CN116916741A - Automatic travel control system, field working machine, automatic travel control method, automatic travel control program, and recording medium - Google Patents

Automatic travel control system, field working machine, automatic travel control method, automatic travel control program, and recording medium Download PDF

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Publication number
CN116916741A
CN116916741A CN202280016301.6A CN202280016301A CN116916741A CN 116916741 A CN116916741 A CN 116916741A CN 202280016301 A CN202280016301 A CN 202280016301A CN 116916741 A CN116916741 A CN 116916741A
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CN
China
Prior art keywords
travel
travel path
state
machine body
unit
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202280016301.6A
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Chinese (zh)
Inventor
中林隆志
渡边俊树
佐野友彦
吉田脩
川畑翔太郎
堀内真幸
奥平淳人
松永俊
藤本淳
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Kubota Corp
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Kubota Corp
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Publication of CN116916741A publication Critical patent/CN116916741A/en
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    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B69/00—Steering of agricultural machines or implements; Guiding agricultural machines or implements on a desired track
    • A01B69/007—Steering or guiding of agricultural vehicles, e.g. steering of the tractor to keep the plough in the furrow
    • A01B69/008—Steering or guiding of agricultural vehicles, e.g. steering of the tractor to keep the plough in the furrow automatic
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B69/00—Steering of agricultural machines or implements; Guiding agricultural machines or implements on a desired track
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D41/00—Combines, i.e. harvesters or mowers combined with threshing devices
    • A01D41/12—Details of combines
    • A01D41/127—Control or measuring arrangements specially adapted for combines
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D41/00—Combines, i.e. harvesters or mowers combined with threshing devices
    • A01D41/12—Details of combines
    • A01D41/127—Control or measuring arrangements specially adapted for combines
    • A01D41/1278—Control or measuring arrangements specially adapted for combines for automatic steering
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions

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  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Environmental Sciences (AREA)
  • Mechanical Engineering (AREA)
  • Soil Sciences (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Guiding Agricultural Machines (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Threshing Machine Elements (AREA)

Abstract

When the determination unit determines that the machine body (1) cannot enter along the travel path (LI) based on the detection result of the detection unit when the machine body (1) enters the non-operation region from the outer peripheral region, the travel control unit is configured to cause the machine body (1) to execute a retry travel in which the machine body is temporarily stopped and retracted and is advanced toward the travel path (LI) again. The detection unit detects an inward state in which the body (1) is displaced in the left-right direction with respect to the travel path (LI) and the body (1) is oriented toward the travel path (LI), and an outward state in which the body (1) is displaced in the left-right direction with respect to the travel path (LI) and the body (1) is not oriented toward the travel path (LI). The determination unit changes the conditions for determining whether the machine body (1) can enter along the travel path (LI) when entering the non-working area according to whether the machine body (1) is in an inward state or an outward state.

Description

Automatic travel control system, field working machine, automatic travel control method, automatic travel control program, and recording medium
Technical Field
The present invention relates to an automatic travel control system, a field working machine, an automatic travel control method, an automatic travel control program, and a recording medium.
Background
For example, an automatic travel control system disclosed in japanese patent application laid-open No. 2020-87196 (patent document 1) includes a travel control unit that controls travel of a body (in the document, a "work vehicle") so that the body automatically travels along a travel path (in the document, a "target travel path"). When the determination unit (referred to as "retry determination unit" in the literature) determines that the body cannot enter along the travel path, the travel control unit executes retry travel.
Prior art literature
Patent literature
Patent document 1: japanese patent laid-open No. 2020-87196
Disclosure of Invention
Problems to be solved by the invention
The extent to which the body can enter along the travel path varies depending on whether the body is oriented toward the travel path. However, in the automatic travel control system of japanese patent application laid-open No. 2020-87196, the determination unit determines whether the body can enter along the travel path based only on the position of the body. That is, in the automatic travel control system of japanese patent application laid-open No. 2020-87196, since the direction of the body is not considered in the determination by the determination unit, there is a possibility that an unnecessary retry travel is performed. From the viewpoint of efficient travel in the non-work area, it is desirable that the determination unit is configured to be able to determine whether or not the machine body can enter along the travel path based on the position and orientation of the machine body.
The invention aims to provide an automatic travel control system, a field working machine, an automatic travel control method, an automatic travel control program and a recording medium capable of efficiently and automatically traveling in an unworked area.
Technical scheme for solving problems
An automatic travel control system according to the present invention is characterized by comprising: a route setting unit that sets a travel route for an unworked area inside the outer peripheral area in the field; a travel control unit that controls travel of a machine body so that the machine body travels along the travel path; a detection unit that detects the orientation and position of the body; and a determination unit configured to determine whether the machine body is capable of entering along the travel path based on a detection result of the detection unit when the machine body enters the non-working area from the outer peripheral area, wherein the travel control unit is configured to cause the machine body to perform retried travel in which the machine body temporarily stops and retreats and advances again toward the travel path when the determination unit determines that the machine body is not capable of entering along the travel path, wherein the detection unit is configured to detect an inward state in which the machine body is shifted in a left-right direction with respect to the travel path and the machine body is shifted in a left-right direction with respect to the travel path, and an outward state in which the machine body is not oriented toward the travel path, and wherein the determination unit is configured to determine whether the machine body is capable of entering along the travel path when the non-working area is changed depending on whether the machine body is in the inward state or the outward state.
According to the present invention, since the conditions for the determination by the determination unit are changed in the inward state and the outward state, the determination of random strain can be performed and the frequency of unnecessary retry running can be reduced, compared with the configuration in which the determination unit performs the above-described determination based only on the position of the machine body. Thus, an automatic travel control system capable of efficiently and automatically traveling in an unworked area is realized.
The technical features of the automatic travel control system described above can also be applied to a field working machine capable of automatically traveling. In this case, the field work machine is characterized by comprising: a route setting unit that sets a travel route for an unworked area inside the outer peripheral area in the field; a travel control unit that controls travel of a machine body so that the machine body travels along the travel path; a detection unit that detects the orientation and position of the body; and a determination unit configured to determine whether the machine body is capable of entering along the travel path based on a detection result of the detection unit when the machine body enters the non-working area from the outer peripheral area, wherein the travel control unit is configured to perform a retry travel in which the machine body is temporarily stopped and retracted and advanced again toward the travel path when the determination unit determines that the machine body is not capable of entering along the travel path, wherein the detection unit is configured to detect an inward state in which the machine body is shifted in a left-right direction with respect to the travel path and the machine body is shifted in a left-right direction with respect to the travel path, and an outward state in which the machine body is not oriented toward the travel path, and wherein the determination unit is configured to determine whether the machine body is capable of entering along the travel path when the machine body is changed to enter the non-working area, based on whether the machine body is in the inward state or the outward state.
The technical features of the automatic travel control system described above can also be applied to a control method of a field work machine. The control method in this case is characterized by comprising: a route setting step of setting a travel route for an unworked area inside the outer peripheral area in the field; a travel control step of controlling travel of a body so that the body travels along the travel path; a detection step of detecting the direction and position of the machine body; a determination step of determining whether or not the machine body can enter along the travel path based on a detection result of the detection step when the machine body enters the non-work area from the outer peripheral area, wherein, in the determination step, when it is determined that the machine body cannot enter along the travel path, a retry travel in which the machine body is temporarily stopped and retracted and advanced again toward the travel path is performed, and wherein, in the detection step, a condition for determining whether or not the machine body can enter along the travel path when entering the non-work area is changed depending on whether or not the machine body is in the inward state or the outward state, an inward state in which the machine body is shifted in a left-right direction with respect to the travel path and the machine body is shifted in a left-right direction with respect to the travel path, and an outward state in which the machine body is not oriented toward the travel path are detected.
The technical features of the automatic travel control system described above can also be applied to a control program of a field work machine. The present invention is also configured to be incorporated in a recording medium such as an optical disk, a magnetic disk, or a semiconductor memory, in which a control program having the technical features is recorded. The control program in this case is characterized by causing a computer to execute: a route setting function of setting a travel route for an unworked area inside the outer peripheral area in the field; a travel control function of controlling travel of a body so that the body travels along the travel path; a detection function for detecting the direction and position of the body; and a determination function that determines whether or not the body is able to enter along the travel path based on a detection result of the detection function when the body enters the non-working area from the outer peripheral area, wherein the travel control function is configured to cause the body to perform retried travel in which the body is temporarily stopped and retracted and advanced again toward the travel path when the determination function determines that the body is unable to enter along the travel path, wherein the detection function is configured to detect an inward state in which the body is shifted in a left-right direction with respect to the travel path and the body is shifted in a left-right direction with respect to the travel path, and an outward state in which the body is not shifted in a left-right direction with respect to the travel path, and wherein the determination function is configured to change a condition for determining whether or not the body is able to enter along the travel path when entering the non-working area, based on whether or not the body is in the inward state or the outward state.
In the present invention, it is preferable that the condition used in the determination unit when the body is in the inward state is set to a value on a side on which the retry running is less likely to be executed than the condition used in the outward state.
When the machine body is in the inward state, the travel control unit can cause the machine body to follow the travel path with a smaller amount of revolution than when the machine body is in the outward state. Therefore, according to this configuration, since the condition used in the inward state is set to be weaker than the condition used in the outward state, unnecessary retry running is not easy to be performed in the inward state. In addition, since the conditions used in the outward state are stricter than those used in the inward state, it is possible to quickly perform the retry running when the retry running is required. This shortens the time required for retrying running.
In the present invention, it is preferable that the detecting unit includes a deviation calculating unit that calculates an azimuth deviation amount of the machine body with respect to an extending direction of the travel route and a positional deviation amount of the machine body with respect to the travel route in a direction orthogonal to the extending direction, the condition includes a first condition that the positional deviation amount is larger than a predetermined positional deviation threshold value and a second condition that the azimuth deviation amount is larger than a predetermined azimuth deviation threshold value, and the determining unit is configured to determine that the machine body cannot enter along the travel route when entering the non-work area if at least one of the first condition and the second condition is satisfied.
If at least one of the azimuth offset amount of the machine body and the position offset amount of the machine body becomes large, there is a high possibility that the machine body cannot enter the non-work area from the outer peripheral area along the travel path. Therefore, according to the present structure, if at least one of the first condition that the positional deviation amount is larger than the positional deviation threshold and the second condition that the azimuth deviation amount is larger than the azimuth deviation threshold is satisfied, the retry running is performed. Thus, compared with a structure in which the machine body enters the non-working area from the outer peripheral area without following the running path and continues to run, the machine body is less likely to be disadvantageous in the field work.
In the present invention, it is preferable that the detecting unit is configured to detect a first state in which the body is located a predetermined distance before a start point of the travel path to be entered and a second state in which the body is located at the start point, the determining unit is configured to determine whether the body can enter along the travel path in the first state and the second state, respectively, and to use different conditions in the determination in the first state and in the determination in the second state, and the condition used in the first state is set to a value on a side where the retry travel is less likely to be executed than the condition used in the second state, regardless of whether the body is in the inward state or the outward state.
For example, when the machine body is rotated, if the direction or position of the machine body is greatly deviated from a predetermined one, there is a high possibility that the direction or position of the machine body after the rotation is also greatly deviated from the travel path, and if the retry travel is performed from this state, it takes time to make the machine body along the travel path. Therefore, according to the present configuration, the retry running is performed in a state in which the machine body is located a certain distance ahead of the start point of the running path. That is, compared with a configuration in which the determination is performed by the determination unit only in the determination of the second state, the posture of the body can be re-established at an earlier stage. Further, the condition used in the first state is set to a value on the side on which retry running is not easy to be performed, as compared with the condition used in the second state, regardless of whether the machine body is in the inward state or the outward state. Thus, for example, unnecessary retrying of running when the direction or position of the machine body does not deviate significantly from a predetermined path when the machine body rotates is avoided. In addition, if the conditions are unexpectedly too relaxed in the second state, the retry running cannot be performed in a situation where the retry running is actually required, but according to the present configuration, since the conditions used in the second state are necessarily stricter than the conditions used in the first state, the retry running is reliably performed in a situation where the retry running is actually required.
In the present invention, it is preferable that the harvester further comprises a harvesting device for performing harvesting work on a field and a harvesting control unit for controlling driving of the harvesting device, wherein the harvesting control unit stops the harvesting device when the machine body is in the first state and drives the harvesting device when the machine body is in the second state, regardless of whether the machine body is in the inward state or the outward state.
If the harvesting device is driven in the second state, harvesting work is smoothly performed when the machine body enters the non-work area from the outer peripheral area. However, if the harvesting device is driven when the retry running is started, there is a possibility that damage may be caused to the harvest material in the field, and therefore, the harvesting device needs to be stopped. According to this configuration, since the harvest control unit stops the harvest device when the machine body is in the first state, the retry running can be quickly performed in a state where the harvest device is stopped in the first region where the harvest operation is not necessary.
In the present invention, it is preferable that the harvest control part starts driving the harvest device during transition of the machine body from the first state to the second state, regardless of whether the machine body is in the inward state or the outward state.
According to this structure, harvesting work when the machine body enters the non-work area from the outer peripheral area is smoothly performed.
An automatic travel control system according to the present invention is characterized by comprising: a route setting unit that sets a travel route for an unworked area inside the outer peripheral area in the field; a travel control unit that controls travel of a machine body so that the machine body travels along the travel path; a detection unit that detects at least one of an orientation and a position of the body; a determination unit configured to determine whether or not the machine body is able to enter along the travel path based on a detection result of the detection unit when the machine body enters the non-work area from the outer peripheral area, wherein the travel control unit is configured to cause the machine body to perform retried travel in which the machine body is temporarily stopped and retracted and is advanced again toward the travel path when the determination unit determines that the machine body is unable to enter along the travel path; an operation member which is manually operated; and a changing unit that changes a condition for determining whether or not the body can enter along the travel path when entering the non-working area, in accordance with an operation of the operation tool.
According to the present invention, the determination unit determines whether or not the machine body can enter the non-work area from the outer peripheral area so as to follow the travel path, and if the machine body cannot enter the non-work area so as to follow the travel path, the retry travel is executed. Therefore, compared with a structure in which the machine body enters the non-work area from the outer peripheral area and continues to travel forward without following the travel path, the machine body is less likely to be disadvantageous in the work in the field. In addition, according to the present invention, for example, an administrator of a field or an operator of an organism can change a condition for executing retry running via an operation piece. Therefore, for example, when there is no obstacle to actual harvest even if the machine body cannot enter along the travel path, the condition is changed according to the operation of the operation tool, so that the setting change for making it difficult to execute the retry travel can be performed. Thus, an automatic travel control system capable of efficiently and automatically traveling in an unworked area is realized according to the state of a field, the wishes of a field manager, or the like.
The technical features of the automatic travel control system described above can also be applied to a field working machine capable of automatically traveling. In this case, the field work machine is characterized by comprising: a route setting unit that sets a travel route for an unworked area inside the outer peripheral area in the field; a travel control unit that controls travel of a machine body so that the machine body travels along the travel path; a detection unit that detects at least one of an orientation and a position of the body; a determination unit configured to determine whether or not the machine body is able to enter along the travel path based on a detection result of the detection unit when the machine body enters the non-work area from the outer peripheral area, wherein the travel control unit is configured to perform retry travel in which the machine body is temporarily stopped and retracted and advanced again toward the travel path when the determination unit determines that the machine body is unable to enter along the travel path, and further includes: an operation member which is manually operated; and a changing unit that changes a condition for determining whether or not the body can enter along the travel path when entering the non-working area, in accordance with an operation of the operation tool.
The technical features of the automatic travel control system described above can also be applied to a control method of a field work machine. The control method in this case is characterized by comprising: a route setting step of setting a travel route for an unworked area inside the outer peripheral area in the field; a travel control step of controlling travel of a body so that the body travels along the travel path; a detection step of detecting at least one of an orientation and a position of the body; a determination step of determining, when the machine body enters the non-work area from the outer peripheral area, whether or not the machine body can enter along the travel path based on a detection result of the detection step; and a changing unit that changes a condition for determining whether or not the body can enter along the travel path in the determining step in response to an operation of an operation tool that is manually operated, wherein the determining step executes a retry travel in which the body is temporarily stopped and retracted and is advanced again toward the travel path when it is determined that the body cannot enter along the travel path in the travel control step.
The technical features of the automatic travel control system described above can also be applied to a control program of a field work machine. A recording medium such as an optical disk, a magnetic disk, and a semiconductor memory, in which a control program having the technical features is recorded, is also included in the configuration of the present invention. The control program in this case is an automatic travel control program for the field work machine, and causes a computer to execute: a route setting function of setting a travel route for an unworked area inside the outer peripheral area in the field; a travel control function of controlling travel of a body so that the body travels along the travel path; a detection function for detecting at least one of an orientation and a position of the body; a determination function of determining whether or not the machine body is able to enter along the travel path based on a detection result of the detection function when the machine body enters the non-work area from the outer peripheral area; a changing function of changing a condition for determining whether or not the body can enter along the travel path by the determining function when entering the non-working area, based on an operation of an operation tool that is manually operated, wherein the travel control function is configured to cause the body to execute a retry travel in which the body temporarily stops and retreats and proceeds again toward the travel path when the determining function determines that the body cannot enter along the travel path.
In the present invention, it is preferable that the condition includes a plurality of indices of different types, and the condition storage unit is provided to store a plurality of the conditions, and the changing unit selects the condition corresponding to the operation of the operation tool from among the plurality of conditions if the operation tool is manually operated.
If a plurality of indices are included in the condition, the plurality of indices need to be set uniformly. However, if the structure of the plurality of indices is directly changed by an operator of a field manager or a machine body, the change operation becomes complicated for the operator of the field manager or the machine body. According to this configuration, a manager of the field or an operator of the machine body can select a desired condition from a plurality of conditions stored in the condition storage unit by operating the operating element. Thus, even if the field manager or the operator of the machine body does not directly change the plurality of indexes, the condition can be easily changed. Thus, the condition can be easily changed by the field manager or the operator, and the structure of the changing section is friendly to the user.
In the present invention, it is preferable that the detecting unit is configured to detect a first state in which the body is located a predetermined distance before a start point of the travel path to be entered and a second state in which the body is located at the start point, the determining unit is configured to determine whether the body can enter along the travel path in the first state and the second state, respectively, and to use different conditions in the determination in the first state and in the determination in the second state, and the condition used in the first state is set to a value on a side on which the retry travel is less likely to be executed than the condition used in the second state.
For example, when the machine body is rotated, if the direction or position of the machine body is greatly deviated from a predetermined one, there is a high possibility that the direction or position of the machine body after the rotation is also greatly deviated from the travel path, and if the retry travel is performed from this state, it takes time to make the machine body along the travel path. Therefore, according to the present configuration, the retry running is performed in a state in which the machine body is located a certain distance ahead of the start point of the running path. That is, compared with a configuration in which the determination is performed by the determination unit only in the determination of the second state, the posture of the body can be re-established at an earlier stage. The condition used in the first state is set to a value on the side where retry running is less likely to be performed than the condition used in the second state. Therefore, for example, unnecessary retried running is avoided when the direction or position of the machine body does not deviate significantly from the predetermined path when the machine body rotates.
In the present invention, it is preferable that the condition used in the first state is a fixed value, and the changing unit changes the condition used in the second state according to an operation of the operating element.
According to this configuration, it is easy for a field manager or operator to change the conditions, and the configuration of the changing unit is more user-friendly.
In the present invention, it is preferable that the harvester further comprises a harvesting device for performing harvesting work on a field, and a harvesting control unit for controlling driving of the harvesting device, wherein the harvesting control unit stops the harvesting device when the machine body is in the first state, and drives the harvesting device when the machine body is in the second state.
If the harvesting device is driven in the second state, harvesting work is smoothly performed when the machine body enters the non-work area from the outer peripheral area. However, if the harvesting device is driven when the retry running is started, there is a possibility that damage may be caused to the harvest material in the field, and therefore, the harvesting device needs to be stopped. According to this configuration, since the harvest control unit stops the harvest device when the machine body is in the first state, it is possible to quickly perform the retry running in a state where the harvest device is stopped in the first region where the harvest operation is not necessary.
In the present invention, it is preferable that the harvest control section starts driving the harvest device during transition of the machine body from the first state to the second state.
According to this structure, harvesting work when the machine body enters the non-work area from the outer peripheral area is smoothly performed.
Drawings
Fig. 1 is a left side view of a combine harvester.
Fig. 2 is a view showing a surrounding travel in a field.
Fig. 3 is a view showing harvesting travel along a travel path.
Fig. 4 is a block diagram showing a configuration related to the control unit.
Fig. 5 is a diagram showing a first state and a second state of the body.
Fig. 6 is a view showing an inward state of the body.
Fig. 7 is a view showing an outward state of the body.
Fig. 8 is a diagram showing a plurality of conditions and positional shift threshold values and azimuth shift threshold values included in the conditions.
Fig. 9 is a flowchart showing a determination process related to retry running.
Detailed Description
[ integral Structure of combine harvester ]
Embodiments of the present invention will be described based on the drawings. As shown in fig. 1, a general combine harvester 1 (corresponding to the "body" of the present invention) includes a crawler-type traveling device 11, a driving unit 12, a threshing device 13, a grain tank 14, a harvesting device H, a conveying device 16, a grain discharging device 18, a satellite positioning module 80, and an engine E. The direction of the arrow "F" shown in fig. 1 is referred to as "front of the machine body", the direction of the arrow "B" shown in fig. 1 is referred to as "rear of the machine body", the direction of the arrow "U" shown in fig. 1 is referred to as "upper", and the direction of the arrow "D" shown in fig. 1 is referred to as "lower". In the case of indicating right and left, the right hand side in a state of facing the front of the machine body is referred to as "right", and the left hand side is referred to as "left". The same applies to the following description of the front, rear, upper, lower, left, and right.
The combine 1 includes a traveling device 11 at a lower portion thereof. The traveling device 11 is driven by power from the engine E. The combine harvester 1 is capable of being self-propelled by the traveling device 11.
Further, a driving unit 12, a threshing device 13, and a grain box 14 are provided above the traveling device 11. An operator monitoring the operation of the combine harvester 1 can ride on the driving unit 12. The operator may monitor the operation of the combine harvester 1 from outside the combine harvester 1.
The grain discharge device 18 is disposed above the grain tank 14. The satellite positioning module 80 is attached to an upper surface portion of the cabin 10 covering the driving unit 12. In order to supplement satellite navigation by the satellite positioning module 80, an inertial measurement unit 81 (see fig. 4) incorporating a gyro acceleration sensor or a magnetic azimuth sensor is incorporated into the satellite positioning module 80. Of course, the inertial measurement unit 81 may be disposed at a different position from the satellite positioning module 80 in the combine harvester 1.
The combine harvester 1 is provided with a harvesting device H at the front part thereof. The conveyor 16 is disposed at the rear side with respect to the harvesting device H. The harvesting device H has a harvesting device 15 and reel 17.
Harvesting apparatus 15 harvests the plant stalks of the field. In addition, the reel 17 is driven to rotate and simultaneously gathers the plant stalks of the harvesting object. According to this structure, the harvesting device H harvests the grains of the field. The combine harvester 1 is capable of harvesting and traveling by the traveling device 11 while harvesting the plant stalks in the field by the harvesting device 15.
The harvested stalks harvested by the harvesting device 15 are transported by the transporting device 16 towards 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 tank 14 are discharged outside the machine by the grain discharge device 18 as needed.
As shown in fig. 1, the communication terminal 4 is disposed in the driving unit 12. The communication terminal 4 has a touch panel type monitor, and is configured to be capable of displaying various information and performing various setting operations. The communication terminal 4 may be provided with a push button switch, a dial switch, or the like, in addition to the touch panel type monitor. 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 detachable from the driving unit 12, and the communication terminal 4 may be located outside the combine harvester 1. The touch panel type monitor, the button type switch shown by the above example, the dial type switch, and the like in the communication terminal 4 correspond to the "operation element" of the present invention.
[ harvesting operation by combine harvester ]
The harvesting operation in the field by the combine harvester 1 will be described with reference to fig. 2 and 3. Fig. 2 and 3 show examples in which the outer shape of the field is rectangular. First, as shown in fig. 2, harvesting travel is performed so as to surround the boundary line of the field in the region on the outer peripheral side of the field. The area that becomes the operated area by the initial surrounding travel is set as an outer peripheral area SA, and the non-operated area inside the outer peripheral area SA is set as an operation target area CA.
The outer peripheral area SA is used as a space for the combine 1 to perform a direction change when harvesting of the plant stalks of the work object area CA is performed by automatic travel. The outer peripheral area SA is also used as a space for moving to the discharge parking position PP adjacent to the transport vehicle CV and to the fuel supply place.
In order to secure a certain width of the outer peripheral area SA, the initial round travel is performed for about 2 to 3 weeks. The initial round traveling may be performed by manual traveling or may be performed by automatic traveling.
After the initial round traveling, the plant stalks of the work object area CA are harvested by automatic traveling.
In this automatic travel, as shown in fig. 2 and 3, an automatic harvesting travel for harvesting plant stalks while automatically traveling on a harvesting travel path LI (an example of a travel path) set in the work target area CA and a turning travel between one automatic harvesting travel and the next automatic harvesting travel are repeated. The turning travel is an automatic travel on a turning travel path TN connecting between two harvesting travel paths LI.
[ Structure of automatic travel control System ]
As shown in fig. 4, the automatic travel control system 2 includes a control unit 20, a satellite positioning module 80, and an inertial measurement unit 81. The combine harvester 1 includes a control unit 20. The power output from the engine E is input to the traveling device 11 and the harvesting device H, respectively.
The satellite positioning module 80 receives signals from the satellite GS used in GNSS (global navigation satellite system, e.g. GPS, QZSS, galileo, GLONASS, beiDou, etc.). As shown in fig. 4, the satellite positioning module 80 transmits positioning data indicating the own vehicle position of the combine harvester 1 to the own vehicle position calculating unit 21A based on the received signal.
The inertial measurement unit 81 detects angular velocity of the yaw angle of the combine harvester 1 and acceleration in three mutually orthogonal axial directions with time. The detection result of the inertial measurement unit 81 is transmitted to the vehicle azimuth calculation unit 21B.
The control unit 20 includes a detection unit 21, a region calculation unit 22, a route calculation unit 23 (route setting unit), and a travel control unit 25. The detection unit 21 detects the orientation and position of the combine harvester 1. The detection unit 21 includes a vehicle position calculation unit 21A, a vehicle orientation calculation unit 21B, and a deviation calculation unit 21C.
The vehicle position calculating unit 21A calculates the position coordinates of the combine harvester 1 with time based on the positioning data output from the satellite positioning module 80. The calculated position coordinates of the combine harvester 1 with time are sent to the region calculating unit 22 and the deviation calculating unit 21C.
The vehicle position calculating unit 21B receives the position coordinates of the combine 1 from the vehicle position calculating unit 21A. The vehicle orientation calculation unit 21B calculates the orientation of the combine 1 based on the detection result of the inertial measurement unit 81 and the position coordinates of the combine 1.
More specifically, first, during traveling of the combine 1, the vehicle orientation calculation unit 21B calculates an initial posture orientation based on the current position coordinate of the combine 1 and the position coordinate of the combine 1 at the point where the vehicle has previously traveled. Next, if the combine 1 travels for a certain period of time after the initial posture orientation is calculated, the vehicle orientation calculating unit 21B calculates the amount of change in the posture orientation by integrating the angular velocity detected by the inertial measuring unit 81 during the travel for the certain period of time.
Then, the vehicle azimuth calculation unit 21B updates the calculation result of the attitude azimuth by adding the change amount of the attitude azimuth thus calculated to the initial attitude azimuth. Then, the amount of change in the attitude orientation is similarly calculated at regular intervals, and the calculation results of the attitude orientation are sequentially updated. The posture orientation of the combine 1 calculated by the vehicle orientation calculating unit 21B is transmitted to the deviation calculating unit 21C.
The deviation calculating unit 21C receives information on the harvesting travel path LI from the path calculating unit 23 when the combine 1 travels along the harvesting travel path LI, and calculates the positional deviation Wd and the azimuth deviation θd of the combine 1 with respect to the harvesting travel path LI based on the calculation result of the vehicle position calculating unit 21A and the calculation result of the vehicle azimuth calculating unit 21B. That is, the deviation calculating unit 21C calculates the azimuth offset θd of the combine 1 with respect to the extending direction of the harvesting travel path LI and the positional offset Wd of the combine 1 with respect to the harvesting travel path LI in the direction orthogonal to the extending direction.
The area calculating unit 22 calculates the outer peripheral area SA and the work target area CA shown in fig. 2 based on the position coordinates of the combine 1 over time received from the vehicle position calculating unit 21A. More specifically, the area calculating unit 22 calculates the travel locus of the combine 1 in the surrounding travel on the outer peripheral side of the field based on the position coordinates over time of the combine 1 received from the vehicle position calculating unit 21A. The region calculating unit 22 calculates, as the outer peripheral region SA, a region on the outer peripheral side of the field where the combine 1 travels around while harvesting grains, based on the calculated travel locus of the combine 1. The area calculating unit 22 calculates an area inside the field from the calculated outer peripheral area SA as the work target area CA. For example, in fig. 2, the travel path of the combine harvester 1 for traveling around the outer periphery of the field is indicated by an arrow. As described above, the combine harvester 1 performs the round travel for 3 weeks. Then, if harvesting travel along this travel path is completed, the field becomes a state shown in fig. 3.
The area calculating unit 22 calculates an area on the outer peripheral side of the field where the combine harvester 1 travels around while harvesting grains as an outer peripheral area SA. The area calculating unit 22 calculates an area inside the field from the calculated outer peripheral area SA as the work target area CA. The work target area CA corresponds to an "unworked area" of the present invention. As shown in fig. 4, the calculation result of the area calculation unit 22 is transmitted to the route calculation unit 23 and the travel control unit 25.
As shown in fig. 2 and 3, the route calculation unit 23 sets the harvest travel route LI in the work target area CA and the return travel route TN in the outer peripheral area SA based on the calculation result received from the area calculation unit 22. The harvest travel path LI corresponds to the "travel path" of the present invention. That is, the route calculation unit 23 sets the travel route for the work area CA inside the outer peripheral area SA in the field. In the illustrated example, a plurality of harvest travel paths LI parallel to the short side of the work object area CA and a plurality of harvest travel paths LI parallel to the long side are calculated. The harvesting travel path LI may be curved instead of a straight line.
In this way, the route calculation unit 23 calculates the harvest travel route LI passing through the work object area CA. The harvest travel path LI and the return travel path TN set by the path calculation unit 23 are transmitted to the travel control unit 25 and the harvest control unit 30.
The path calculation unit 23 is configured to be able to receive a signal from the communication terminal 4. For example, if a grain discharge button (not shown) of the communication terminal 4 is operated, a travel path from the harvesting travel path LI or the return travel path TN to the discharge parking position PP and a return path from the discharge parking position PP to the harvesting travel path LI are set by the path calculation unit 23.
As described above, the communication terminal 4 has a touch panel type monitor which is manually operated, and is configured to be capable of displaying various information and performing various setting operations. As will be described in detail later, the communication terminal 4 includes a changing unit 4a, and the changing unit 4a is configured to be capable of changing in response to a manual operation of inputting a determination mode related to retry running, which will be described later, to the touch panel of the communication terminal 4. In other words, the changing unit 4a changes the condition for determining whether or not the combine harvester 1 can enter along the harvesting travel path LI when entering the work target area CA, in accordance with the operation of the touch panel type monitor.
The travel control unit 25 is configured to be able to control the travel device 11. The travel control unit 25 controls the automatic travel of the combine 1 based on the position coordinates of the combine 1 received from the vehicle position calculating unit 21A, the calculation result received from the region calculating unit 22, and the harvest travel path LI received from the path calculating unit 23. Specifically, as shown in fig. 2 and 3, the travel control unit 25 controls the travel of the combine 1 so that the combine 1 travels along the harvest travel path LI.
The user (including an operator, and the same applies hereinafter) starts the automatic travel along the harvest travel path LI and the return travel path TN by pressing an automatic travel start button (not shown). As described in detail later, in the case where the combine 1 cannot enter the work area CA from the outer peripheral area SA along the harvest travel path LI during the automatic travel, the travel control unit 25 controls the retry travel. The retry running is a running in which the combine harvester 1 temporarily stops and moves backward and moves forward again toward the harvesting running path LI.
In the example shown in fig. 2 and 3, first, as the harvest travel path LI parallel to the four sides of the rectangular work object area CA, the travel control unit 25 sets harvest travel paths LI1, LI2, LI3, and LI4 as travel paths. The route calculation unit 23 calculates turning travel routes TN1, TN2, TN3 for α -turn travel. The α -turn running is performed by the preceding forward running in the direction in which the harvest running path LI extends, the backward running including the turning running, and the subsequent forward running in the direction in which the harvest running path LI extends.
The travel control unit 25 controls the travel device 11 to automatically travel the combine 1 in the order of the harvesting travel path LI1, the revolving travel path TN1, the harvesting travel path LI2, the revolving travel path TN2, the harvesting travel path LI3, the revolving travel path TN3, and the harvesting travel path LI 4. Thus, as shown in fig. 2, the automatic running becomes a spiral running.
If the field outer periphery side of the field is enlarged by the surrounding automatic travel of the combine 1 and the automatic travel by the U-turn swing is enabled, the travel control unit 25 sets the harvest travel paths LI5, LI6, LI7, and LI8 as travel paths. The route calculation unit 23 calculates turning travel routes TN4, TN5, and TN6 for U-turn. The travel control unit 25 controls the travel device 11 to automatically travel the combine 1 in the order of the harvesting travel path LI5, the revolving travel path TN4, the harvesting travel path LI6, the revolving travel path TN5, the harvesting travel path LI7, the revolving travel path TN6, and the harvesting travel path LI 8.
In fig. 3, the vehicle travels alternately from the outside in order on the harvest travel paths LI parallel to the two sides of the rectangular work area CA, and the vehicle travels in a U-turn on the two harvest travel paths LI. The U-turn travel is performed only by the forward travel including the turning travel.
The automatic travel based on the α -turn travel is performed when the width of the outer peripheral region SA is narrow and the automatic travel based on the U-turn travel is difficult to perform. In the case where the width of the outer peripheral region SA is sufficiently large to enable automatic running based on U-turn running, automatic running based on U-turn running may be performed instead of automatic running based on α -turn running.
The harvest control unit 30 performs drive control of the harvest device H based on the information of the harvest travel path LI and the return travel path TN sent from the path calculation unit 23. In a state where the combine 1 automatically travels along the harvesting travel path LI, the harvesting control unit 30 lowers the harvesting device H and controls driving of the harvesting device 15, reel 17, and the like. In a state where the combine 1 automatically travels along the revolving travel path TN, the harvest control unit 30 causes the harvester H to rise and stops the harvester 15, the reel 17, and the like.
[ about retry running ]
After the harvesting travel path LI ends the harvesting travel, the combine 1 performs automatic travel based on the α -turn travel or the U-turn travel toward the next harvesting travel path LI. However, when the α -turn travel or the U-turn travel is completed, the combine 1 may be shifted in left-right position with respect to the next harvesting travel path LI or may be shifted in azimuth with respect to the extending direction of the next harvesting travel path LI. If the combine harvester 1 travels automatically in a state where the positional deviation or the azimuth deviation with respect to the next harvesting travel path LI is large, it is considered that the combine harvester 1 may meander left and right with respect to the harvesting travel path LI, and harvesting residues may occur in the field. Therefore, in the present embodiment, the travel control unit 25 is configured to be able to control the retry travel.
The control unit 20 shown in fig. 4 includes a determination unit 27 and a condition storage unit 29. When the combine harvester 1 enters the work area CA from the outer peripheral area SA, the determination unit 27 determines whether or not the combine harvester 1 can enter along the harvest travel path LI based on the detection result of the detection unit 21. When the determination unit 27 determines that the combine harvester 1 cannot enter along the harvest travel path LI, the determination unit 27 transmits a retry travel instruction signal to the travel control unit 25. The travel control unit 25 is configured to cause the combine harvester 1 to execute a retry travel in accordance with the instruction signal. The condition storage unit 29 stores a condition for determining whether or not the combine 1 can enter along the travel path when the combine 1 enters the work area CA. The condition storage unit 29 stores a plurality of conditions. The condition includes a plurality of different indices. The plurality of conditions each have a positional deviation threshold Wt and an azimuth deviation threshold θt as a plurality of different types of indices.
As shown in fig. 5, the determination unit 27 performs the determination processing at two places before starting the automatic harvesting travel along the next harvesting travel path LI. Specifically, the determination unit 27 determines whether or not the combine harvester 1 is able to enter along the harvesting travel path LI at a position separated by a certain distance D1 from the starting point of the next harvesting travel path LI and the starting point of the next harvesting travel path LI. In fig. 5, the start point of the next harvesting travel path LI is represented by the second retry determination position P2, and a position that is a distance D1 from the start point of the next harvesting travel path LI to the front is represented by the first retry determination position P1. The second retry determination position P2 is a position at which the combine harvester 1 is about to enter the work area CA from the outer peripheral area SA. The detection unit 21 is configured to detect a state in which the combine harvester 1 is located at the first retry determination position P1 (hereinafter, referred to as "first state") and a state in which the combine harvester 1 is located at the second retry determination position P2 (hereinafter, referred to as "second state").
The certain distance D1 is set to 1 meter, for example. The first retry determination position P1 is located on the revolving travel path TN. The turning travel paths TN at this time may be the turning travel paths TN1, TN2, TN3 for α -turn travel, or the turning travel paths TN4, TN5, TN6 for U-turn rotation. When the turning travel path TN shown in fig. 5 is the turning travel paths TN1, TN2, TN3 for α -turn travel, the turning travel path TN shown in fig. 5 is shown as a path for traveling forward after the reverse travel to enter the next harvesting travel path LI.
At the first retry determination position P1, the combine 1 performs revolving travel along the revolving travel path TN toward the next harvest travel path LI. The harvesting device H is lowered at the first retry determination position P1, but the harvesting device H may not be lowered at the first retry determination position P1. In the first retry determination position P1, the harvesting device 15 and the reel 17 are not driven. That is, in the first retry determination position P1, the combine harvester 1 performs the revolving travel in a state where the work is not performed by the harvesting device H. In the first state, the combine harvester 1 is located a predetermined distance D1 before the second retry determination position P2.
At the second retry determination position P2, the combine 1 starts the automatic travel along the next harvest travel path LI. In the second retry determination position P2, the harvesting device H is lowered, and the harvesting device 15 and reel 17 are driven. The harvest control unit 30 starts driving the harvest device H while the first retry determination position P1 is being changed to the second retry determination position P2.
If the retry running is performed at the second retry determination position P2, it is necessary to raise the harvesting device H after stopping the driving of the harvesting device 15 and reel 17. In addition, if the harvesting device 15 cuts off the root of the crop, the reel 17 is required to pick up the crop, and thus, it takes time to retry running. On the other hand, at the first retry determination position P1, even if the harvesting device H is lowered, the harvesting device 15 and the reel 17 are in an undriven state, so that the retry running can be performed by merely raising the harvesting device H.
When the first retry determination position P1 requires the retry running, the posture of the combine 1 cannot be re-established even if the vehicle is moving forward, and the second retry determination position P2 often requires the retry running. Therefore, according to the present embodiment, by performing the retry traveling at the first retry determination position P1, the retry traveling can be performed faster and the total time required for the retry traveling can be shortened, compared to the configuration in which the retry traveling is performed only at the second retry determination position P2.
In this way, the determination unit 27 is configured to determine whether or not the combine harvester 1 can enter along the harvesting travel path LI in the first state and the second state, respectively. The harvest control unit 30 is configured to stop the harvest device H in the first state and to drive the harvest device H in the second state.
The deviation calculating unit 21C calculates the positional deviation Wd of the combine 1 from the lateral direction of the travel path and the azimuth deviation θd of the combine 1 from the travel path as shown in fig. 6 and 7.
The conditions for determining whether or not the combine harvester 1 can enter along the travel path include a first condition in which the positional deviation Wd is greater than a predetermined positional deviation threshold Wt, and a second condition in which the azimuth deviation θd is greater than a predetermined azimuth deviation threshold θt. The determination unit 27 is configured to select the positional deviation threshold Wt and the azimuth deviation threshold θt from among the plurality of positional deviation thresholds Wt and the plurality of azimuth deviation thresholds θt stored in the condition storage unit 29, respectively, one by one, based on the detection result of the deviation calculation unit 21C. The determination unit 27 is configured to determine that the combine harvester 1 cannot enter along the harvesting travel path LI when entering the work area CA if at least one of the positional deviation Wd being larger than the positional deviation threshold Wt (first condition) and the azimuth deviation θd being larger than the positional deviation threshold θt (second condition) is satisfied.
The positional deviation threshold Wt and the azimuth deviation threshold θt vary according to the position and the azimuth of the combine harvester 1. In fig. 8, W1 to W6 are shown as the misalignment threshold Wt, and θ1 to θ6 are shown as the azimuth misalignment threshold θt. In the determination in the first state, the determination unit 27 sets the positional shift threshold Wt to W1 or W2, and sets the azimuth shift threshold θt to θ1 or θ2. In the determination in the second state, the determination unit 27 sets the positional deviation threshold Wt to any one of W3 to W6, and sets the azimuth deviation threshold θt to any one of θ3 to θ6. That is, the determination unit 27 is configured to use different conditions for the determination in the first state and the determination in the second state.
The positional deviation threshold Wt (W1, W2) selected at the time of determination in the first state is set to be larger than the positional deviation threshold Wt (W3 to W6) selected at the time of determination in the second state. In fig. 8, W1 is set to be greater than W3 and W5, respectively, and W2 is set to be greater than W4 and W6, respectively. The azimuth shift threshold value θt (θ1, θ2) selected at the time of determination in the first state is set to be larger than the azimuth shift threshold values θt (θ3 to θ6) selected at the time of determination in the second state. In fig. 8, θ1 is set to be greater than θ3 and θ5, respectively, and θ2 is set to be greater than θ4 and θ6, respectively. That is, the condition used in the first state is set to a value on the side on which retry running is less likely to be performed than the condition used in the second state.
A method for selecting the position shift threshold Wt and the position shift threshold θt by the vehicle position by the determination unit 27 will be described. Fig. 6 shows a case where the position deviation amount Wd is smaller as the combine 1 moves straight forward closer to the harvesting travel path LI, and the state shown in fig. 6 is referred to as an "inward state" in the present embodiment. In the inward state, if the position of the combine 1 is shifted to the left and right sides with respect to the harvesting travel path LI and the orientation of the combine 1 is shifted to the left and right sides with respect to the extending direction of the harvesting travel path LI and goes straight, it intersects with the harvesting travel path LI. Fig. 7 shows a case where the position shift amount Wd increases as the combine 1 moves straight forward and away from the harvesting travel path LI, and the state shown in fig. 7 is referred to as an "outward state" in the present embodiment. In the outward state, if the position of the combine 1 is shifted to the left and right sides with respect to the harvesting travel path LI and the orientation of the combine 1 is shifted to the left and right sides with respect to the extending direction of the harvesting travel path LI and goes straight, it is away from the harvesting travel path LI. That is, the detection unit 21 is configured to detect an inward state in which the combine 1 is displaced in the left-right direction with respect to the harvesting travel path LI and the combine 1 is directed toward the harvesting travel path LI, and an outward state in which the combine 1 is displaced in the left-right direction with respect to the harvesting travel path LI and the combine 1 is not directed toward the harvesting travel path LI.
When the combine harvester 1 is in the inward state and when it is in the outward state, the values of the position shift threshold Wt and the orientation shift threshold θt are changed. In the inward state shown in fig. 6, the positional shift threshold Wt is set to W1, and the azimuth shift threshold θt is set to θ1. When the vehicle is located at the first retry determination position P1 and the vehicle azimuth is in an inward state with respect to the harvest travel path LI, the determination unit 27 sets the positional deviation threshold Wt to W1 and the azimuth deviation threshold θt to θ1 as shown in fig. 6. When the vehicle is located at the second retry determination position P2 and the vehicle azimuth is in an inward state with respect to the harvest travel path LI, the determination unit 27 sets the misalignment threshold Wt to W3 or W5 and the azimuth misalignment threshold θt to θ3 or θ5.
In the outward state shown in fig. 7, the positional shift threshold Wt is set to W2, and the azimuth shift threshold θt is set to θ2. That is, when the vehicle is located at the first retry determination position P1 and the vehicle azimuth is in an outward state with respect to the harvest travel path LI, the determination unit 27 sets the misalignment threshold Wt to W2 and the azimuth misalignment threshold θt to θ2, as shown in fig. 7. When the vehicle is located at the second retry determination position P2 and the vehicle azimuth is in an outward state with respect to the harvest travel path LI, the determination unit 27 sets the misalignment threshold Wt to W4 or W6 and the azimuth misalignment threshold θt to θ4 or θ6. That is, the determination unit 27 selects the position shift threshold Wt and the orientation shift threshold θt separately in the inward state and the outward state.
In this way, the determination unit 27 is configured to change the condition for determining whether or not the combine 1 can enter along the harvest travel path LI when entering the work area CA, regardless of whether the combine 1 is in the inward or outward state.
If the vehicle direction is in the outward state with respect to the harvesting travel path LI, the more the combine 1 advances, the larger the positional deviation Wd becomes, and therefore the necessity of retrying travel is liable to become higher than in the case of the inward state. Therefore, the positional deviation threshold Wt (W2, W4, W6) selected in the outward state is set smaller than the positional deviation threshold Wt (W1, W3, W5) selected in the inward state. In addition, the azimuth shift threshold θt (θ2, θ4, θ6) selected in the outward state is set smaller than the azimuth shift threshold θt (θ1, θ3, θ5) selected in the inward state. In fig. 8, W2 is set smaller than W1, and θ2 is set smaller than θ1. In fig. 8, W4 is set smaller than W3, W6 is set smaller than W5, θ4 is set smaller than θ3, and θ6 is set smaller than θ5. In this way, the condition used when the combine 1 is in the inward state is set to a value on the side where retry running is less likely to be performed than the condition used when the combine 1 is in the outward state. Further, regardless of whether the combine 1 is in the inward state or the outward state, the condition used in the first state is set to a value on the side on which retry running is less likely to be performed than the condition used in the second state.
In the present embodiment, the positional shift threshold Wt and the azimuth shift threshold θt at the second retry determination position P2 can be artificially changed. Specifically, as shown in fig. 8, the "standard mode" and the "loose mode" can be set as determination modes related to the retry running. In the present embodiment, the determination mode is changed so that a change operation can be performed by a manual operation via the changing unit 4a of the communication terminal 4. As described above, the communication terminal 4 has a touch panel type monitor, and the monitor of the communication terminal 4 can display a screen for selecting the determination mode.
The "standard mode" and the "loose mode" are displayed on the selection screen of the determination mode, and the user can select one of the "standard mode" and the "loose mode". That is, the changing unit 4a of the communication terminal 4 is configured to be able to selectively set a plurality of determination modes. In other words, the changing unit 4a of the communication terminal 4 is configured to be capable of changing the index for determining whether or not the combine harvester 1 can enter the work area CA along the harvesting travel path LI in a plurality of stages. The determination unit 27 selects the positional deviation threshold Wt and the azimuth deviation threshold θt corresponding to the selected determination mode from among the plurality of positional deviation thresholds Wt and the plurality of azimuth deviation thresholds θt.
W5 is set to be larger than W3, and W6 is set to be larger than W4. In addition, θ5 is set to be larger than θ3, and θ6 is set to be larger than θ4. That is, in the "loose mode", since the positional shift amount Wd and the azimuth shift amount θd are allowed to be larger than those in the case of the "standard mode", it is not easy to perform the retry running. In such a case, the determination mode is set to the "loose mode" to reduce the user's trouble.
In the present embodiment, W1 is set to be larger than W3 and W5, and W2 is set to be larger than W4 and W6, respectively. In addition, θ1 is set to be greater than θ3 and θ5, respectively, and θ2 is set to be greater than θ4 and θ6, respectively. The changing unit 4a of the communication terminal 4 changes the positional shift threshold Wt (W3 to W6) used in the first state to a value smaller than the positional shift threshold Wt (W1, W2) used in the second state. The changing unit 4a of the communication terminal 4 changes the azimuth shift threshold value θt (θ3 to θ6) used in the second state to a value smaller than the azimuth shift threshold value θt (θ1, θ2) used in the first state.
That is, the positional deviation threshold Wt and the azimuth deviation threshold θt used in the first state are set to be larger than the positional deviation threshold Wt and the azimuth deviation threshold θt used in the second state. In this way, the first state makes a retry run determination under a condition that is less severe than the second state, and the possibility of frequent retry runs being accidentally performed in the first state is reduced.
If a plurality of indices such as the positional deviation threshold Wt and the azimuth deviation threshold θt are included in the condition, it is necessary to set the plurality of indices in an balanced manner. However, if the structure of the plurality of indices is directly changed by an operator of a field manager or a machine body, the change operation becomes complicated for the operator of the field manager or the machine body. In the present embodiment, the changing unit 4a is configured to be unable to change the positional deviation threshold Wt and the azimuth deviation threshold θt used in the first state, and is configured to be able to change the positional deviation threshold Wt and the azimuth deviation threshold θt used in the second state in the "normal mode" and the "loose mode". That is, the condition used in the first state is a fixed value, and the changing unit 4a of the communication terminal 4 changes the condition used in the second state in accordance with the operation of the monitor. Thus, compared with a configuration in which the changing unit 4a can change the positional deviation threshold Wt and the azimuth deviation threshold θt in the first state and the second state, respectively, the user can easily operate the changing unit 4a without considering a complex combination of determination modes. Thus, the condition can be easily changed by the field manager or the operator, and the structure of the changing unit 4a is user-friendly. The changing unit 4a may be configured to be able to change the conditions used in the first state in response to an operation of the touch panel type monitor as an operation element.
The determination processing by the determination unit 27 will be described with reference to fig. 9. Based on the branching processing in step #02 to step #06, the values of the positional shift threshold Wt and the azimuth shift threshold θt are set to different values in step #11 to step #16, respectively.
First, the vehicle position and the vehicle orientation are acquired by the vehicle position calculating unit 21A and the vehicle orientation calculating unit 21B (step # 01). Then, it is determined whether the vehicle position is the first retry determination position P1 or the second retry determination position P2 shown in fig. 9 (step # 02).
If the vehicle position is the first retry determination position P1 (step #02: P1), the determination unit 27 determines whether the vehicle position is in the inward state or the outward state with respect to the harvest travel path LI (step # 03). Further, if the own vehicle azimuth is in the inward state (step #03: inward state), the positional deviation threshold Wt is set to W1 and the azimuth deviation threshold θt is set to θ1 (step # 11). In addition, if the own vehicle azimuth is in the outward state (step #03: outward state), the positional deviation threshold Wt is set to W2 and the azimuth deviation threshold θt is set to θ2 (step # 12).
If the vehicle position is the second retry determination position P2 (step #02: P2), the determination unit 27 determines whether the vehicle position is in the inward state or the outward state with respect to the harvest travel path LI (step # 04).
If the own vehicle azimuth is in the inward state (step #04: inward state) and the determination mode is the "standard mode" (step #05: standard mode), the positional deviation threshold Wt is set to W3 and the azimuth deviation threshold θt is set to θ3 (step # 13). In addition, if the own vehicle azimuth is in the inward state (step #04: inward state) and the determination mode is the "loose mode" (step #05: loose mode), the positional deviation threshold Wt is set to W4 and the azimuth deviation threshold θt is set to θ4 (step # 14).
If the own vehicle azimuth is in the outward state (step #04: outward state) and the determination mode is the "standard mode" (step #06: standard mode), the positional deviation threshold Wt is set to W5 and the azimuth deviation threshold θt is set to θ5 (step # 15). In addition, if the own vehicle azimuth is in the outward state (step #04: outward state) and the determination mode is the "loose mode" (step #06: loose mode), the positional deviation threshold Wt is set to W6 and the azimuth deviation threshold θt is set to θ6 (step # 16).
Then, it is determined whether or not the positional deviation Wd is equal to or less than the positional deviation threshold Wt (step # 21), and whether or not the azimuth deviation θd is equal to or less than the azimuth deviation threshold θt (step # 22). That is, if the positional deviation amount Wd is within the range of the positional deviation threshold Wt (step #21: yes) and the azimuth deviation amount θd is within the range of the azimuth deviation threshold θt (step #22: yes), the travel control unit 25 controls the combine 1 so that the combine 1 travels along the travel path (step # 23). If at least one of the position offset Wd and the azimuth offset θd is out of the range of the threshold value (step #21: no, step #22: no), the travel control unit 25 starts control of retrying the travel (step # 24).
The harvest control part 30 stops the harvest device H if the retry running is performed in the second state. When controlling the retry running, the running control unit 25 controls the running of the combine harvester 1 after the harvesting device H is stopped. Since the harvesting device H is stopped when the combine harvester 1 is in the first state, the travel control unit 25 can control the retry travel as it is. That is, the harvest control unit 30 stops the harvest device H when the combine 1 is in the first state and drives the harvest device H when the combine 1 is in the second state, regardless of whether the combine 1 is in the inward or outward state. In addition, regardless of whether the combine harvester 1 is in the inward state or the outward state, the harvest control part 30 starts driving the harvest device H during the transition of the combine harvester 1 from the first state to the second state.
[ other embodiments ]
The present invention is not limited to the configuration described in the above embodiment, but is exemplified by the following representative other embodiments of the present invention.
(1) In the above-described embodiment, the condition includes the positional deviation threshold Wt and the azimuth deviation threshold θt as a plurality of different types of indices, but is not limited to this embodiment. For example, the condition may include a threshold value of the velocity, a threshold value of the acceleration, and a threshold value of the change amount per unit time of the azimuth shift.
(2) In the above-described embodiment, the determination unit 27 is configured to determine that the combine harvester 1 cannot enter along the harvesting travel path LI when the work area CA is performed if at least one of the first condition that the positional deviation Wd is greater than the positional deviation threshold Wt and the second condition that the azimuth deviation θd is greater than the positional deviation threshold θt is satisfied, but is not limited to this embodiment. For example, if both the first condition and the second condition are satisfied, the determination unit 27 may be configured to determine that the combine 1 cannot enter along the harvesting travel path LI when entering the work target area CA.
(3) In the above-described embodiment, the condition used in the first state is set to a value on the side where retry running is less likely to be performed than the condition used in the second state, but is not limited to this embodiment. For example, the condition used in the first state and the condition used in the second state may be the same condition.
(4) In the above-described embodiment, the positional deviation threshold Wt and the azimuth deviation threshold θt used in the inward state are set to values larger than the positional deviation threshold Wt and the azimuth deviation threshold θt used in the outward state, but the present invention is not limited to this embodiment. For example, the positional deviation threshold Wt used in the inward state may be set to a value larger than the positional deviation threshold Wt used in the outward state, and the azimuth deviation threshold θt may be set to the same value in both the inward state and the outward state. In addition, the azimuth shift threshold value θt used in the inward state may be set to a value larger than the azimuth shift threshold value θt used in the outward state, and the position shift threshold value Wt may be set to the same value in both the inward state and the outward state.
(5) In the above-described embodiment, the positional deviation threshold Wt and the azimuth deviation threshold θt used in the first state are set to values larger than the positional deviation threshold Wt and the azimuth deviation threshold θt used in the second state, but the present invention is not limited to this embodiment. For example, only the positional deviation threshold Wt used in the first state may be set to a value larger than the positional deviation threshold Wt used in the second state, and the azimuth deviation threshold θt used in the first state may be set to the same value as the azimuth deviation threshold θt used in the "normal mode" or "loose mode" of the second state. In addition, only the azimuth shift threshold value θt used in the first state may be set to a value larger than the azimuth shift threshold value θt used in the second state, and the position shift threshold value Wt used in the first state may be set to the same value as the position shift threshold value Wt used in the "normal mode" or "loose mode" of the second state.
(6) The harvesting travel path LI shown in fig. 6 and 7 may be a slewing travel path TN. The travel path of the present invention may include a revolving travel path TN. In this case, the deviation calculating unit 21C may calculate the azimuth deviation θd of the combine harvester 1 from the revolving travel path TN and the positional deviation Wd of the combine harvester 1 from the revolving travel path TN.
The structures disclosed in the above embodiments (including other embodiments, the same applies hereinafter) can be applied in combination with the structures 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 thereto, and can be appropriately changed within a range not departing from the object of the present invention.
Industrial applicability
The present invention can be applied to an automatic travel control system for a field work machine that automatically travels along a travel path. Therefore, the technical features of the present invention can be applied not only to various harvesters such as a full-feed combine harvester, a half-feed combine harvester, a corn harvester, a sugarcane harvester, a soybean harvester, a green soybean harvester, a root vegetable harvester (for example, a carrot harvester or a radish harvester), but also to field operation machines such as a rice transplanter, a tractor, and a manager. Therefore, the above-described embodiment can be configured as a field work machine. The technical features of the automatic travel control system of the present invention can also be applied to the control method. Therefore, the above-described embodiment can be configured as an automatic travel control method. The technical features of the automatic travel control system of the present invention can also be applied to a control program. Therefore, the above-described embodiment can be configured as an automatic travel control program. A recording medium such as an optical disk, a magnetic disk, or a semiconductor memory, in which a control program having the technical features is recorded, is also included in the configuration of the above-described embodiment.
Description of the reference numerals
Combine harvester (body)
H harvesting device
2 automatic running control system
4 communication terminal (operating piece)
4a changing part
21 detection part
21C deviation calculating part
23 route setting unit
25 running control unit
27 determination unit
29 condition storage unit
30 harvest control part
CA work object area (non-work area)
D1 a certain distance
LI harvesting travel path (travel path)
P1 first retry determination position (position a predetermined distance before the start of the travel route)
P2 second retry determination position (start point of travel route)
SA peripheral region
Wd position offset
Wt position shift threshold
θd azimuth offset
θt azimuth offset threshold

Claims (21)

1. An automatic travel control system is provided with:
a route setting unit that sets a travel route for an unworked area inside the outer peripheral area in the field;
a travel control unit that controls travel of a machine body so that the machine body travels along the travel path;
a detection unit that detects the orientation and position of the body;
a determination unit that determines whether or not the machine body is able to enter along the travel path based on a detection result of the detection unit when the machine body enters the non-work area from the outer peripheral area,
When the determination unit determines that the body cannot enter along the travel path, the travel control unit is configured to cause the body to perform a retry travel in which the body is temporarily stopped and retracted and is again advanced toward the travel path,
the detection section is configured to detect an inward state in which the body is displaced in a left-right direction with respect to the travel path and the body is directed toward the travel path, and an outward state in which the body is displaced in a left-right direction with respect to the travel path and the body is not directed toward the travel path,
the determination unit is configured to change a condition for determining whether the machine body can enter along the travel path when entering the non-work area, according to whether the machine body is in the inward state or the outward state.
2. The automatic travel control system according to claim 1, wherein,
in the determination unit, the condition used when the body is in the inward state is set to a value on a side on which the retry running is less likely to be executed than the condition used when the body is in the outward state.
3. The automatic running control system according to claim 1 or 2, wherein,
The detection unit includes a deviation calculation unit for calculating an azimuth deviation amount of the body with respect to an extending direction of the travel path and a positional deviation amount of the body with respect to the travel path in a direction orthogonal to the extending direction,
the conditions include a first condition that the positional deviation amount is larger than a predetermined positional deviation threshold value and a second condition that the azimuth deviation amount is larger than a predetermined azimuth deviation threshold value,
the determination unit is configured to determine that the machine body cannot enter along the travel path when entering the non-work area if at least one of the first condition and the second condition is satisfied.
4. The automatic travel control system according to any one of claims 1 to 3, wherein,
the detecting unit is configured to detect a first state in which the body is located at a position a predetermined distance before a start point of the travel path to be entered and a second state in which the body is located at the start point,
the determination unit is configured to determine whether the body is accessible along the travel path in the first state and the second state, respectively, and to use different conditions in the determination in the first state and in the determination in the second state,
The condition used in the first state is set to a value on a side on which the retry running is not easy to be performed, compared with the condition used in the second state, regardless of whether the machine body is in the inward state or the outward state.
5. The automatic travel control system according to claim 4, wherein,
comprises a harvesting device for harvesting the field and a harvesting control part for controlling the driving of the harvesting device,
the harvest control unit stops the harvest device when the machine body is in the first state and drives the harvest device when the machine body is in the second state, regardless of whether the machine body is in the inward state or the outward state.
6. The automatic travel control system according to claim 5, wherein,
the harvest control part starts driving the harvest device during transition of the machine body from the first state to the second state, whether the machine body is in the inward state or the outward state.
7. A field working machine capable of automatically traveling, comprising:
a route setting unit that sets a travel route for an unworked area inside the outer peripheral area in the field;
A travel control unit that controls travel of a machine body so that the machine body travels along the travel path;
a detection unit that detects the orientation and position of the body;
a determination unit that determines whether or not the machine body is able to enter along the travel path based on a detection result of the detection unit when the machine body enters the non-work area from the outer peripheral area,
when the determination unit determines that the body cannot enter along the travel path, the travel control unit is configured to execute a retry travel in which the body is temporarily stopped and retracted, and is again advanced toward the travel path,
the detection section is configured to detect an inward state in which the body is displaced in a left-right direction with respect to the travel path and the body is directed toward the travel path, and an outward state in which the body is displaced in a left-right direction with respect to the travel path and the body is not directed toward the travel path,
the determination unit is configured to change a condition for determining whether the machine body can enter along the travel path when entering the non-work area, according to whether the machine body is in the inward state or the outward state.
8. An automatic travel control method for a field working machine capable of automatically traveling, comprising:
a route setting step of setting a travel route for an unworked area inside the outer peripheral area in the field;
a travel control step of controlling travel of a body so that the body travels along the travel path;
a detection step of detecting the direction and position of the machine body;
a determination step of determining, when the body enters the non-working area from the outer peripheral area, whether the body can enter along the travel path based on a detection result of the detection step,
in the determining step, when it is determined that the body cannot enter along the travel path, in the travel control step, retry travel is performed in which the body is temporarily stopped and retracted, and is again advanced toward the travel path,
in the detecting step, an inward state in which the body is positionally shifted in the left-right direction with respect to the travel path and the body is directed toward the travel path, and an outward state in which the body is positionally shifted in the left-right direction with respect to the travel path and the body is not directed toward the travel path are detected,
In the determining step, a condition for determining whether the machine body can enter along the travel path when entering the non-work area is changed according to whether the machine body is in the inward state or the outward state.
9. An automatic travel control program for a field working machine, which causes a computer to execute:
a route setting function of setting a travel route for an unworked area inside the outer peripheral area in the field;
a travel control function of controlling travel of a body so that the body travels along the travel path;
a detection function for detecting the direction and position of the body;
a determination function of determining whether or not the machine body can enter along the travel path based on a detection result of the detection function when the machine body enters the non-work area from the outer peripheral area, wherein,
when the determination function determines that the body cannot enter along the travel path, the travel control function is configured to cause the body to perform a retry travel in which the body is temporarily stopped and retracted, and is again advanced toward the travel path,
The detection function is configured to detect an inward state in which the body is displaced in a left-right direction with respect to the travel path and the body is directed toward the travel path, and an outward state in which the body is displaced in a left-right direction with respect to the travel path and the body is not directed toward the travel path,
the determination function is configured to change a condition for determining whether the machine body can enter along the travel path when entering the non-work area, according to whether the machine body is in the inward state or the outward state.
10. A recording medium in which an automatic travel control program for a field work machine capable of automatically traveling is recorded, wherein a program for causing a computer to execute:
a route setting function of setting a travel route for an unworked area inside the outer peripheral area in the field;
a travel control function of controlling travel of a body so that the body travels along the travel path;
a detection function for detecting the direction and position of the body;
a determination function of determining whether or not the machine body can enter along the travel path based on a detection result of the detection function when the machine body enters the non-work area from the outer peripheral area,
When the determination function determines that the body cannot enter along the travel path, the travel control function is configured to cause the body to perform a retry travel in which the body is temporarily stopped and retracted, and is again advanced toward the travel path,
the detection function is configured to detect an inward state in which the body is displaced in a left-right direction with respect to the travel path and the body is directed toward the travel path, and an outward state in which the body is displaced in a left-right direction with respect to the travel path and the body is not directed toward the travel path,
the determination function is configured to change a condition for determining whether the machine body can enter along the travel path when entering the non-work area, according to whether the machine body is in the inward state or the outward state.
11. An automatic travel control system is provided with:
a route setting unit that sets a travel route for an unworked area inside the outer peripheral area in the field;
a travel control unit that controls travel of a machine body so that the machine body travels along the travel path;
a detection unit that detects at least one of an orientation and a position of the body;
A determination unit that determines whether or not the machine body is able to enter along the travel path based on a detection result of the detection unit when the machine body enters the non-work area from the outer peripheral area,
when the determination unit determines that the body cannot enter along the travel path, the travel control unit is configured to cause the body to perform a retry travel in which the body is temporarily stopped and retracted and is again advanced toward the travel path,
and is provided with:
an operation member which is manually operated;
and a changing unit that changes a condition for determining whether or not the body can enter along the travel path when entering the non-working area, in accordance with an operation of the operation tool.
12. The automatic travel control system according to claim 11, wherein,
the condition includes a plurality of indexes of different kinds,
comprises a condition storage unit for storing a plurality of conditions,
the changing unit selects the condition corresponding to the operation of the operating element from among the plurality of conditions if the operating element is manually operated.
13. The automatic running control system according to claim 11 or 12, wherein,
The detection unit includes a deviation calculation unit for calculating an azimuth deviation amount of the body with respect to an extending direction of the travel path and a positional deviation amount of the body with respect to the travel path in a direction orthogonal to the extending direction,
the conditions include a first condition that the positional deviation amount is larger than a predetermined positional deviation threshold value and a second condition that the azimuth deviation amount is larger than a predetermined azimuth deviation threshold value,
the determination unit is configured to determine that the machine body cannot enter along the travel path when entering the non-work area if at least one of the first condition and the second condition is satisfied.
14. The automatic travel control system according to any one of claims 11 to 13, wherein,
the detecting unit is configured to detect a first state in which the body is located at a position a predetermined distance before a start point of the travel path to be entered and a second state in which the body is located at the start point,
the determination unit is configured to determine whether the body is accessible along the travel path in the first state and the second state, respectively, and to use different conditions in the determination in the first state and in the determination in the second state,
The condition used in the first state is set to a value on a side on which the retry running is not easy to be performed, as compared with the condition used in the second state.
15. The automatic travel control system according to claim 14, wherein,
the condition used in the first state is a fixed value,
the changing unit changes the condition used in the second state according to an operation of the operating element.
16. The automatic running control system according to claim 14 or 15, wherein,
comprises a harvesting device for harvesting the field and a harvesting control part for controlling the driving of the harvesting device,
the harvest control unit stops the harvest device when the machine body is in the first state, and drives the harvest device when the machine body is in the second state.
17. The automatic travel control system according to claim 16, wherein,
the harvest control part starts driving the harvest device during the period that the machine body transits from the first state to the second state.
18. A field working machine capable of automatically traveling, comprising:
a route setting unit that sets a travel route for an unworked area inside the outer peripheral area in the field;
A travel control unit that controls travel of a machine body so that the machine body travels along the travel path;
a detection unit that detects at least one of an orientation and a position of the body;
a determination unit that determines whether or not the machine body is able to enter along the travel path based on a detection result of the detection unit when the machine body enters the non-work area from the outer peripheral area,
when the determination unit determines that the body cannot enter along the travel path, the travel control unit is configured to execute a retry travel in which the body is temporarily stopped and retracted, and is again advanced toward the travel path,
and is provided with:
an operation member which is manually operated;
and a changing unit that changes a condition for determining whether or not the body can enter along the travel path when entering the non-working area, in accordance with an operation of the operation tool.
19. An automatic travel control method for a field working machine capable of automatically traveling, comprising:
a route setting step of setting a travel route for an unworked area inside the outer peripheral area in the field;
A travel control step of controlling travel of a body so that the body travels along the travel path;
a detection step of detecting at least one of an orientation and a position of the body;
a determination step of determining, when the machine body enters the non-work area from the outer peripheral area, whether or not the machine body can enter along the travel path based on a detection result of the detection step;
a changing unit that changes a condition for determining whether or not the body can enter along the travel path in the determining step when entering the non-work area, in accordance with an operation of an operation tool that is manually operated,
in the determining step, when it is determined that the body cannot enter along the travel path, in the travel control step, retried travel is performed in which the body is temporarily stopped and retracted, and is again advanced toward the travel path.
20. An automatic travel control program for a field working machine, which causes a computer to execute:
a route setting function of setting a travel route for an unworked area inside the outer peripheral area in the field;
A travel control function of controlling travel of a body so that the body travels along the travel path;
a detection function for detecting at least one of an orientation and a position of the body;
a determination function of determining whether or not the machine body is able to enter along the travel path based on a detection result of the detection function when the machine body enters the non-work area from the outer peripheral area;
a changing function of changing a condition for determining whether or not the body can enter along the travel path by the determining function when entering the non-work area, in accordance with an operation of an operation tool manually operated, wherein,
when the determination function determines that the body cannot enter along the travel path, the travel control function is configured to cause the body to perform retried travel in which the body is temporarily stopped and retracted and is again advanced toward the travel path.
21. A recording medium having recorded thereon an automatic travel control program for a field work machine capable of automatically traveling, wherein the automatic travel control program causes a computer to execute:
a route setting function of setting a travel route for an unworked area inside the outer peripheral area in the field;
A travel control function of controlling travel of a body so that the body travels along the travel path;
a detection function for detecting at least one of an orientation and a position of the body;
a determination function of determining whether or not the machine body is able to enter along the travel path based on a detection result of the detection function when the machine body enters the non-work area from the outer peripheral area;
a changing function of changing a condition for determining whether or not the body can enter along the travel path by the determining function when entering the non-work area, in accordance with an operation of an operation tool manually operated,
when the determination function determines that the body cannot enter along the travel path, the travel control function is configured to cause the body to perform retried travel in which the body is temporarily stopped and retracted and is again advanced toward the travel path.
CN202280016301.6A 2021-02-26 2022-01-07 Automatic travel control system, field working machine, automatic travel control method, automatic travel control program, and recording medium Pending CN116916741A (en)

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JP6983734B2 (en) * 2018-08-29 2021-12-17 株式会社クボタ Harvester
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