CN116326325A - Travel management system - Google Patents

Abstract

The invention provides a travel management system, which is easy to avoid unnecessary operation travel after the operation travel when the operation travel in manual steering is performed after a path group is generated. The travel management system is provided with: a region acquisition unit that acquires a work target region (CA) in a field; and a route generation unit that generates a route group (P) for the work vehicle to travel in the work target area (CA), the route group (P) being configured from a plurality of target routes (LI), and the travel management system comprising: a route acquisition unit that acquires a working route (LA) among a plurality of target routes (LI), the working route (LA) being a target route (LI) on which a work by a work vehicle being manually steered is performed; and a determination unit that determines the route (LA) acquired by the route acquisition unit as the outside of the traveling object.

Description

Travel management system

Technical Field

The present invention relates to a travel management system that generates a route group for a work vehicle to travel in a work target area.

Background

As the travel management system described above, for example, a travel management system described in patent document 1 is known. In this travel management system, the route group is composed of a plurality of target routes (in patent document 1, "work routes"). Further, the work vehicle (in patent document 1, a "tractor") automatically travels along the target path.

Prior art literature

Patent literature

Patent document 1: japanese patent laid-open No. 2021-6058

Disclosure of Invention

Problems to be solved by the invention

When the job traveling in the manual steering is performed along one target path in the path group after the path group is generated, the job traveling along the target path is not required in the automatic traveling thereafter. However, patent document 1 does not contemplate such a case. Therefore, in the travel management system described in patent document 1, when the job travel in manual steering is performed along one target route in the route group after the route group is generated, the job travel along the target route is performed in the automatic travel thereafter. Thus, unnecessary work travel is performed.

The same applies to the case where the number of target routes for the work travel by manual steering is plural after the route group is generated. The same applies to the case where the manual travel along the target path is guided instead of the automatic travel along the target path.

The present invention aims to provide a travel management system, which is easy to avoid unnecessary operation travel after the operation travel when the operation travel in manual steering is performed after a path group is generated.

Means for solving the problems

The present invention is characterized in that the travel management system comprises: a region acquisition unit that acquires a work target region in a field; and a route generation unit that generates a route group for a work vehicle to travel in the work target area, the route group including a plurality of target routes, the travel management system including: a route acquisition unit that acquires a worked route among the plurality of target routes, the worked route being a target route on which work travel by the work vehicle during manual steering is performed; and a determination unit configured to determine the operated route acquired by the route acquisition unit as an outside of the traveling object.

According to this configuration, when the work travel by the work vehicle during manual steering is performed after the route group is generated, the target route on which the work travel is performed, that is, the already-worked route, is determined as the travel target. Therefore, it is easy to avoid performing the work travel along the already-worked path after the work travel.

Therefore, according to this configuration, it is possible to realize a travel management system that can easily avoid unnecessary work travel after the work travel when the work travel in the manual steering is performed after the generation of the route group.

In the present invention, it is preferable that: a display unit that displays the route group; and an input unit that can input the operated route by a manual operation, wherein the route acquisition unit acquires the operated route input to the input unit.

According to this configuration, the user can select and input a route to be worked from among the route groups displayed on the display unit. Therefore, a complicated structure for automatically and accurately detecting the worked path is not required. Thus, the system is easy to be constructed relatively simply.

In the present invention, it is preferable that the vehicle travel device further includes a trajectory acquisition unit that acquires a trajectory of the vehicle traveling by manual steering, and the display unit is capable of simultaneously displaying the route group and the trajectory acquired by the trajectory acquisition unit.

According to this configuration, the user can input the already-worked route by comparing the route group with the trajectory of the work vehicle traveling by manual steering. Thus, the user can easily and accurately input the already-worked path.

In the present invention, it is preferable that the display unit be capable of displaying the route group and the trajectory acquired by the trajectory acquisition unit in a superimposed manner.

According to this configuration, the user can accurately input the already-worked route by inputting, as the already-worked route, only the target route which is displayed in the route group in repetition with the trajectory in which the work vehicle is driven by the manual steering. Thus, the user can easily and accurately input the already-worked path.

In the present invention, it is preferable that the vehicle control device further includes a travel control unit that is capable of controlling travel of the work vehicle so that the work vehicle automatically travels along the target path that is not determined as the travel target by the determination unit.

According to this configuration, the work vehicle can automatically travel without performing work travel along the already-worked route. Thus, unnecessary work traveling is easily and reliably avoided.

In the present invention, it is preferable that: a region calculation unit that calculates a worked region in the field based on a trajectory on which the work vehicle travels; and a turning path generation unit that generates a turning path that connects the target paths to each other based on the worked areas, wherein the area calculation unit calculates the worked areas so that an area corresponding to the worked path determined by the determination unit to be outside the traveling object is included in the worked areas.

According to this configuration, when a turning route passing through the worked area is generated, the area corresponding to the worked area can be used as a space for turning the work vehicle. This makes it easy to secure a large space for turning the work vehicle.

Drawings

Fig. 1 is a left side view of the combine harvester.

Fig. 2 is a view showing a first harvesting run.

Fig. 3 is a view showing a field at the completion time of the first harvesting travel.

Fig. 4 is a block diagram showing a configuration related to the control unit.

Fig. 5 is a view showing a harvesting run of the combine harvester in manual steering.

Fig. 6 is a diagram showing display contents in the communication terminal.

Fig. 7 is a diagram showing display contents in the communication terminal.

Fig. 8 is a view showing the second harvesting run.

Description of the reference numerals

1. Combine harvester (working vehicle)

4. Communication terminal (display)

22. Track acquisition unit

24. A first region calculating unit (region calculating unit)

25. A second region calculating unit (region acquiring unit)

26. Route generation unit

27. Route acquisition unit

28. Determination unit

30. Travel control unit

31. Turning path generating unit

48. Input unit

A running management system

CA job object area

LA operated path

LI target path

P path group

SA operated area

T-turn path

Detailed Description

The mode for carrying out the invention is explained based on the drawings. In the following description, unless otherwise specified, the direction of arrow F in the drawing is referred to as "front", and the direction of arrow B is referred to as "rear". In the figure, the direction of arrow U is "up", and the direction of arrow D is "down".

[ integral Structure of combine harvester ]

As shown in fig. 1, the full-feed combine 1 (corresponding to the "working vehicle" of the present invention) includes a harvesting unit H, a crawler-type traveling device 11, a driving unit 12, a threshing device 13, a grain tank 14, a conveying unit 16, a grain discharging device 18, and a satellite positioning module 80.

The traveling device 11 is provided at a lower portion of the combine 1. The traveling device 11 is driven by power from an engine (not shown) mounted on the combine 1. The combine harvester 1 can travel by the travel device 11.

The driving unit 12, the threshing device 13, and the grain box 14 are provided above the traveling device 11. The driver 12 has a driver seat 12a. The driver 12 can ride a user (operator).

The grain discharging means 18 is provided at the upper side of the grain tank 14. The satellite positioning module 80 is mounted on the upper surface of the cab 12.

The harvesting portion H is provided at the front of the combine harvester 1. Further, the conveying section 16 is provided at the rear side of the harvesting section H. The harvesting unit H includes left and right crop dividers 10, a harvesting blade 15, and a reel 17.

The left and right crop dividers 10 are provided at left and right ends of the front end of the harvesting section H. The left and right crop dividers 10 divide the upright stalks of the field into harvested objects and objects. Upright stalks on the right side of the left crop divider 10 and on the left side of the right crop divider 10 are separated as objects of harvest. Upright stalks on the left side of the left crop divider 10 and upright stalks on the right side of the right crop divider 10 are separated as objects.

The harvesting knife 15 harvests the upright stalks separated by the left and right crop dividers 10 as a harvesting object. In addition, the reel 17 gathers up the upright stalks of the harvesting object while being rotationally driven around a reel shaft core 17b along the left-right direction of the machine body. The harvested stalks harvested by the harvesting blade 15 are conveyed to the conveying section 16.

According to this structure, the harvesting unit H harvests grains in the field. The combine harvester 1 is capable of harvesting travel in which the travel device 11 travels while harvesting upright stalks in the field with the harvesting blade 15. The harvesting travel is a specific example of the "work travel" of the present invention.

The harvested stalks harvested by the harvesting section H are conveyed to the rear of the machine body by the conveying section 16. Thereby, the harvested stalks are transported to the threshing device 13.

In the threshing device 13, the harvested stalks are subjected to threshing treatment. The grains obtained by the threshing treatment are stored in a grain tank 14. The grains stored in the grain box 14 are discharged to the outside of the machine through the grain discharge device 18 as needed.

As shown in fig. 1, the communication terminal 4 (corresponding to the "display unit" of the present invention) is disposed in the driving unit 12. The communication terminal 4 is configured to be capable of displaying various information. In the present embodiment, the communication terminal 4 is fixed to the driver 12. However, the present invention is not limited to this, and the communication terminal 4 may be configured to be detachable from the driving unit 12, and the communication terminal 4 may be located outside the combine harvester 1.

Here, the combine 1 is configured to perform harvesting travel in the field by the first harvesting travel and the second harvesting travel when performing harvesting work in the field. As shown in fig. 2, the first harvesting run is a harvesting run performed in the outer peripheral region of the field. The second harvesting travel is a harvesting travel performed in the work target area CA (see fig. 3) located inside the area that becomes the worked area SA (see fig. 3) by the first harvesting travel. The worked area SA is an area of the field where the harvesting travel of the combine 1 is completed.

As shown in fig. 2, the combine 1 performs a round travel while harvesting grains in a region on the outer peripheral side in the field during the first harvesting travel. The number of rounds in the first harvesting run may be one time or two or more times. The first harvesting travel may be performed by manual travel or may be performed by automatic travel. In addition, in the case of the optical fiber, the manual travel refers to travel in manual steering. In addition, in the case of the optical fiber, the automatic travel means travel in automatic steering.

The second harvesting travel may be performed by manual travel or may be performed by automatic travel.

In the present embodiment, the first harvesting travel is performed by manual travel. The second harvesting travel is performed by automatic travel.

The travel of the combine 1 is managed by a travel management system a (see fig. 4). The travel management system a will be described in detail below.

[ Generation of Path group ]

As shown in fig. 4, the travel management system a includes the communication terminal 4 and the satellite positioning module 80 described above. The travel management system a further includes a control unit 20. The control unit 20 is mounted on the combine harvester 1. The control unit 20 includes a position calculating unit 21, a trajectory acquiring unit 22, and a region managing unit 23.

The satellite positioning module 80 receives GPS signals from an artificial satellite GS (refer to fig. 1) used in GPS (global positioning system). Then, as shown in fig. 4, the satellite positioning module 80 transmits positioning data indicating the position of the host vehicle of the combine harvester 1 to the position calculating unit 21 based on the received GPS signal.

The present invention is not limited to this. The satellite positioning module 80 may not use GPS. For example, the satellite positioning module 80 may use a GNSS other than GPS (GLONASS, galileo, QZSS, beiDou, etc.).

The position calculating unit 21 calculates the position coordinates of the combine harvester 1 with the passage of time based on the positioning data output from the satellite positioning module 80. The calculation result of the position calculation unit 21 is sent to the trajectory acquisition unit 22.

The trajectory acquisition unit 22 calculates the trajectory on which the combine harvester 1 travels, based on the calculation result of the position calculation unit 21. Thereby, the trajectory acquisition unit 22 acquires the trajectory on which the combine harvester 1 travels. The trajectory acquisition unit 22 transmits the trajectory on which the combine harvester 1 travels to the area management unit 23.

The region management unit 23 includes a first region calculation unit 24 (corresponding to the "region calculation unit" of the present invention) and a second region calculation unit 25 (corresponding to the "region acquisition unit" of the present invention). The first area calculating unit 24 calculates the worked area SA based on the locus of travel of the combine 1.

That is, the travel management system a includes a first area calculation unit 24 that calculates the worked area SA in the field based on the travel locus of the combine 1.

The second area calculating unit 25 calculates the work target area CA based on the worked area SA calculated by the first area calculating unit 24. Specifically, the second region calculating unit 25 calculates a region inside the field from the worked region SA at the completion time of the first harvesting travel as the work target region CA. Thereby, the processing time of the product is reduced, the second area calculating unit 25 obtains the work target area CA in the field.

That is, the travel management system a includes the second region calculating unit 25 that obtains the work target region CA in the field.

As shown in fig. 4, the control unit 20 includes a path generation unit 26. The information indicating the work area CA calculated by the second area calculating unit 25 is transmitted from the area managing unit 23 to the route generating unit 26. The path generation unit 26 generates a path group P (see fig. 3) for the combine harvester 1 to travel in the work area CA, based on the information indicating the work area CA sent from the area management unit 23.

That is, the travel management system a includes the path generation unit 26 that generates the path group P for the combine harvester 1 to travel for harvesting in the work area CA.

As shown in fig. 3, the path group P is constituted by a plurality of target paths LI. The route generation unit 26 generates the route group P so as to cover the entire work object area CA by the route group P. As shown in fig. 3, in the present embodiment, the plurality of target paths LI are a plurality of grid lines extending in the longitudinal and transverse directions.

The control unit 20 and the elements such as the position calculation unit 21 included in the control unit 20 may be physical devices such as a microcomputer or may be functional units in software.

[ Path acquisition section and determination section ]

As shown in fig. 4, the control unit 20 includes a route acquisition unit 27 and a determination unit 28. The path acquisition unit 27 acquires the worked path LA (see fig. 8) when the harvesting travel by the combine 1 in the manual steering is performed after the generation of the path group P and before the start of the second harvesting travel. The worked path LA is a target path LI of the plurality of target paths LI on which harvesting travel by the combine 1 in manual steering is performed.

The determination unit 28 determines the work path LA acquired by the path acquisition unit 27 as the travel target outside the second harvesting travel.

The path obtaining unit 27 and the determining unit 28 will be described in detail below. In the following, a case where harvesting travel by the combine 1 in manual steering is performed after the generation of the path group P and before the second harvesting travel is performed will be described as shown in fig. 5. In addition, in the harvesting travel shown in fig. 5, harvesting travel is performed at the upper end portion in the up-down direction of the paper surface and at the left end portion in the left-right direction of the paper surface in the work area CA.

As described above, the trajectory acquisition unit 22 shown in fig. 4 acquires the trajectory along which the combine harvester 1 travels. Here, the trajectory acquisition unit 22 extracts a manual harvesting trajectory from the acquired trajectories. Thus, the trajectory acquisition unit 22 acquires a manual harvesting trajectory. The manual harvesting trajectory refers to a trajectory in which the combine harvester 1 performs harvesting travel by manual steering after the path group P is generated and before the second harvesting travel is started.

That is, the travel management system a includes a trajectory acquisition unit 22 that acquires a trajectory of the combine harvester 1 traveling by manual steering.

Specifically, the trajectory acquisition unit 22 extracts, as the manual harvesting trajectory, a part satisfying the first condition and the second condition among the trajectories traveled by the combine harvester 1. The first condition is "is a portion where the combine harvester 1 travels after the path group P is generated". The second condition is "the portion of the combine harvester 1 that travels by manual steering in a state where the harvesting unit H is driven".

As shown in figure 4 of the drawings, the trajectory acquisition unit 22 transmits information indicating the manual harvesting trajectory to the communication terminal 4. The area management unit 23 transmits information indicating the worked area SA and information indicating the work target area CA to the communication terminal 4. The path generation unit 26 transmits information indicating the path group P to the communication terminal 4.

Based on the information received from the trajectory acquisition unit 22, the area management unit 23, and the route generation unit 26, the communication terminal 4 can simultaneously display the trajectory information G indicating the manual harvesting trajectory, the worked area SA, the work target area CA, and the route group P on the touch panel type display 47 of the communication terminal 4, as shown in fig. 6. In particular, the communication terminal 4 can superimpose the path group P and the trajectory information G on the display 47.

That is, the travel management system a includes the communication terminal 4 that displays the route group P. The communication terminal 4 can simultaneously display the path group P and the trajectory acquired by the trajectory acquisition unit 22. The communication terminal 4 can display the path group P and the trajectory acquired by the trajectory acquisition unit 22 in a superimposed manner.

As shown in fig. 6, the trajectory information G corresponds to a region in which the combine 1 in fig. 5 performs harvesting travel. In the present embodiment, the track information G is displayed as a band-shaped region. The width of this zone corresponds to the harvesting width of the combine harvester 1. However, the present invention is not limited to this, and the track information G may be displayed in a line shape.

As shown in fig. 6, a delete button 40, a first selection button 41, a second selection button 42, a cancel button 43, and a trajectory display button 44 are displayed on a display 47. The delete button 40, the first selection button 41, the second selection button 42, the cancel button 43, and the trajectory display button 44 are all touch buttons.

The delete button 40, the first selection button 41, and the second selection button 42 constitute an input unit 48. The user can input the already-worked route LA to the input unit 48 by a manual operation.

That is, the travel management system a includes an input unit 48 capable of inputting the work path LA by a manual operation.

In detail, the user can select one target path LI from the path group P by operating the first selection button 41 and the second selection button 42. More specifically, each target path LI is given a unique number. When the user operates the first selection button 41 in a state where one target path LI is selected, the target path LI having a number larger than that of the target path LI is selected. In addition, when the user operates the second selection button 42 in a state where one target path LI is selected, the target path LI having a smaller number than the target path LI is selected.

As shown in fig. 6, the selected target path LI is highlighted. More specifically, the selected target path LI is shown by a bold line. Then, when the user operates the delete button 40, the selected target path LI is input to the communication terminal 4 as the already-worked path LA.

In addition, after the delete button 40 is operated, the user can cancel the input of the already-worked path LA by operating the cancel button 43. In addition, each time the trajectory display button 44 is operated, the trajectory information G is switched between a state of being displayed on the display 47 and a state of not being displayed.

After the delete button 40 is operated, the user can also operate the delete button 40, the first selection button 41, and the second selection button 42. This allows a plurality of target paths LI to be input as the already-worked paths LA.

The user inputs the target path LI overlapping with the trajectory information G as the already-worked path LA by operating the delete button 40, the first selection button 41, and the second selection button 42. As a result, the target path LI on which the harvesting travel by the combine 1 in the manual steering is performed after the generation of the path group P and before the start of the second harvesting travel is inputted as the worked path LA. As shown in fig. 4, the route acquisition unit 27 acquires information indicating the inputted route LA to be worked from the communication terminal 4.

In this way, the travel management system a includes the route acquisition unit 27, and the route acquisition unit 27 acquires the target route LI, i.e., the worked route LA, from among the plurality of target routes LI, on which the harvesting travel by the combine 1 in the manual steering is performed. The route acquisition unit 27 acquires the already-operated route LA input to the input unit 48.

As shown in fig. 4, the route acquisition unit 27 transmits information indicating the already-worked route LA to the determination unit 28. Then, based on the information, the determination unit 28 determines the worked route LA as the travel target outside the second harvesting travel.

In this way, the travel management system a includes the determination unit 28 that determines the work path LA acquired by the path acquisition unit 27 as the travel target.

The determination content of the determination unit 28 is transmitted to the area management unit 23. The first area calculation unit 24 of the area management unit 23 calculates the worked area SA again based on the determination content of the determination unit 28. More specifically, the first area calculation unit 24 calculates the worked area SA such that the area corresponding to the worked path LA determined by the determination unit 28 to be outside the traveling object is included in the worked area SA. Thereby, the calculation result of the worked area SA is updated. In addition, the work area SA is thereby enlarged.

In addition, the area newly becoming the worked area SA by the update of the calculation result of the worked area SA is excluded from the work object area CA. However, the present invention is not limited to this, and the area newly serving as the work area SA may be handled as a part of the work area CA.

The "region corresponding to the worked path LA" is not particularly limited, and may be, for example, a region in which upright stalks are harvested by harvesting travel along the worked path LA, or may be a band-shaped region having a width equal to the harvesting width of the combine 1 and centered on the worked path LA.

Fig. 6 shows a first path LI1 and a second path LI2. The first path LI1 and the second path LI2 are both target paths LI. When the first path LI1 and the second path LI2 are input as the worked path LA and are determined to be outside the traveling object, the display of the display 47 is in the state shown in fig. 7.

In the display 47 shown in fig. 7, the first path LI1 and the second path LI2 are displayed in a different manner from the other target paths LI. More specifically, the first path LI1 and the second path LI2 are indicated by broken lines, but the other target paths LI are indicated by solid lines. The area corresponding to the first path LI1 and the second path LI2 is included in the operated area SA.

[ running control section ]

As shown in fig. 4, the control unit 20 includes a route selection unit 29 and a travel control unit 30. The travel control unit 30 is configured to be able to control travel of the combine harvester 1 by controlling the travel device 11.

In the second harvesting travel described above, the travel control unit 30 controls the travel of the combine 1 so that the combine 1 repeatedly performs harvesting travel along a target path LI other than the travel target, which has not traveled yet and has not been determined by the determination unit 28, among the plurality of target paths LI. Thereby, the second harvesting travel is performed by the automatic travel.

Specifically, the path selecting unit 29 receives the position coordinates of the combine harvester 1 from the position calculating unit 21, and receives information indicating the path group P from the path generating unit 26. Further, the path selecting unit 29 receives the determination content of the determining unit 28 from the determining unit 28. The route selection unit 29 selects a target route LI to be followed by the combine harvester 1 based on the information. At this time, the route selection unit 29 selects a target route LI which has not yet traveled among the plurality of target routes LI and which is not determined as a target route LI to be traveled by the determination unit 28. The information indicating the target path LI selected by the path selecting unit 29 is transmitted to the travel control unit 30.

The travel control unit 30 receives the position coordinates of the combine harvester 1 from the position calculation unit 21. Then, the travel control unit 30 controls the automatic travel of the combine harvester 1 based on the position coordinates of the combine harvester 1 received from the position calculation unit 21 and information indicating the target path LI selected by the path selection unit 29. More specifically, the travel control unit 30 controls the travel of the combine 1 to perform harvesting travel by automatic travel along the target path LI.

In this automatic travel, the travel control unit 30 controls the travel of the combine harvester 1 as follows: after the harvesting travel along the target path LI currently traveling, the direction in the worked area SA is switched, and thereafter, the harvesting travel along the target path LI selected by the path selecting unit 29 is performed.

According to this configuration, the combine 1 automatically travels along the target path LI other than the travel target determined by the non-determining unit 28 during the second harvesting travel. For example, in the example shown in fig. 8, the determination unit 28 determines that the first path LI1 and the second path LI2 are outside the traveling object. Therefore, the combine harvester 1 automatically travels along a target path LI other than the first path LI1 and the second path LI2.

In this way, the travel management system a includes the travel control unit 30, and the travel control unit 30 can control the travel of the combine harvester 1 so that the combine harvester 1 automatically travels along the target path LI that is not determined as the travel target by the determination unit 28.

[ Generation of turning Path ]

As shown in fig. 4, the control unit 20 includes a turning path generation unit 31. As shown in fig. 8, the turning path generating unit 31 is configured to generate a turning path T connecting the target paths LI to each other.

Specifically, as shown in fig. 4, the turning path generating unit 31 receives information indicating the work area SA from the area management unit 23. At this time, when the calculation result of the worked area SA is updated as described above, the turning path generating unit 31 receives information indicating the latest worked area SA.

The turning route generation unit 31 receives information indicating the route group P from the route generation unit 26. Further, the turning route generation unit 31 receives information indicating the target route LI selected by the route selection unit 29 from the route selection unit 29.

The turning route generation unit 31 generates a turning route T connecting the end of the target route LI currently traveled by the combine harvester 1 to the start of the target route LI selected by the route selection unit 29 (the target route LI to be traveled by the combine harvester 1 next) based on the information indicating the worked area SA, the information indicating the route group P, and the information indicating the target route LI selected by the route selection unit 29. The terminal end of the target path LI is the downstream end of the target path LI in the traveling direction of the combine harvester 1. The start end of the target path LI is the upstream end of the target path LI in the traveling direction of the combine harvester 1.

At this time, as shown in fig. 8, the turning path generation unit 31 generates the turning path T so that the turning path T passes through the worked area SA. More specifically, the turning path generating unit 31 generates the turning path T so that the entire turning path T is located in the worked area SA.

In this way, the travel management system a includes the turning path generation unit 31, and the turning path generation unit 31 generates the turning path T connecting the target paths LI to each other based on the worked area SA.

As shown in fig. 4, the travel control unit 30 receives information indicating the turning route T from the turning route generation unit 31. Then, the travel control unit 30 controls the automatic travel of the combine harvester 1 based on the position coordinates of the combine harvester 1 received from the position calculation unit 21 and the information indicating the turning path T received from the turning path generation unit 31. More specifically, the travel control unit 30 controls the travel of the combine 1 so that the combine 1, after reaching the end of the target path LI, makes a turning travel along the turning path T. By this turning travel, the combine 1 reaches the start of the target path LI for the next travel.

When the start of the target path LI for the next travel is reached, the travel control unit 30 controls the travel of the combine 1 so that the combine 1 performs the harvesting travel along the target path LI. In this way, in the second harvesting travel, the combine 1 repeatedly performs harvesting travel along the target path LI and turning travel along the turning path T.

Here, as described above, after the generation of the path group P and before the start of the second harvesting travel, the target path LI on which the harvesting travel by the combine 1 in the manual steering is performed is input as the worked path LA. The determination unit 28 determines the worked route LA as the travel target outside the second harvesting travel. Then, the first area calculation unit 24 calculates the worked area SA so that the area corresponding to the worked path LA determined by the determination unit 28 to be outside the traveling object is included in the worked area SA.

Therefore, when the harvesting travel by the combine 1 in the manual steering is performed after the generation of the path group P and before the start of the second harvesting travel, the turning path T is allowed to pass through the region corresponding to the target path LI on which the harvesting travel is performed.

For example, in the example shown in fig. 8, after the generation of the path group P and before the start of the second harvesting run, the harvesting run based on the combine 1 in the manual steering along the first path LI1 and the second path LI2 has been performed. As a result, the determination unit 28 determines the first path LI1 and the second path LI2 as the outside of the traveling object during the second harvesting travel. The area corresponding to the first path LI1 and the second path LI2 is included in the operated area SA.

In this example, the combine harvester 1 automatically travels along the fourth path LI4 after automatically traveling along the third path LI 3. Thereafter, the combine harvester 1 automatically travels along the fifth path LI 5. The third path LI3, the fourth path LI4, and the fifth path LI5 are all target paths LI.

In this example, when the combine harvester 1 automatically travels along the third path LI3, the turning path generating unit 31 generates the first turning path T1. The first turning path T1 is a turning path T connecting the end of the third path LI3 with the beginning of the fourth path LI 4. When the combine harvester 1 automatically travels along the fourth path LI4, the turning path generating unit 31 generates the second turning path T2. The second turning path T2 is a turning path T connecting the end of the fourth path LI4 with the beginning of the fifth path LI 5.

As shown in fig. 8, the first turning path T1 and the second turning path T2 are both located in the worked area SA. In particular, the entirety of the first turning path T1 is located in a region corresponding to the second path LI2.

According to the configuration described above, when harvesting travel by the combine harvester 1 during manual steering is performed after the path group P is generated, the target path LI on which the harvesting travel is performed, that is, the worked path LA is determined as the travel target. Therefore, it is easy to avoid the harvesting travel along the worked path LA after the harvesting travel.

Therefore, according to the configuration described above, it is possible to realize the travel management system a that is easy to avoid unnecessary harvesting travel after the harvesting travel when harvesting travel in the manual steering is performed after the path group P is generated.

[ other embodiments ]

(1) The communication terminal 4 may be configured to be capable of simultaneously displaying the path group P and the track information G on different screens. The communication terminal 4 may not be configured to display the path group P and the track information G at the same time.

(2) The communication terminal 4 may not be provided. In this case, the route acquisition unit 27 may be configured to automatically determine the operated route LA from the route group P to acquire the operated route LA.

(3) The combine 1 may be configured so as not to be capable of traveling automatically. In this case, the manual travel along the target path LI and the turning path T may be guided.

(4) The input unit 48 may be a component separate from the communication terminal 4. For example, an operation element separate from the communication terminal 4 may be provided as the input unit 48.

(5) The turning path generating unit 31 may not be provided.

(6) The working path LA (target path LI) determined by the determining unit 28 to be the other travel target may be changed to the target path LI to be the travel target. Such a change may be performed before the start of the automatic travel (second harvesting travel) or may be performed during the execution of the automatic travel (second harvesting travel).

(7) The order of travel on each target path LI may be determined before the automatic travel (second harvesting travel) starts. That is, the entire travel route during the automatic travel (second harvesting travel) may be determined before the automatic travel (second harvesting travel) is started. In this case, the entire travel route may be determined so that the combine 1 does not pass through the worked route LA except for the cornering.

(8) The automatic steering may be performed based on a preset travel reference, or may be performed immediately after the travel reference is determined by performing straight travel by manual steering. The travel reference may be, for example, an azimuth that becomes a reference of travel, or may be a straight line or a curve that becomes a reference of travel.

(9) Instead of the second area calculating unit 25, a device or a function unit for acquiring the work area CA may be provided. The device or the function unit may acquire the work area CA from a management facility or a management server provided outside the combine harvester 1.

(10. In this case, the determination unit 28 may determine the target path LI of the harvesting travel of the combine 1 not being manually turned to be outside the travel target, the target path LI of the harvesting travel of the combine 1 not being manually turned may be input to the input unit 48. In other words, the determination unit 28 may determine the target path LI of the harvesting travel of the combine 1 not being manually turned to be outside the travel target.

(11) The traveling device 11 may be a wheel type or a half crawler type.

The structures disclosed in the above embodiments (including other embodiments, the following description is the same) can be applied in combination with the structures disclosed in 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 thereto, and may be appropriately changed within a range not departing from the object of the present invention.

Industrial applicability

The invention can be used for not only the full-feeding combine harvester, but also various working vehicles such as the half-feeding combine harvester, the tractor, the rice transplanter, the corn harvester, the potato harvester, the carrot harvester, the construction working machine and the like.

Claims (6)

1. A travel management system, wherein the travel management system comprises:

a region acquisition unit that acquires a work target region in a field; and

a route generation unit that generates a route group for a work vehicle to travel in the work target area,

the path group is made up of a plurality of target paths,

the travel management system includes:

a route acquisition unit that acquires a worked route among the plurality of target routes, the worked route being a target route on which work travel by the work vehicle during manual steering is performed; and

and a determination unit configured to determine the operated route acquired by the route acquisition unit as an outside of the traveling object.

2. The travel management system according to claim 1, wherein,

the travel management system includes:

a display unit that displays the route group; and

an input unit capable of inputting the worked path by a manual operation,

the route acquisition unit acquires the operated route input to the input unit.

3. The travel management system according to claim 2, wherein,

the travel management system includes a trajectory acquisition unit that acquires a trajectory of the work vehicle traveling by manual steering,

the display unit may display the route group and the trajectory acquired by the trajectory acquisition unit simultaneously.

4. The travel management system according to claim 3, wherein,

the display unit may display the route group and the trajectory acquired by the trajectory acquisition unit in an overlapping manner.

5. The travel management system according to any one of claims 1 to 4, wherein,

the travel management system includes a travel control unit that can control travel of the work vehicle so that the work vehicle automatically travels along the target path that is not determined as the travel target by the determination unit.

6. The travel management system according to any one of claims 1 to 5, wherein,

the travel management system includes:

a region calculation unit that calculates a worked region in the field based on a trajectory on which the work vehicle travels; and

a turning path generation unit that generates turning paths that connect the target paths to each other based on the worked area,

the area calculation unit calculates the worked area so that an area corresponding to the worked route determined by the determination unit to be outside the traveling object is included in the worked area.

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