, in order to start the automatic travel, it is necessary to operate the plurality of operation units to output a signal requesting the automatic travel, and therefore, it is possible to avoid the automatic travel from being started accidentally.

In a harvester, a body state unsuitable for work travel, particularly automatic work travel, such as body inclination, engine abnormality, control system abnormality, and the like, may be suddenly generated. Automatic travel in such a machine body state must be avoided. In a preferred embodiment of the present invention, the automatic travel permission condition includes a specific machine body state, and the automatic travel is canceled when an abnormality occurs in at least one of the machine body states during the automatic travel.

Drawings

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

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

Fig. 3 is an explanatory diagram showing a travel pattern in which reciprocating travel in a U-turn is repeated in a travel path of automatic travel.

Fig. 4 is an explanatory diagram showing a traveling pattern in which the vehicle travels toward the center in a spiral shape.

Fig. 5 is a functional block diagram showing a configuration of a control system of a combine harvester according to a first embodiment.

Fig. 6 is a system block diagram showing a first embodiment of the control system for automatic traveling.

Fig. 7 is a diagram showing a first embodiment of a travel route and a discharge route for automatic travel.

Fig. 8 is a diagram showing a first embodiment of enabling or disabling the automatic travel operation device.

Fig. 9 is a functional block diagram showing a configuration of a control system of a combine harvester according to a second embodiment.

Fig. 10 is a plan view of the general-purpose terminal in the second embodiment.

Fig. 11 is an explanatory diagram illustrating the second embodiment of capturing a travel route.

Fig. 12 is an explanatory diagram of a second embodiment showing a relationship between a travel route and an automatic travel starting point in the reciprocating travel mode.

Fig. 13 is an explanatory diagram of the second embodiment showing the relationship between the travel route and the automatic travel starting point in the vortex travel pattern.

Fig. 14 is an explanatory diagram showing a second embodiment of a 270 ° turn in the swirl travel mode.

Detailed Description

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

[ integral construction of combine harvester ]

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

The traveling device 11 is provided at a lower portion of the machine body 10 in the combine harvester. The combine harvester can travel by itself through the travel device 11.

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

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

The harvesting unit H is provided at the front of the combine. Further, the conveyor 16 is adjacently disposed on the rear side of the harvesting device H. The harvesting device H includes a harvesting device 15 (cutting mechanism) and a reel 17. The harvesting device 15 harvests the planted vertical grain stalks in the field. In addition, the drum 17 rotationally drives and rakes the planted vertical grain stalks of the harvest object at one side. With this structure, the harvesting device H harvests grains (a kind of crop) in the field. Moreover, the combine harvester can perform harvesting travel (work travel): the planted vertical grain stalks in the field are harvested by the harvesting device H, and the field is driven by the driving device 11.

As such, the combine harvester has a harvesting device H that cuts standing straws as crops in a field.

The harvested straws harvested by the harvesting device 15 are transported to the threshing device 13 by the transporting device 16. In the threshing device 13, the cut grain stalks are subjected to threshing treatment. Grains obtained by the threshing process as a harvest are stored in a grain tank 14. The grains stored in the grain tank 14 are discharged outside the machine by the grain discharging device 18 as needed.

In addition, the driving unit 12 is provided with a general-purpose terminal 4. The general-purpose terminal 4 is capable of displaying various information. In the present embodiment, the general-purpose terminal 4 is fixed to the driver unit 12. Note that the general-purpose terminal 4 may be configured to be detachable from the cab 12, or may be located outside the combine.

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

The procedure for performing the harvesting operation of the field by the combine harvester is as follows.

First, a driver (monitor) manually operates the combine harvester, and as shown in fig. 2, harvesting travel is performed in a circle along a boundary line of a field at a peripheral portion in the field. This circling travel is called a wrap-around harvesting travel. An area that becomes a harvested area (a working area, a working place) by the circling harvesting travel is set as an outer peripheral area SA. Further, an area remaining as an uncut area (an unprocessed area ) inside the outer peripheral area SA is set as a target area CA. Fig. 2 shows an example of the outer peripheral area SA and the work target area CA. In this embodiment, the round-cutting travel is performed so that the work area CA has a rectangular shape. Of course, a triangular or pentagonal work area CA may be used.

At this time, the monitor runs the machine body 10 for two or three weeks in order to secure the width of the outer peripheral area SA to a certain extent. In this travel, the width of the outer peripheral area SA is increased by the size of the working width of the combine harvester every time the machine body 10 travels one round. If, for example, the first two or three weeks of travel is finished, the width of the peripheral area SA becomes about two to three times the working width of the combine.

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

Note that the transport vehicle CV shown in fig. 2 is capable of collecting and transporting grain discharged from the grain discharge device 18 of the combine harvester. When discharging grain, the combine harvester moves to the vicinity of the transport vehicle CV and then discharges the grain to the transport vehicle CV by the grain discharging device 18.

When the outer peripheral area SA and the work area CA are set, the travel route in the work area CA is estimated as shown in fig. 3 and 4. First, when the inside map data indicating the shape of the work target area CA is created, the route element is calculated. The path elements are calculated as follows: the path element is parallel to at least one side of the quadrangular work target area CA, and has an interval that takes into account the work width and the overlap amount. A travel route for automatic travel is calculated based on the route elements. The travel route is a route for automatically traveling the combine so as to cover the work area CA, and differs depending on the travel mode. As travel patterns mainly used in the combine harvester, a reciprocating travel pattern and a whirlpool travel pattern are illustrated in fig. 3 and 4. The reciprocating travel pattern is a travel pattern in which a plurality of parallel travel paths are connected by U-turn to travel, and the swirl travel pattern is a travel pattern in which the vehicle travels in a swirl along the outer edge of the work target area CA.

In the reciprocating travel mode shown in fig. 3, the combine travels by connecting the travel paths parallel to one side of the work area CA by U-turn travel. In the work target area CA, a plurality of parallel straight travel paths are generated in a strip shape, and the travel paths are set to be arranged at equal intervals. When the vehicle travels from one end of the travel path indicated by one straight line to one end of the travel path indicated by the other straight line, U-turn travel (for example, 180-degree direction change travel) is performed. Hereinafter, a running mode in which such parallel running paths are connected by U-turn running and automatic running is performed will be referred to as "reciprocating running". The U-turn running includes normal U-turn running and turn-back running. The normal U-turn running is performed only during forward movement of the machine body 10, and the running locus thereof is U-shaped. The normal U-turn driving shown in fig. 3 is a 180-degree turn including two forward 90-degree turns and straight running, and the straight running is sometimes omitted. The turning back travel is performed using the forward and backward movement of the machine body 10, and the travel locus thereof is not U-shaped, but as a result, the combine can obtain the same direction-changing travel as the ordinary U-turn travel. The return turn running shown in fig. 3 is 180-degree direction change using a forward 90-degree turn, a reverse turn, and a forward 90-degree turn. In order to perform the normal U-turn running, a distance of 2 or more running path elements is required between the route changeable point before the direction change running and the route changeable point after the direction change running. If it is a shorter distance than this, the turn-back turning travel is used. That is, since the return turning travel is performed for the backward traveling unlike the normal U-turn travel, there are many options that can be a target entry travel path element without the influence of the turning radius of the machine body 10. However, since the switching of forward and backward is performed in the switchback turning travel, the switchback turning travel basically takes more time than the ordinary U-turn travel.

In the vortex travel pattern shown in fig. 4, the combine travels in a circle like a vortex toward the center using a travel path similar to the outer shape of the work area CA. In a turn at a corner during running around, a turn called an alpha turn using a straight line, a reverse turn, and a forward turn is used. Note that, during the work, the vortex travel may be changed to the reciprocating travel or the reciprocating travel may be changed to the vortex travel.

Note that the travel paths shown in fig. 3 and 4 are not limited to straight lines, and may be curved lines, or a combination of curved lines and straight lines. The interval of the travel paths arranged in parallel is determined based on the working width, which is the cut width of the harvesting device H, and the overlap amount for absorbing the travel error. The estimated travel path is sequentially set based on the mode of work travel, and the combine harvester is automatically controlled to travel along the set travel path.

The above-described contents described based on fig. 1 to 4 are common to both the first embodiment and the second embodiment described later.

[ description of the first embodiment ]

As a first embodiment of the present invention, a control system of a combine harvester using the automatic steering system of the present invention is shown in fig. 5. The control system of the combine harvester 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 on-vehicle LAN. The control unit 5 is a core element of the control system, and is embodied as an aggregate of a plurality of ECUs. The signal from the own vehicle position detection module 80 is input to the control unit 5 through the in-vehicle LAN.

The control unit 5 includes, as an input/output interface, an output processing unit 59, a state input processing unit 57 as a body state detection unit, and an operation input processing unit 58 as a function setting unit. The output processing unit 59 is connected to various operating devices 70 via a device driver 65. The working devices 70 include a traveling device group 71 as a device related to traveling and a working device group 72 as a device related to work. The traveling device group 71 includes, for example, a steering device, an engine device, a transmission device, a brake device, and the like. The working equipment group 72 includes power control equipment and the like in the harvesting equipment (the harvesting unit H, the threshing unit 13, the conveying unit 16, and the grain discharging unit 18) shown in fig. 1.

The state input processing unit 57 is connected with a travel state sensor group 63, a work state sensor group 64, and the like. The traveling 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 working condition sensor group 64 includes a sensor for detecting the driving condition of the harvesting device (the harvesting device H, the threshing device 13, the conveying device 16, and the grain discharging device 18) shown in fig. 1, a sensor for detecting the condition of the grain stalks and grains, and the like. In this manner, the state input processing unit 57 as the machine body state detection unit detects the state of the machine body 10 (see fig. 1 to 3, the same applies hereinafter) via the travel 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 travel operation unit 90, and the like. The work operation unit 30 and the travel operation unit 90 are general terms of operation members that are manually operated by a driver (monitor) and operation signals of which are input to the control unit 5. The working operation unit 30 includes a harvesting lifter 31 as a harvesting unit operator for operating the harvesting device H (see fig. 1), and the harvesting lifter 31 is an operator for controlling the lifting of the harvesting device H by swinging back and forth. Although not shown, the harvesting unit H is driven to ascend when the harvesting lifter 31 swings forward and backward, and the harvesting unit H is driven to descend when the harvesting lifter 31 swings forward and backward. In addition, the lifting drive of the harvesting device H is stopped in a state where the harvesting lifter 31 is located at the front and rear neutral positions. The travel operation unit 90 includes a main shift operation element 91 (e.g., a main shift lever), a steering operation element 92 (e.g., a steering lever) as a turning operation element, a mode switching operation element 93 (e.g., a mode switching switch), an automatic travel permission operation element 94 (an automatic start operation element), and the like. The steering operation member 92 instructs turning of the machine body 10. The work operation unit 30 and the travel operation unit 90 have a function of being able to change the state of the machine body 10 while continuing the automatic travel during the automatic travel. When the operating elements are operated, the operation input processing unit 58 as a function setting unit enables or disables the functions of the operating elements depending on the state of the machine body 10, which will be described in detail later.

The main shift operation member 91 is, for example, a shift lever, and is an operation member for driving the traveling device 11 (see fig. 1) forward or backward and instructing a speed change of forward or backward. When the vehicle speed is adjusted to the neutral position where the vehicle speed is zero within the vehicle speed adjustment range of the main shift operation element 91, the traveling device 11 is stopped. The range of the vehicle speed adjustment range of the main shift operation element 91 located on the front side of the neutral position is a forward speed change range, and when the main shift operation element 91 is operated in the forward speed change range, the traveling device 11 is driven forward in accordance with the vehicle speed adjustment. Further, a range of the vehicle speed adjustment range of the main shift operation element 91 that is rearward of the neutral position is a reverse shift change range, and when the main shift operation element 91 is operated in the reverse shift change range, the traveling device 11 is driven in the reverse direction.

In the manual travel mode, when the steering operation member 92 is operated to swing left and right from the neutral position, the track speed of the left crawler and the track speed of the right crawler are adjusted, and the direction of the machine body 10 changes.

The mode switching operation element 93 is, for example, a mode switching switch having a function of transmitting a command for switching between an automatic travel mode and a manual travel mode to the control unit 5, the automatic travel mode being a mode for performing automatic driving, and the manual travel mode being a mode for performing manual driving. The automatic travel permission operation member 94 has a function of transmitting an automatic travel permission signal, which is a final permission signal for starting automatic travel, to the control unit 5 by an operation of the driver (one of the automatic travel permission conditions). In other words, the automatic start operating element 94 has a function of giving a final automatic start instruction for starting the automatic travel to the control unit 5. Note that, in fig. 5, only one automatic travel permission operation member 94 is shown, but in this embodiment, the automatic travel permission operation member 94 is configured by two push-button switches as two operation portions. When the first button (first operator) and the second button (second operator) constituting the automatic traveling permission operation member 94 are not simultaneously operated, the automatic traveling permission signal is not output and the automatic traveling permission condition is not satisfied. This prevents erroneous operation of the automatic traveling permission operation element 94.

The manual travel mode may be automatically entered from the automatic travel mode by software regardless of the operation of the mode switching operation tool 93. For example, if a situation in which automatic driving is not possible occurs, the control unit 5 forcibly executes entry from the automatic travel mode to the manual travel mode.

The reporting device 62 is a device for reporting a work travel state and various warnings to a monitor or the like, and is a buzzer, a lamp, a speaker, a display, or the like. The communication unit 66 is used to exchange data with the general-purpose terminal 4 (see fig. 1) or with a management computer provided at a remote location in the control system of the combine harvester. The general-purpose terminal 4 also includes a tablet computer operated by a monitoring person standing in a field or a monitoring person sitting in a combine harvester, a computer provided at home or a management office, and the like. Similarly to the notification device 62, the general-purpose terminal 4 also functions as a device for notifying the driver or the like of the work state, the travel state, and various information by displaying on a display.

The control unit 5 includes a travel control unit 51, a work control unit 52, a travel pattern management unit 53, a travel route setting unit 54, a vehicle position calculation unit 55, a notification unit 56, and the like. The vehicle position calculating unit 55 calculates the vehicle position, which is the map coordinates (or field coordinates) of a predetermined specific position of the vehicle body 10, based on the positioning data sequentially transmitted from the vehicle position detecting module 80. As the vehicle position, the position of a reference point (for example, the center of the vehicle body, the center of the harvesting device H shown in fig. 1, or the like) of the machine body 10 can be set. The vehicle position calculation unit 55 may calculate the vehicle position using the position vector and the travel distance from the inertial navigation module 82. The vehicle position calculation unit 55 may calculate the vehicle position by combining signals from the satellite navigation module 81 and the inertial navigation module 82. The vehicle position calculating unit 55 can acquire the accuracy level of the satellite navigation module 81 from the positioning data from the satellite navigation module 81. The accuracy level is determined by the number of satellites used to generate the positioning data, the strength of satellite radio, and the like. If the accuracy level is less than or equal to a predetermined level, the reliable vehicle position cannot be calculated, and therefore automatic traveling cannot be performed.

The reporting unit 56 generates report data based on instructions from the functional units of the control unit 5 and the like, and gives the report data to the reporting 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 gives a control signal to the travel device group 71. The work control unit 52 gives a control signal to the work equipment group 72 to control the operation of the harvesting work devices (the harvesting device H, the threshing device 13, the conveyor 16, the grain discharge device 18, and the like) shown in fig. 1.

The combine harvester can run in two driving modes, namely automatic driving and manual driving, wherein the automatic driving is a driving mode for harvesting operation through automatic driving, and the manual driving is a driving mode for harvesting operation through manual driving. Therefore, the travel control unit 51 includes a manual travel control unit 51A and an automatic travel control unit 51B. Note that the automatic travel mode is set when automatic driving is performed, and the manual travel mode is set for manual driving. Switching of the running mode is managed by the running mode management unit 53. That is, the running mode management unit 53 is configured to be able to switch the running mode between an automatic running mode in which automatic running is performed and a manual running mode in which manual running is performed.

Note that the running mode management unit 53 is configured to be switchable between the automatic running mode and the manual running mode, but the running mode is not limited to the automatic running mode and the manual running mode. For example, the following structure is also possible: when the travel mode management unit 53 switches from the automatic travel mode to the manual travel mode, the travel mode management unit 53 first switches to the manual preparation mode, and after the conditions for manual travel are met, switches to the manual travel mode. Further, the following structure is also possible: when the machine body 10 is stopped by operating the operation device during the automatic travel, the travel mode management unit 53 switches from the automatic travel mode to an abnormality mode indicating a state abnormality.

When the automatic travel mode is set, automatic travel is performed based on the control module shown in fig. 6. The automatic travel control unit 51B generates a vehicle speed change control signal including automatic steering and stopping, and controls the travel device group 71. The travel route is set by the travel route setting unit 54, and the vehicle position is calculated by the vehicle position calculating unit 55. Then, a control signal relating to automatic steering is generated so as to eliminate an azimuth offset and a positional offset between the vehicle position and the travel path. The control signal relating to the vehicle speed change is generated based on a vehicle speed value set in advance. As the vehicle speed value set in advance, a vehicle speed value set in accordance with the position of the main shift operation element 91 in the forward speed change region may be shown as an example. Note that when the stop instruction is output from the operation input processing unit 58, the automatic travel control unit 51B stops the travel device group 71 to stop the machine body 10 (see fig. 1 to 3), which will be described in detail later.

The travel route setting unit 54 generates a travel route by itself using a route calculation algorithm. Note that the travel route setting unit 54 may be configured to download and use a travel route generated by the general-purpose terminal 4 (see fig. 1), a remote management computer, or the like.

When the manual travel mode is selected, the manual travel control unit 51A generates a control signal and controls the travel device group 71 based on the operation of the monitor, thereby realizing manual driving. Note that, even in manual driving, the travel route calculated by the travel route setting unit 54 can be used to guide the combine to travel along the travel route.

[ regarding the activation and deactivation of the operation member in the first embodiment ]

When the automatic travel mode is selected, the operation elements included in the work operation unit 30 and the travel operation unit 90 are classified into operation elements that can be operated during automatic travel and operation elements that cannot be operated during automatic travel. For example, the steering operation member 92 cannot be operated during automatic traveling. Fig. 7 shows an example of automatic travel of the combine along the travel path, and fig. 8 shows the states of activation or deactivation of the operation members for each travel path.

In fig. 7, a plurality of routes L are formed in a strip shape as a travel route, and the machine body 10 reciprocates in order from the route L on the one end side of the field. A discharge position DP is set at a position of the ridge side where the transport vehicle CV stops in the peripheral area SA. In the automatic travel of the combine, after the mowing travel is completed along one route L, when the combine moves to an adjacent route L, the combine performs turning travel by turning back and turning travel. For example, after forward travel of the machine body 10 is performed along the route L (1) of the transition point and the forward travel path ML1(1), the machine body 10 is temporarily stopped, and backward travel of the machine body 10 is performed along the backward travel path ML2 (1). Then, after the machine body 10 stops again, forward travel of the machine body 10 is performed again along the forward travel path ML3(1) to reach the route L (2) of the transfer destination. The discharge path Pt is a path for moving the body 10 to the discharge position DP while deviating from the route L. Fig. 7 shows that when the body 10 travels forward along the route L (4), the grain stored in the grain tank 14 reaches a set amount, and the body 10 moves to the discharge position DP through the discharge path Pt. The amount of grain 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 work state sensor group 64. When the machine body 10 reaches the discharge position DP, the grain stored in the grain tank 14 is discharged to the carriage CV.

The automatic travel includes automatic work travel, automatic turning travel, and automatic discharge travel. The automatic operation travel is an automatic travel mode in which the combine travels along the set route L as the travel route while harvesting standing grain stalks as crops. The automatic turning travel is an automatic travel mode in which the machine body 10 turns toward the following route L after the completion of the automatic work travel, and the automatic turning travel is performed along the forward travel path ML1, the reverse travel path ML2, and the forward travel path ML 3. The automatic discharge travel is an automatic travel mode in which the machine body 10 is moved to the discharge position DP as another target point while departing from the route L as the travel path, and the automatic discharge travel is performed along the discharge path Pt.

When the mode switching operation element 93 (see fig. 5) is turned on, the machine body 10 reaches the start position of the route L (1), and predetermined conditions are met, the travel mode of the control unit 5 can be switched to the automatic travel mode. When the automatic travel permission operation element 94 (see fig. 5) is turned on, the travel mode of the control unit 5 enters the automatic travel mode.

When the automatic travel of the machine body 10 is performed in the field, the forward travel of the machine body 10 is performed on the route L, the forward travel path ML1, the forward travel path ML3, and the discharge path Pt. During this time, since the main shift operation element 91 (see fig. 5 and 6, the same applies hereinafter) is effectively operated in the forward speed change region, when the main shift operation element 91 is operated in the forward speed change region, the forward travel is continued while the vehicle speed of the machine body 10 is adjusted. That is, when the main shift operation element 91 is operated in the forward speed change region during forward running by automatic running, the operation input processing unit 58 (see fig. 5 and 6, the same applies hereinafter) as the function setting unit validates the function of the main shift operation element 91.

When the main shift operation element 91 is operated in the reverse speed change region during forward running by automatic running, the operation input processing unit 58 as the function setting unit disables the function of the main shift operation element 91. Therefore, when the monitor operates the main shift operation element 91 in the reverse speed change region while the machine body 10 is traveling forward by the automatic traveling, the operation input processing unit 58 outputs a parking instruction. The parking instruction is input to the automatic travel control unit 51B, and the machine body 10 is parked based on the parking instruction. Then, the running mode of the control unit 5 is switched from the automatic running mode to the manual running mode.

On the backward travel path ML2, backward travel of the machine body 10 is performed. During this time, in the main shift operation element 91, both the operation in the forward speed change region and the operation in the reverse speed change region are invalidated. That is, since the monitor needs to pay attention to the surroundings more than the forward travel, the vehicle stops the machine body 10 more preferentially than the vehicle speed is adjusted by operating the main shift operation element 91. Therefore, when the monitor operates the main shift operation element 91 while the machine body 10 is traveling backward by the automatic traveling, the operation input processing unit 58 outputs a stop instruction. The parking instruction is input to the automatic travel control unit 51B, and the machine body 10 is parked based on the parking instruction. Then, the running mode of the control unit 5 is switched from the automatic running mode to the manual running mode. That is, when the reverse travel is performed by the automatic travel, the operation input processing unit 58 as the function setting unit invalidates the function of the main shift operation element 91 and instructs the vehicle stop regardless of whether the main shift operation element 91 is operated in the forward speed change region or the reverse speed change region. This can limit the operation of the main shift operation element 91 during automatic traveling to a range necessary for traveling ahead.

The function of the cutting lifter 31 (see fig. 5 and 6, the same applies hereinafter) is effective only during the automatic work travel along the route L. That is, the elevation control of the harvesting device H can be performed based on the operation of the harvesting lifter 31 only during the automatic work travel. While the machine body 10 performs the automatic turning travel along the forward travel path ML1, the reverse travel path ML2, and the forward travel path ML3, the function of the secant lifter 31 is disabled. Further, the function of the cutting lifter 31 is also disabled while the machine body 10 is automatically discharged and driven along the discharge path Pt. While the function of the harvesting lifter 31 is disabled, the elevation control of the harvesting apparatus H is not performed even if the harvesting lifter 31 is operated. In this manner, the operation input processing unit 58 as the function setting unit enables the function of the harvesting unit manipulator, i.e., the harvesting unit manipulator, 31 when the automatic work travel is being performed, and disables the function of the harvesting unit manipulator, i.e., the harvesting unit manipulator, 31 when the automatic turning travel or the automatic discharging travel is being performed. This makes it possible to limit the operation of the harvesting lift lever 31 during automatic travel to a range required for harvesting crops.

As shown in the row of the steering operation element 92 in fig. 8, the steering function of the steering operation element 92 (see fig. 5 and 6, the same applies hereinafter) is disabled during the automatic traveling. Therefore, the machine body 10 does not turn even if the steering operation member 92 is operated during the automatic work travel along the route L, the automatic turning travel along the forward travel path ML1, the reverse travel path ML2, and the forward travel path ML3, and the automatic discharge travel along the discharge path Pt. As shown in the row "large operation amount" in fig. 8, when the steering operation element 92 is operated by an amount larger than a preset operation amount, the operation input processing unit 58 outputs a stop instruction to stop the vehicle automatically. The parking instruction by the operation input processing unit 58 is input to the automatic travel control unit 51B, and the machine body 10 is parked based on the parking instruction by the operation input processing unit 58. Then, the running mode of the control unit 5 is switched from the automatic running mode to the manual running mode, and the automatic running is stopped. That is, the operation input processing unit 58 is configured to: when the monitor wants to stop the machine body 10 by a momentary determination during the automatic travel, the monitor can stop the machine body 10 by largely operating the steering operation tool 92. On the other hand, as indicated by the line "small operation amount" in fig. 8, when the operation amount of the steering operation element 92 is smaller than the operation amount during the automatic traveling, the operation input processing unit 58 continues the automatic traveling without outputting the stop instruction. That is, the operation input processing unit 58 as the function setting unit invalidates the function of the steering operation element 92 during automatic traveling, and instructs parking when the steering operation element 92 is operated by an amount larger than a preset operation amount. This reduces the risk of the body 10 being stopped against the will of the monitor due to an erroneous operation such as the body of the monitor touching the steering operation tool 92.

As described above, the state input processing unit 57 as the machine body state detection unit detects the state of the machine body 10 based on the travel state sensor group 63 (see fig. 5 and 6) and the work state sensor group 64 (see fig. 5 and 6). When the operation element is operated, the operation input processing unit 58 as the function setting unit enables or disables the function of the operation element depending on the state of the device body 10.

[ other embodiments of the first embodiment ]

The present invention is not limited to the configuration exemplified in the first embodiment, and other representative embodiments of the present invention will be exemplified below.

In the above-described embodiment, when the main shift operation element 91 is operated in a state where the function of the main shift operation element 91 is disabled, the main shift operation element 91 stops the machine body 10 in response to a stop instruction from the operation input processing unit 58, but the present invention is not limited to this embodiment. The following may be configured: in a state where the main shift operation element 91 is disabled, the operation input processing unit 58 does not output a parking instruction even if the main shift operation element 91 is operated. For example, it may be configured such that: in a state where the function of the main shift operation element 91 is disabled, the operation input processing unit 58 does not receive the operation of the main shift operation element 91 and does not output the stop instruction. The following may be configured: in this state, the position of the main shift operating member 91 is automatically returned to the position before the operation.

For example, the following may be provided: when the vehicle is traveling forward by the automatic traveling, even if the main shift operating element 91 is swung into the reverse speed change region, the operation input processing unit 58 does not receive the operation of the main shift operating element 91, and the position of the main shift operating element 91 is automatically returned to the position before the operation. Further, the following may be configured: when the reverse travel is performed by the automatic travel, the operation input processing unit 58 does not receive the operation of the main shift operation element 91 even if the main shift operation element 91 swings, and the position of the main shift operation element 91 is automatically returned to the position before the operation. That is, the operation input processing unit 58 as the function setting unit may be configured to enable or disable the function of the operation element in accordance with the state of the body 10 detected by the state input processing unit 57 as the body state detecting unit when the operation element is operated.

In the above-described embodiment, the operation input processing unit 58 as the function setting unit invalidates all the functions of the main shift operation element 91 when the reverse travel is performed by the automatic travel, but the present invention is not limited to this embodiment. For example, the following may be configured: when the reverse travel is performed by the automatic travel, the operation in the forward speed change region of the main shift operation element 91 is effective. With this configuration, even during backward travel, the monitor can adjust the vehicle speed for the next forward travel.

In the above-described embodiment, the operation input processing unit 58 activates the function of the harvesting lifter 31 when the automatic work travel is being performed, and deactivates the function of the harvesting lifter 31 when the automatic turn travel or the automatic discharge travel is being performed, but the present invention is not limited to this embodiment. For example, the operation input processing unit 58 may be configured to enable the function of the cutting lifter 31 even when the automatic turning travel is being performed, or may be configured to enable the function of the cutting lifter 31 even when the automatic discharging travel is being performed.

In the above-described embodiment, the operation input processing unit 58 is configured to invalidate the function of the steering operation element 92 during automatic traveling and to instruct parking when the steering operation element 92 is operated by an amount larger than a preset operation amount, but the present invention is not limited to this embodiment. For example, the operation input processing unit 58 may be configured to disable only the function of the steering operation element 92 during automatic traveling.

In the above-described embodiment, the returning and turning travel shown in fig. 3 and 7 turns the machine body 10 by 180 degrees, but the present invention is not limited to this embodiment. The return turning travel may turn the machine body 10 by, for example, about 90 degrees.

< another embodiment 6 of the first embodiment > each of the functional units in the above-described embodiments may be configured as a travel system for a harvester. In addition, each of the functional units in the above-described embodiments may be configured as a travel program for the harvester. The running program can be stored in a storage medium such as an optical disk, a magnetic disk (e.g., a hard disk), a semiconductor memory (e.g., a flash memory, an EPROM, an EEPROM, a mask ROM, an FeRAM, an MRAM, or a ReRAM), and can be read by a computer. The processing performed by each functional unit in the above-described embodiments may be configured as a travel method.

[ description of the second embodiment ]

As a second embodiment of the present invention, a control system of a combine harvester is shown in fig. 9. The control system of the combine harvester includes a control unit 5 (control device) composed of a plurality of electronic control units called ECUs connected via an on-vehicle LAN, and various input/output devices that perform signal communication and data communication with the control unit 5.

In fig. 9, the description given above with reference to fig. 5 is referred to the configuration relating to the satellite navigation module 81 (satellite positioning unit) and the inertial navigation module 82 (inertial navigation unit) included in the vehicle position detection module 80, the notification device 62, the travel state sensor group 63, the work state sensor group 64, the device driver 65, the operation device 70 (including the travel device group 71 and the work device group 72), and the travel operation unit 90 (including the main shift operation element 91, the steering operation element 92, the mode switching operation element 93, and the automatic travel permission operation element 94). In the control unit 5 of fig. 9, the configurations of the work control unit 52, the vehicle position calculating unit 55, the reporting unit 56, and the output processing unit 59 are as described above with reference to fig. 5. The input processing unit 570 includes the state input processing unit 57 and the operation input processing unit 58 in fig. 5. Note that the job 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 also connected to the general-purpose terminal 4 via the in-vehicle LAN. The general-purpose terminal 4 is a tablet computer provided with a touch panel 40. The general-purpose terminal 4 includes a route calculation unit 41, a work travel management unit 42, and an input/output control unit 43. The input/output control unit 43 also has a function of constructing a graphical interface using the touch panel 40 and a function of exchanging data with the remote management computer 100 via a wireless line or the internet. Similarly to the notification device 62, the general-purpose terminal 4 functions as a device that notifies the driver or the like of the work state, the travel state, and various information by displaying on the touch panel 40. In this embodiment, as shown in fig. 10, a mode switching operation element 93 (mode switching switch) and an automatic travel permission operation element 94 are attached to the right side of the general-purpose terminal 4.

As shown in fig. 9, the work travel management unit 42 includes a travel locus calculation unit 421, a work area specification unit 422, and a discharge position setting unit 423. The travel track calculation unit 421 calculates a travel track based on the vehicle position given from the control unit 5. As shown in fig. 2, the work area specifying unit 422 divides the field into the peripheral area SA and the work target area CA based on a travel locus obtained by manually traveling the combine several weeks in the peripheral area SA of the field. The boundary line between the outer peripheral area SA and the ridge of the field is calculated from the outermost line of the outer peripheral area SA, and the non-work area (the shape of the work target area CA) to be automatically driven is calculated from the innermost line of the outer peripheral area SA. When the grain tank 14 is full, the grains in the grain tank 14 are discharged to the transport vehicle CV by the grain discharging device 18, and the discharge position setting unit 423 sets a discharge stop position of the combine at that time. The following restrictions are imposed on the discharge parking position: the setting is performed in an outer peripheral area SA formed on the outer peripheral side of the field by the round-reaping travel, and is performed in a place other than the corner portion of the polygonal outer peripheral area SA.

The route calculation unit 41 calculates a travel route for automatic travel for the non-working area specified by the working area specification unit 422. Note that a travel mode (a reciprocating travel mode or a whirling travel mode) for automatically traveling in the no-work area is input through the touch panel 40. The route calculation is automatically performed in the selected route mode by the fact that the manual travel of the outer peripheral area SA has ended by the driver input.

The travel control unit 510 shown in fig. 9 has an engine control function, a steering control function, a vehicle speed control function, and the like, and provides a travel control signal to the travel device group 71, as in the travel control unit 51 described with reference to fig. 5. The combine harvester can run in two driving modes, namely automatic driving and manual driving, wherein the automatic driving is a driving mode for harvesting operation through automatic driving, and the manual driving is a driving mode for harvesting operation through manual driving. The travel control unit 510 includes a manual travel control unit 511, an automatic travel control unit 512, a travel route setting unit 513, and an automatic travel management unit 514. The manual travel control unit 511 has the same configuration as the manual travel control unit 51A shown in fig. 5. The automatic travel control unit 512 has the same configuration as the automatic travel control unit 51B shown in fig. 5. The travel route setting unit 513 is a combination of the travel route setting unit 54 shown in fig. 5 and the travel control unit 510.

When a command to switch to the automatic travel mode is output based on the operation of the mode switching operation element 93, the automatic travel management unit 514 determines whether or not to permit automatic travel based on a preset automatic travel permission condition. When the determination result is the permission, the automatic travel management unit 514 gives an automatic travel start instruction to the automatic travel control unit 51B. Note that the automatic travel management unit 514 may include the configuration of the travel mode management unit 53 shown in fig. 5.

The automatic travel permission conditions set in the present embodiment are described below with respect to the body state.

(1) Locating data relationships

(1-1) the accuracy of the positioning data included in the position information from the satellite navigation module 81 exceeds a prescribed level.

(1-2) since the satellite navigation module 81 uses an RTK (real time kinematic) GPS, the base station is located within 10m of the predetermined position.

(2) Vehicle state relationship

(2-1) the entrance and exit doors of the cab covering the cab 12 are closed.

And (2-2) wearing a safety belt.

(2-3) the grain discharging device 18 is held at the storage position.

(2-4) not being refueled.

(2-5) fine adjustment data of the motion device 70 is set.

(2-6) the main shift operating element 91 (main shift lever) and the steering operating element 92 (steering lever) are neutral positions.

(2-7) cutting the threshing rod to be a stop position.

(2-8) the parking brake is released.

(2-9) the tilt of the body 10 is within a prescribed range.

(2-10) No clogging occurred in the transportation system of the harvest.

(2-11) the grain bin 14 is not full.

(3) Control relationship

(3-1) no ECU abnormality was generated.

(3-2) the in-vehicle LAN does not generate a communication abnormality.

(3-3) the discharge position setting unit 423 sets the discharge parking position.

(4) Relationship of travel path

(4-1) map information of the work area CA which is the non-work area is created, and a travel route for automatic travel in the work area CA is calculated.

(4-2) the vehicle position at the present time captures the travel path (automatic travel start travel path) used when the automatic travel selected by the travel path setting unit 513 is started, in other words, the combine is already at the automatic travel start point where the automatic travel start travel path can be captured.

The following describes the capturing of the travel route schematically with reference to fig. 11. The combine, the travel path and the path search area are schematically shown in fig. 11. In the figure, CP is a reference point of the combine harvester, and the vehicle position calculated by the vehicle position calculating unit 55 is a coordinate position of the reference point. The automatic travel start travel path is denoted by Ls, and the other travel paths are denoted by Lo. The path search area thinly colored in the drawing is, in this example, a fan shape that spreads in the traveling direction with the vehicle position as the center and has a center angle of about 45 °. Therefore, if the automatic travel start travel route is found in the route search area, the automatic travel permission condition that the travel route used when the automatic travel is started is captured at the vehicle position is satisfied. When the travel route is calculated and the travel mode is selected, the automatic travel starting point is calculated. At this time, the automatic travel starting point is calculated as follows: if the combine is located near the automatic travel start point, the automatic travel start travel route can be captured in the route search area.

The automatic driving start point is calculated by an algorithm that differs according to the selected driving mode. In the reciprocating travel mode, as shown in fig. 12, an outer peripheral area SA (indicated by an arrow in fig. 12) near an end of any of a plurality of travel paths (denoted by reference symbols L1 … … L13 in fig. 12) covering the work target area CA may be set. However, in consideration of the work efficiency, basically, the outermost travel path L1 near the current combine vehicle position is set as the automatic travel start travel path Ls. However, when the work area CA is large, a travel route, which is called intermediate division travel and in which the work area CA is divided into two parts, is set as the automatic travel start travel route Ls. The target running path after the automatic running start running path Ls is set in consideration of the distance required for the 180-degree U-turn of the combine.

In the swirl travel pattern, as shown in fig. 13, the automatic travel starting point can be set in the outer peripheral region SA near any corner in the outermost swirl travel path (denoted by L1 … … L4 in fig. 13). In the example of fig. 13, the counterclockwise travel path L1 at the corner closest to the current combine-vehicle position is also set as the automatic travel start travel path Ls in consideration of the work efficiency.

If all the automatic driving permission conditions are satisfied, it is reported that the vehicle is in the automatic driving permission state. 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 travel permission operation member 94 have a lamp function and are turned on in the automatic drive permission state. Note that the first button and the second button repeatedly flash at a high speed in a state where the combine harvester reaches the automatic travel starting point where the automatic travel starting travel path can be captured. When the first button and the second button are pressed so that all the automatic driving permission conditions are satisfied, the blinking is changed to lighting. In this automatic driving permission state (the combine is stopped but maintained in the automatic travel state), when the driver displaces the main shift operation element 91 from the neutral position to the forward shift position, the displacement becomes a trigger condition, and the travel start command is given to the automatic travel control unit 512, so that the combine starts to automatically travel along the automatic travel start travel route. Note that the automatic travel permission operation member 94 is not limited to two buttons, i.e., the first button and the second button, and may be configured by three or more buttons.

If the automatic travel permission condition is not satisfied during automatic travel, the automatic travel is stopped. The following lists the automatic driving suspension conditions for suspending the automatic driving.

(1) Locating data relationships

(1-1) the accuracy of the positioning data is reduced below a prescribed level.

(2) Vehicle state relationship

(2-1) the access door of the cockpit is open.

(2-2) no safety belt is worn for more than a prescribed time.

(2-3) the grain discharging device 18 is operated.

(2-4) slip exceeding the allowable range is generated.

(2-5) the steering operation member 92 (steering lever) is operated.

(2-6) the main shift operation element 91 (main shift lever) is operated to the parking position during forward traveling, or the main shift operation element 91 is operated during reverse traveling.

(2-7) the threshing rod is cut and taken.

And (2-8) operating the parking brake.

(2-9) the body inclination exceeds a prescribed range.

(2-10) clogging occurs in the transportation system of the harvest.

(3) Control relationship

(3-1) the ECU generates an abnormality.

(3-2) the in-vehicle LAN generates a communication abnormality.

(3-3) the mode switching operation member 93 (mode switching switch) is switched to the manual travel mode.

(3-4) at least one of the first button and the second button of the automatic travel permission operation member 94 is operated.

(4) Relationship of travel path

(4-1) the travel route cannot be captured for a predetermined time or longer.

The touch panel 40 of the general-purpose terminal 4 has a function as a graphical interface through which input and output can be performed, and thus can perform various input operations. However, the operation during traveling has a problem in terms of safety. In this case, information to be confirmed even during traveling, such as the position of the combine in the field, the relationship between the traveling route as the traveling target and the position of the vehicle, and the like, is displayed on the touch panel 40. Therefore, only the screen enlargement, screen reduction, and current display of the touch panel 40 are operable during traveling.

In the swirl travel mode, as shown in fig. 4, as the direction change that is quick and does not occupy space, an alpha turn using a straight travel, a backward turn, and a forward turn may be employed. As such a space for performing direction change at the corner, an outer peripheral area SA, which is a reaped area, may be used, but as the work travel in the whirlpool travel mode proceeds, the outer peripheral area SA becomes larger, and a space available for direction change also becomes larger. Even when the outer peripheral area SA is increased in this manner, the vehicle can enter the next travel route by making a right-handed 270-degree turn as shown in fig. 14 during the left-handed vortex travel. This 270 degree turn does not require reverse turning but only forward turning as compared with alpha turning, and therefore has the advantage that automatic steering control is simpler.

An agricultural work management unit 101 having a database function is built in a management computer 100 capable of exchanging data with the general-purpose terminal 4. The agricultural work management unit 101 stores and manages agricultural work information for each field every year. The agricultural work information includes map information of a field, map information of agricultural roads around the field, a type and a method of agricultural work performed on the field, and the like. For example, as agricultural work information related to harvesting work of the combine harvester, a circling round for circling harvesting, a driving mode to be used, a discharge parking position which is an in-field parking position when grains stored in the grain tank 14 are discharged to the transport vehicle CV, a driving route, a driving track, a yield map, and the like are stored and managed. The agricultural job information stored in each harvest job is then used for the harvest job, other agricultural jobs. For example, if the travel mode, the discharge stop position, and the like in the previous harvest operation are used as initial values when performing the harvest operation, the number of initial settings can be reduced.

[ other embodiments of the second embodiment ]

< another embodiment 1 of the second embodiment > the automatic travel permission conditions and the automatic driving suspension conditions shown in the second embodiment are examples, and the present invention is characterized in that the vehicle is located at an automatic travel start point where an automatic travel start travel route can be captured, and the conditions other than the conditions are freely selected.

< other embodiment 2 of the second embodiment > each functional unit shown in fig. 9 is mainly divided for the purpose of explanation. In fact, each functional unit may be integrated with another functional unit, or may be divided into a plurality of functional units. For example, the control unit 5 may be assembled with a functional unit built in the general-purpose terminal 4.

In the second embodiment, as shown in fig. 2, the driver manually drives the combine harvester, performs harvesting travel along the boundary line circle of the field at the outer peripheral portion of the field, calculates the travel route, and switches to automatic drive. However, the present invention is not limited to this, and may be a driving method as follows: the travel path initially used for the circle travel is also calculated and the combine is driven automatically, switching to manual drive when a particular situation occurs. In addition, the following driving method may be used: the straight or substantially straight travel path is automated, and the travel path accompanied by a sharp turn such as a directional change is manually driven. The automatic travel permission condition is also applied to the switching from the manual drive to the automatic drive at this time.

< another embodiment 4 of the second embodiment > each of the functional units in the above-described embodiments may be configured as a travel system for a harvester. In addition, each of the functional units in the above-described embodiments may be configured as a travel program for the harvester. The running program can be stored in a storage medium such as an optical disk, a magnetic disk (e.g., a hard disk), a semiconductor memory (e.g., a flash memory, an EPROM, an EEPROM, a mask ROM, an FeRAM, an MRAM, or a ReRAM), and can be read by a computer. The processing performed by each functional unit in the above-described embodiments may be configured as a travel method.

Note that the configurations disclosed in the above embodiments (including the first embodiment, the second embodiment, and various other embodiments, and the same will be used hereinafter) can be combined with the configurations disclosed in the other embodiments as long as no contradiction occurs. The embodiments disclosed in the present specification are examples, and the embodiments of the present invention are not limited to these examples and can be appropriately modified within a range not departing from the object of the present invention.

Industrial applicability

The invention can be used for not only a full-feeding type combine harvester, but also a semi-feeding type combine harvester. In addition, the present invention can be applied to various harvesters such as a corn harvester, a potato harvester, a carrot harvester, and a sugar cane harvester.

Description of the reference numerals

[ first embodiment ]

10: vehicle body

31: cutting lifting bar (operating parts of harvest part)

57: state input processing unit (body state detection unit)

58: operation input processing unit (function setting unit)

91: main speed-changing operation parts (speed-changing operation parts)

92: steering operation parts (turning operation parts)

DP: discharge position (other destination)

H: harvesting device (harvesting part)

L: route (Driving route)

[ second embodiment ]

4: universal terminal

40: touch panel

41: route calculation unit

42: work travel management unit

421: travel track calculation unit

422: work area specifying unit

423: discharge position setting unit

43: input/output control unit

5: control unit (control device)

510: running 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: vehicle position calculating unit

56: report part

80: vehicle position detection module

81: satellite navigation module (satellite positioning unit)

82: inertial navigation module (inertial navigation unit)

90: travel operation unit

91: main speed operating parts (Main speed lever)

93: mode switching operation parts (mode switch)

94: automatic driving permission operation member

100: managing computer

101: agricultural work management department

CA: work target area

And SA: peripheral region

Claims

1. A harvester capable of performing automatic travel of a field, comprising:

an operation tool having a function of changing a state of the machine body while continuing the automatic travel during the automatic travel;

a body state detection unit that detects a state of the body;

and a function setting unit that, when the operating element is operated, activates or deactivates the function in accordance with the state of the body detected by the body state detection unit.

2. The harvester of claim 1,

the operating member includes a shift operating member for instructing a change in forward and reverse speed,

the function setting portion enables the function of the shift operation device when the shift operation device is operated in a forward speed change region while the vehicle is traveling forward by the automatic travel, and disables the function of the shift operation device when the shift operation device is operated in a reverse speed change region.

3. The harvester of claim 1 or 2,

the function setting unit invalidates the function of the shift operation element and instructs parking regardless of whether the shift operation element is operated in a forward speed change region or a reverse speed change region while the reverse travel is being performed by the automatic travel.

4. The harvester of any one of claims 1 to 3,

the automatic traveling includes an automatic work traveling for traveling along a set traveling path while harvesting crops, an automatic turning traveling for turning to the next traveling path after the automatic work traveling is completed, and an automatic discharge traveling for deviating from the traveling path and moving to another target point,

the operation member is a harvesting part operation member for operating the harvesting part,

the function setting unit enables the function of the harvesting unit manipulator while the automatic work travel is being performed, and disables the function of the harvesting unit manipulator while the automatic turn travel or the automatic discharge travel is being performed.

5. The harvester of any one of claims 1 to 4,

the operating element includes a turning operating element for instructing turning of the machine body,

the function setting unit invalidates the function of the turning operation element during the automatic travel and instructs a vehicle stop when the turning operation element is operated by more than a preset operation amount.

6. A travel system for a harvester capable of automatically traveling a field, the travel system comprising:

a body state detection unit that detects a state of the body;

and a function setting unit that, when an operation element having a function capable of changing the state of the machine body while continuing the automatic travel is operated, activates or deactivates the function according to the state of the machine body detected by the machine body state detection unit.

7. The running system according to claim 6,

the operating member is a speed change operating member for instructing a speed change of forward and backward movement,

the function setting portion enables the one function of the shift operation member when the shift operation member is operated in a forward speed change region while the forward travel is being performed by the automatic travel, and disables the one function of the shift operation member when the shift operation member is operated in a reverse speed change region.

8. The running system according to claim 6 or 7, wherein,

the function setting portion invalidates the one function of the shift operation member and instructs parking regardless of whether the shift operation member is operated in a forward speed change region or a reverse speed change region while the reverse travel is being performed by the automatic travel.

9. The running system according to any one of claims 6 to 8,

the operating member is a harvesting part operating member for operating the harvesting part,

the function setting unit enables the one function of the harvesting unit manipulator while the automatic work travel is being performed, and disables the one function of the harvesting unit manipulator while the automatic turn travel or the automatic discharge travel is being performed.

10. The running system according to any one of claims 6 to 9,

the operation member is a turning operation member that instructs turning of the machine body,

the function setting unit invalidates the function of the turning operation element during the automatic travel and instructs a stop when an operation of the turning operation element is larger than a preset operation amount.

11. A running program for a harvester capable of performing automatic running of a field, wherein the running program causes a computer to execute:

a body state detection function of detecting a state of the body;

and a setting function of enabling or disabling a function according to a state of the machine body detected by the machine body state detection function when an operation element having the function is operated during the automatic travel, the function being a function capable of changing the state of the machine body while continuing the automatic travel.

12. The running program according to claim 11, wherein,

the setting function enables the one function of the shift operation member when the shift operation member is operated in a forward speed change region while the forward running is being performed by the automatic running, and disables the one function of the shift operation member when the shift operation member is operated in a reverse speed change region.

13. The running program according to claim 11 or 12, wherein,

the setting function invalidates the one function of the shift operation member and instructs parking regardless of whether the shift operation member is operated in a forward speed change region or a reverse speed change region while the reverse travel is being performed by the automatic travel.

14. The running program according to any one of claims 11 to 13, wherein,

the setting function enables the one function of the harvesting portion operation element when the automatic work travel is being performed, and disables the one function of the harvesting portion operation element when the automatic turn travel or the automatic discharge travel is being performed.

15. The running program according to any one of claims 11 to 14, wherein,

the setting function invalidates the one function of the turning operation member in the automatic travel and instructs parking when an operation of the turning operation member is larger than a preset operation amount.

16. A recording medium in which the running program according to any one of claims 11 to 15 is recorded and which is readable by a computer.

17. A running method for a harvester capable of performing automatic running of a field, wherein the running method comprises:

a body state detection step of detecting a state of a body;

a setting step of, when an operation element having a function capable of changing the state of the machine body while continuing the automatic travel is operated, enabling or disabling the function in accordance with the state of the machine body detected by the machine body state detection step.

18. A harvester capable of automatic driving and manual driving, wherein the harvester comprises:

a manual travel control unit that performs the manual travel based on a manual operation signal;

a route calculation unit that calculates a travel route for automatic travel for an unprocessed region of a field, the unprocessed region being formed on an inner peripheral side of the field by wrap-around reaping travel based on the manual travel;

an automatic travel control unit that performs the automatic travel based on a vehicle position and the travel route;

an automatic travel management unit that determines whether or not to permit the automatic travel based on an automatic travel permission condition, and if the determination result is permission, gives an automatic travel start command to the automatic travel control unit;

the automatic travel permission conditions include: the host vehicle is located at an automatic travel starting point capable of capturing an automatic travel start travel route, which is a route selected from the travel routes.

19. The harvester of claim 18,

the harvester is provided with a satellite positioning unit which outputs position information for calculating the position of the vehicle,

the automatic travel permission conditions include: the accuracy of the satellite positioning unit exceeds a specified level.

20. The harvester of claim 19,

and releasing the automatic driving if the precision of the satellite positioning unit is reduced to a specified level.

21. The harvester of any one of claims 18 to 20,

the harvester is provided with a discharge position setting part which sets a discharge stop position for discharging the harvested crops,

the automatic travel permission conditions include: the discharge parking position has been set.

22. The harvester of claim 21,

the discharge parking position is set in an outer peripheral region formed on an outer peripheral side of the field by the wrap-around harvesting travel, and is set in a place other than a corner portion of the outer peripheral region.

23. The harvester of any one of claims 18 to 22,

the running modes of the automatic running include a reciprocating running mode in which the running is performed by connecting a plurality of parallel running paths by a U-turn and a vortex running mode in which the running is performed in a vortex shape along the outer edge of the non-working area,

the automatic driving start point is calculated by an algorithm that differs according to the driving mode.

24. The harvester of any one of claims 18 to 23,

the automatic travel start command is given to the automatic travel control unit under a trigger condition of a shift lever from a neutral position to a forward shift position.

25. The harvester of any one of claims 18 to 24,

when a shift lever is displaced during backward movement of the automatic travel, the vehicle is stopped and the automatic travel is released,

if the shift lever is displaced to the parking position during the forward movement of the automatic travel, the vehicle is parked.

26. The harvester of any one of claims 18 to 25,

the automatic travel permission condition includes an operation of an automatic travel permission operation member,

the automatic travel permission operation member includes a plurality of operation portions, and outputs a signal requesting the automatic travel by operating the plurality of operation portions during the manual travel, and cancels the automatic travel by operating at least one of the operation portions during the automatic travel.

27. The harvester of any one of claims 18 to 26,

the automatic travel permission condition includes a specific body state,

in the automatic travel, the automatic travel is cancelled when an abnormality occurs in at least one of the machine body states.

28. A travel system for a harvester capable of automatic travel and manual travel, the travel system comprising:

a manual travel control unit that causes the harvester to perform the manual travel based on a manual operation signal;

an automatic travel control unit that causes the harvester to perform the automatic travel based on a vehicle position and the travel path;

29. The travel system of claim 28,

the traveling system includes a satellite positioning unit that outputs position information for calculating a position of the vehicle,

30. The travel system of claim 29, wherein,

releasing the automatic travel of the harvester if the accuracy of the satellite positioning unit decreases to a prescribed level.

31. The running system according to any one of claims 28 to 30, wherein,

the travel system includes a discharge position setting unit that sets a discharge stop position for discharging the harvested material,

32. The travel system of claim 31,

33. The running system according to any one of claims 28 to 32,

34. The running system according to any one of claims 28 to 33,

35. The running system according to any one of claims 28 to 34,

stopping the harvester and releasing the automatic travel of the harvester if a shift lever is displaced at the time of reverse travel of the automatic travel,

if the gear shift lever is displaced to a parking position during the forward travel of the automatic travel, the harvester is parked.

36. The running system according to any one of claims 28 to 35, wherein,

the automatic travel permission operation member includes a plurality of operation portions, and outputs a signal requesting the automatic travel to the harvester by operating the plurality of operation portions during the manual travel, and cancels the automatic travel of the harvester by operating at least one of the operation portions during the automatic travel.

37. The running system according to any one of claims 28 to 36,

the automatic travel permission condition includes a specific body state,

in the automatic travel, the automatic travel of the harvester is released when an abnormality occurs in at least one of the body states.

38. A running program for a harvester capable of automatic running and manual running, wherein the running program causes a computer to execute:

a manual travel control function that causes the harvester to perform the manual travel based on a manual operation signal;

a route calculation function that calculates a travel route for automatic travel for an unprocessed region of a field, the unprocessed region being formed on an inner peripheral side of the field by wrap-around reaping travel based on the manual travel;

an automatic travel control function that causes the harvester to perform the automatic travel based on a vehicle position and the travel path;

an automatic travel management function that determines whether or not to permit the automatic travel based on an automatic travel permission condition, and if the determination result is permission, gives an automatic travel start instruction to the automatic travel control function;

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

the automatic travel permission conditions include: the accuracy of the satellite positioning function that outputs the position information for calculating the vehicle position exceeds a prescribed level.

40. The running program according to claim 39, wherein,

and releasing the automatic travel of the harvester if the accuracy of the satellite positioning function is reduced to a prescribed level.

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

the travel program causes the computer to execute a discharge position setting function that sets a discharge stop position for discharging the harvested material,

42. The running program according to claim 41, wherein,

43. The running program according to any one of claims 38 to 42, wherein,

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

the automatic travel start command is given to the automatic travel control function with a displacement of a shift lever from a neutral position to a forward shift position as a trigger condition.

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

46. The running program according to any one of claims 38 to 45, wherein,

47. The running program according to any one of claims 38 to 46, wherein,

the automatic travel permission condition includes a specific body state,

48. A recording medium in which the travel program of any one of claims 38 to 47 is recorded and which is readable by a computer.

49. A running method for a harvester capable of automatic running and manual running, wherein the running method comprises:

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 travel route for automatic travel for an unprocessed region of a field, the unprocessed region being formed on an inner peripheral side of the field by wrap-around reaping travel based on the manual travel;

an automatic travel control step of causing the harvester to perform the automatic travel based on a vehicle position and the travel path;

an automatic travel management step of determining whether or not to permit the automatic travel based on an automatic travel permission condition, and if the determination result is permission, giving an automatic travel start instruction to the automatic travel control step;