CN117369434A - Automatic travel method, work vehicle, and automatic travel system - Google Patents

Abstract

The invention provides an automatic running method, a work vehicle and an automatic running system, which can inhibit the separation from a turning path and improve the accuracy of automatic running. A combine (1) is a work vehicle that automatically travels on the basis of a travel path (53) that has been set in advance, and is provided with a control device (30) and a storage amount detection unit (26). The control device (30) functions as an automatic travel control unit (35) that controls automatic travel based on a travel path (53) including a turning path (55). A storage amount detection unit (26) detects the storage amount of grains (harvest) stored in a storage unit (6) of the combine harvester (1). The automatic travel control unit (35) changes the turning parameter relating to the travel of the turning path (55) based on the stored amount.

Description

Automatic travel method, work vehicle, and automatic travel system

Technical Field

The present invention relates to an automatic travel method, a work vehicle, and an automatic travel system for performing automatic travel of the work vehicle in a field.

Background

Conventionally, a work vehicle such as a combine harvester is configured to be capable of automatically traveling on the basis of a travel route set in advance, and for example, a travel route including a plurality of straight travel routes accompanying a harvesting operation and a turning route connecting the straight travel routes is generated. The turning radius and the turning vehicle speed are set in advance during turning travel of the work vehicle based on the turning path.

For example, the harvester disclosed in patent document 1 includes: a harvest travel pattern selection unit for selecting a harvest travel pattern; an overlap value setting unit that sets an overlap value of the overlapping; a travel path calculation unit that calculates a travel path from the harvest travel pattern so that the travel path is spaced apart from the work target area by a path interval determined from the harvest width and the overlap value; a vehicle position calculation unit that calculates a vehicle position; a control instruction generation unit that generates a control instruction based on a deviation and an overlap value between the travel route and the vehicle position; and an automatic travel control unit that performs steering control based on the control command.

Patent document 1: japanese patent No. 6983734

The combine harvester as a work vehicle performs a harvesting operation while automatically traveling, and continues the automatic traveling while storing the harvest in the grain bin. Since the weight of the body may vary due to the storage amount of the harvest and the centrifugal force during cornering may vary, when cornering is performed while a predetermined cornering path is kept, the combine may be separated from the cornering path, and the accuracy of automatic travel may be deteriorated. In addition, the work vehicle may deviate from a predetermined turning path in such a case, because of a change in centrifugal force during turning due to an inclination angle of the machine body with respect to the field ground. Even when the turning angle of the turning path is relatively large, the work vehicle may deviate from the preset turning path due to the turning radius and the turning vehicle speed.

Disclosure of Invention

The present invention aims to provide an automatic travel method, a work vehicle and an automatic travel system, which can inhibit the separation from a turning path and improve the accuracy of automatic travel.

In order to solve the above-described problems, an automatic travel method according to the present invention is an automatic travel method for automatically traveling a work vehicle based on a travel path set in advance, comprising: an automatic travel step of automatically traveling on the basis of the travel path including the turning path; and a storage amount detection step of detecting a storage amount of the harvest stored in the working vehicle, wherein in the automatic travel step, a turning parameter relating to travel of the turning path is changed based on the storage amount.

Alternatively, an automatic travel method according to the present invention is an automatic travel method for automatically traveling a work vehicle based on a travel path set in advance, comprising: an automatic travel step of automatically traveling on the basis of the travel path including the turning path; and an inclination angle detection step of detecting an inclination angle of the work vehicle with respect to the field floor, wherein in the automatic travel step, a turning parameter relating to travel of the turning path is changed based on the inclination angle.

Alternatively, an automatic travel method according to the present invention is an automatic travel method for automatically traveling a work vehicle based on a travel path set in advance, comprising: an automatic travel step of automatically traveling on the basis of the travel path including the turning path; and a turning angle detection step of detecting a turning angle of the turning path based on the travel path, wherein in the automatic travel step, a turning parameter relating to travel of the turning path is changed based on the turning angle.

In order to solve the above-described problem, a work vehicle according to the present invention is a work vehicle that automatically travels on the basis of a travel path set in advance, comprising: an automatic travel control unit that controls automatic travel based on the travel path including the turning path; and a storage amount detection unit configured to detect a storage amount of the harvest stored in the work vehicle, wherein the automatic travel control unit changes a turning parameter related to travel of the turning path based on the storage amount.

In order to solve the above-described problems, an automatic travel system according to the present invention is an automatic travel system for automatically traveling a work vehicle based on a travel path set in advance, comprising: an automatic travel control unit that controls automatic travel based on the travel path including the turning path; and a storage amount detection unit configured to detect a storage amount of the harvest stored in the work vehicle, wherein the automatic travel control unit changes a turning parameter related to travel of the turning path based on the storage amount.

According to the present invention, it is possible to provide an automatic travel method, a work vehicle, and an automatic travel system that can suppress a deviation from a turning path and improve the accuracy of automatic travel.

Drawings

Fig. 1 is a side view of a combine harvester according to an embodiment of the invention.

Fig. 2 is a block diagram of a combine harvester according to an embodiment of the invention.

Fig. 3 is a plan view showing an example of a field in which the combine according to the embodiment of the present invention automatically travels.

Fig. 4 is a plan view showing an example of a work screen displayed on a mobile terminal of the combine according to the embodiment of the present invention.

Fig. 5 is a flowchart showing an example of an operation of the combine according to the embodiment of the present invention in the automatic harvesting travel.

Description of the reference numerals

1 … combine harvester (work vehicle); 2 … travel section; a 3 … harvesting part; 6 … reservoir; 24 … grain bin; 26 … storage amount detecting section; 30 … control means; 35 … automatic travel control unit; 40 … mobile terminal; 41 … terminal-side control means; 47 … travel path generation unit; 53 … travel path; 54 … straight path; 55 … turn path.

Detailed Description

As an example of the work vehicle according to the embodiment of the present invention, a combine harvester 1 will be described with reference to fig. 1 and the like. The combine harvester 1 travels on a field of an operation target by automatic driving or manual operation, and performs operations such as harvesting in order to harvest crops from cereal bars planted in the field. The combine harvester 1 is configured to perform, for example, an automatic operation for controlling steering by automatic driving and controlling a traveling speed by manual operation, and an unmanned operation for controlling steering and traveling speed by automatic driving, and capable of autonomously traveling, turning, and operating in a field.

The combine 1 performs harvesting work for a plurality of rows and columns of the grain stalks while traveling in a straight row and column having a harvesting width that is a predetermined number of rows and columns within the harvestable number of rows. The combine 1 may set any one of the manual travel mode and the automatic travel mode. The combine harvester 1 is configured as follows: when the manual travel mode is set, the manual travel is performed in accordance with the manipulation of the manipulation unit 9 by the operator.

On the other hand, the combine harvester 1 is configured to: when the automatic travel mode is set, automatic harvesting travel is performed in which harvesting work is performed while automatically traveling along a travel path set in the field. For example, the combine 1 performs automatic harvesting travel in a travel mode such as reciprocating cutting along a plurality of straight paths in a region of a field having unharvested stalks (hereinafter referred to as unharvested ground), and repeated girdling while shifting the circumference of the straight path along the inner periphery of the unharvested ground to the center side.

The combine harvester 1 performs external Zhou Shouge traveling while harvesting around the outer peripheral shape of the field before performing automatic harvesting traveling, thereby forming a header in the field and setting the inner side of the header as an operation area for automatic harvesting traveling.

As shown in fig. 1, the combine harvester 1 includes a travel unit 2, a harvesting unit 3, a threshing unit 4, a sorting unit 5, a storage unit 6, a straw processing unit 7, a power unit 8, and a handling unit 9, and is configured by a so-called combine harvester with harvesting and threshing functions (japanese self-threshing コ). The combine harvester 1 is driven by a driving unit 2, threshing the stalks harvested by a harvesting unit 3 by a threshing unit 4, and sorting the grains by a sorting unit 5 to store the grains as a harvest in a storage unit 6. The combine harvester 1 processes the threshed straw by a straw processing part 7. The combine harvester 1 drives the travelling unit 2, the harvesting unit 3, the threshing unit 4, the sorting unit 5, the storage unit 6, and the straw processing unit 7 by power supplied from the power unit 8.

The traveling unit 2 is provided below the body frame 10, and includes a pair of left and right crawler traveling devices 11 and a transmission device (not shown). The traveling unit 2 rotates the crawler belt of the crawler belt traveling device 11 by power (for example, rotational power) transmitted from the engine 27 of the power unit 8, and thereby causes the combine 1 to travel in the front-rear direction or turn in the left-right direction. The transmission device transmits the power (rotational power) of the power unit 8 to the crawler travel device 11, and also changes the rotational force.

The harvesting unit 3 is provided in front of the travel unit 2, and performs harvesting operations for rows and columns within the harvestable line number. The harvesting unit 3 includes a crop divider 13, a lifting device 14, a cutting device 15, and a conveying device 16. The crop divider 13 divides the crop stalks of the field one by one, and guides the crop stalks of a predetermined number of rows within the harvestable number of rows to the lifting device 14. The lifting device 14 lifts the grain stalks guided by the crop divider 13. The cutting device 15 cuts off the grain stalks lifted by the lifting device 14. The conveying device 16 conveys the cereal bars cut by the cutting device 15 to the threshing unit 4.

The threshing part 4 is arranged behind the harvesting part 3. The threshing unit 4 includes a feed chain 18 and a threshing cylinder 19. The feed chain 18 conveys the stalks conveyed from the conveyor 16 of the harvesting unit 3 for threshing, and conveys the threshed stalks, that is, the stalks to the stalk processing unit 7. The threshing cylinder 19 threshes the cereal bars conveyed by the feed chain 18.

The sorting unit 5 is disposed below the threshing unit 4. The sorting unit 5 includes a swing sorting device 21, an air-blowing sorting device 22, a grain conveying device (not shown), and a grass cutting discharge device (not shown). The swing classifying device 21 screens the threshed objects falling from the threshing section 4 and classifies the threshed objects into grains, grass scraps, and the like. The air-blowing sorting device 22 sorts the threshed objects sorted by the swing sorting device 21 into grains, grass scraps, and the like by air blowing. The grain conveying apparatus conveys grains sorted by the swing sorting apparatus 21 and the air-blown sorting apparatus 22 to the storage unit 6. The grass clippings discharge device discharges the grass clippings separated by the swing separation device 21 and the air-blowing separation device 22, and the like, to the outside of the machine.

The storage unit 6 is provided on the right side of the threshing unit 4. The storage unit 6 includes a grain tank 24 and a discharge device 25. The grain bin 24 stores grains conveyed from the sorting section 5 as a harvest. The maximum amount of grains that can be stored in the grain box 24 (maximum storage amount) is set for the storage unit 6. The discharge device 25 is constituted by an auger or the like, and discharges grains stored in the grain tank 24 to an arbitrary place.

The storage unit 6 further includes a storage amount detection unit 26 (see fig. 2) for detecting the storage amount of grains stored in the cereal box 24. The storage amount detection unit 26 may be configured by, for example, disposing a grain sensor (rice sensor) for detecting grains at a position where the storage space of the cereal box 24 is divided into a plurality of levels at predetermined intervals in the height direction, and detecting the storage amount of grains from the position of the grain sensor for detecting grains in the cereal box 24. Alternatively, the storage amount detecting unit 26 may be configured by disposing a harvest amount sensor for detecting the harvest amount of the grains at an inlet for inputting the grains conveyed from the sorting unit 5 into the grain bin 24, and detecting the storage amount of the grains based on an integrated value of the harvest amount obtained by detecting the grains input into the grain bin 24 by the harvest amount sensor. Alternatively, the storage amount detecting unit 26 may be configured to measure the weight of the cereal box 24 and detect the storage amount of cereal grains based on the weight.

The straw treatment part 7 is arranged behind the threshing part 4. The straw processing unit 7 includes a straw conveying device (not shown) and a straw cutting device (not shown). The straw conveying device conveys the straw conveyed from the feed chain 18 of the threshing unit 4 to the straw cutting device. The straw cutting device cuts off the straw conveyed by the straw conveying device and discharges the straw out of the machine.

The power unit 8 is provided above the running unit 2 and in front of the storage unit 6. The power unit 8 includes an engine 27 that generates rotational power. The power unit 8 transmits the rotational power generated by the engine 27 to the traveling unit 2, the harvesting unit 3, the threshing unit 4, the sorting unit 5, the storage unit 6, and the straw processing unit 7.

The operating section 9 is provided above the power section 8. The operating unit 9 includes, around a driver seat, which is a seat on which an operator sits, a handle for instructing turning of the body of the combine 1, a main shift lever and a sub shift lever for instructing a change in the forward and backward speed of the combine 1, and the like as operation elements for operating the travel of the combine 1. The manual travel of the combine harvester 1 is performed by the travel unit 2 that receives the operation of the handle of the operating unit 9, the main shift lever, and the sub shift lever. The operating unit 9 is provided with a mechanism for operating the harvesting operation of the harvesting unit 3, the threshing operation of the threshing unit 4, the discharging operation of the discharging device 25 of the storage unit 6, and the like.

The combine 1 includes a positioning unit 28 for acquiring the vehicle position of the combine 1 by using a satellite positioning system such as GPS. The positioning unit 28 receives positioning signals from positioning satellites via positioning antennas, and obtains positional information of the positioning unit 28, that is, a self-vehicle position of the combine 1, based on the positioning signals.

Next, the control device 30 of the combine harvester 1 will be described with reference to fig. 2. The control device 30 is configured by a computer such as a CPU, and is connected to a storage unit 31 such as a ROM, a RAM, a hard disk drive, and a flash memory, and a communication unit 32 for communicating with an external device.

The storage unit 31 stores programs and data for controlling various components and various functions of the combine harvester 1, and the control device 30 controls the various components and the various functions by executing arithmetic processing based on the programs and data stored in the storage unit 31. The control device 30 obtains the self-vehicle position of the combine harvester 1 from the positioning unit 28, for example. The control device 30 obtains the stored amount of grains in the grain box 24 detected by the stored amount detecting unit 26 of the storage unit 6.

The communication unit 32 can perform wireless communication with external devices such as the mobile terminal 40 held by the operator via a wireless communication antenna. The control device 30 controls the communication unit 32 to perform wireless communication with the mobile terminal 40, and transmits and receives various information to and from the mobile terminal 40.

As shown in fig. 3, the control device 30 receives field information and a travel path 53 set for the field 50, which is the object of operation of the combine harvester 1, from the mobile terminal 40 via the communication unit 32, and stores them in the storage unit 31. The field 50 has an unworn field 51 where no work has yet been performed and an unworn field 52 where the harvesting work of the grain stalks has been completed. Fig. 3 illustrates an example of an unworn field 51, an unworn field 52, and a travel path 53 in a field 50.

The field information includes, for example, information such as shape, size, and position information (coordinates, etc.) of a field region along the outer periphery of the field 50, the non-worked field 51 in the field 50, and the shape, size, and position information (coordinates, etc.) of the worked field 52. The field information may include a discharge position adjacent to the collection unit outside the field 50 in the field 50, and the like. The travel path 53 includes a plurality of straight paths 54 that travel straight while automatically performing harvesting work on the non-work area 51, and a turning path 55 that automatically performs turning so as to connect the straight paths 54. The turning path 55 may be set to any one of various turning methods such as a U-turn, which is a basic turning method for turning 180 degrees forward, a fishtail turning for turning 90 degrees forward and backward, and a α -turn (switch back turn) for turning 90 degrees backward and forward. Further, although a U-turn capable of turning at the shortest distance is generally set, other turning methods may be set according to an arbitrary operation by an operator or according to a field state. In the present embodiment, the turning path 55 may be changed according to the storage amount of the storage unit 6, and in fig. 3, the turning path 55 before the change is indicated by a broken line and the turning path 55 after the change is indicated by a dash-dot line.

The control device 30 sets a running parameter related to automatic running (automatic harvesting running) and stores the running parameter in the storage unit 31. The travel parameter may be set in advance as an initial value, or may be set by an arbitrary operation performed by an operator using the mobile terminal 40. The running parameters include a vehicle speed in forward running at the time of harvesting work, a vehicle speed in forward running at the time of non-work, a vehicle speed in backward running, a turning gain in turning running, a turning radius in turning running, a turning vehicle speed in turning running, and the like. The turning gain is a control gain for generating a difference corresponding to turning traveling with respect to the angular velocity and the steering amount for rotation driving of each of the pair of right and left crawler-type traveling devices 11 that control the traveling unit 2. In the present embodiment, parameters related to turning travel, such as turning vehicle speed and turning radius during turning travel, are referred to as turning parameters.

Further, control device 30 operates as automatic travel control unit 35 by executing a program stored in storage unit 31. The automatic travel control unit 35 realizes an automatic travel process of the automatic travel method according to the present invention.

When the automatic travel mode is set, the automatic travel control unit 35 controls the automatic travel (automatic harvesting travel) of the combine 1 based on the travel path 53 set for the field 50. When the automatic travel is started, the automatic travel control unit 35 acquires the vehicle position of the combine 1 from the positioning unit 28, and controls the power unit 8, the travel unit 2, and the harvesting unit 3 so that the combine 1 automatically travels along the travel path 53 based on the vehicle position, the field information, and the travel path 53.

The automatic travel control unit 35 obtains the storage amount of grains in the grain tank 24 detected by the storage amount detection unit 26 of the storage unit 6 during the automatic travel of the combine 1, and changes the turning parameter relating to the turning travel on the turning path 55 in the travel path 53 based on the storage amount. The storage amount detection unit 26 also performs a storage amount detection step of the automatic running method according to the present invention. The combine 1 may travel to a path separated from the preset turning path 55 due to excessive centrifugal force caused by the weight of the body including the storage amount of the storage unit 6 and the set turning parameters during turning, and the crawler belt may slip. Therefore, when it is estimated that the combine is away from the turning path 55 based on the stored amount of the storage unit 6, the automatic travel control unit 35 changes the turning parameter so that the turning travel of the combine 1 under the weight of the body including the stored amount of the storage unit 6 does not depart from the turning path 55, and controls the turning travel.

The automatic travel control unit 35 determines the storage amount of the storage unit 6 at all times, at predetermined time intervals, or at predetermined distance intervals during the automatic travel of the travel path 53 (including the straight travel path 54 and the turning path 55) of the combine harvester 1, and changes the turning parameter at a point in time when the determination result satisfies a change condition as described later. When the combine harvester 1 performs the discharging operation by the discharging device 25 of the storage unit 6, the automatic travel control unit 35 returns the changed turning parameter to the state before the change. For example, when the storage amount of the storage unit 6 exceeds a predetermined discharge threshold, the combine 1 moves to the discharge operation. The predetermined storage amount threshold value, which is a condition for changing the turning parameter, may be set lower than the discharge threshold value.

For example, the automatic travel control unit 35 changes the turning gain so as to increase the storage amount, changes the turning radius so as to increase the turning radius, or changes the turning vehicle speed so as to decrease the turning vehicle speed as the storage amount of the storage unit 6 is larger as the storage amount is larger as the change condition. In the combine harvester 1, when the turning parameter is changed based on the storage amount of the storage unit 6, any one of the turning gain, the turning radius, and the turning vehicle speed may be set in advance, or may be set by an arbitrary operation performed by an operator using the mobile terminal 40. In addition, the automatic travel control unit 35 may not change the turning parameter when the turning gain after the change based on the storage amount is smaller than the original turning gain, or when the turning radius after the change based on the storage amount is smaller than the original turning radius, or when the turning speed after the change based on the storage amount is faster than the original turning speed.

The automatic travel control unit 35 can notify the mobile terminal 40 of the change of the turning parameter such as the turning gain, the turning radius, the turning vehicle speed, and the like, and particularly, can cause the mobile terminal 40 to change the turning path 55 in the travel path 53 because the turning path 55 is changed when the turning gain or the turning radius is changed. In fig. 3, the turning path 55 before the change is indicated by a broken line, and the turning path 55 after the change is indicated by a dash-dot line. The automatic travel control unit 35 obtains the travel path 53 including the changed turning path 55 from the mobile terminal 40 for automatic travel.

The automatic travel control unit 35 may report the change of the turning parameter (for example, increase of the turning gain, increase of the turning radius, decrease of the turning vehicle speed, etc.) to the operator by displaying a screen on a display device provided in the operation unit 9 and outputting a sound by a speaker. Alternatively, the automatic travel control unit 35 may transmit a report signal indicating the change of the turning parameter to the mobile terminal 40, and the mobile terminal 40 may display a screen on the display unit 44 and output a sound by a speaker based on the report signal, thereby reporting the report to the operator. The automatic travel control unit 35 may report to the operator that the turning travel is performed by the display device or the speaker of the operation unit 9, or may report to the operator by the display unit 44 or the speaker of the mobile terminal 40.

Specifically, the automatic travel control unit 35 sets a predetermined storage amount threshold value for the maximum storage amount of the storage unit 6, and sets a predetermined change amount for changing the turning parameter in advance in accordance with the storage amount threshold value. Then, when the stored amount of the storage unit 6 exceeds the stored amount threshold (for example, 3/4 of the maximum stored amount), the automatic travel control unit 35 changes the turning parameter change amount, for example, changes the turning gain by a change amount that is 1.5 times larger. The combine 1 may be set in advance with respect to a turning parameter at normal times and a turning parameter (change value) or a change amount after a change based on the stored amount, or may be set according to an arbitrary operation by the operator.

Alternatively, the automatic travel control unit 35 sets a plurality of storage amount thresholds in advance for the maximum storage amount of the storage unit 6, and sets a plurality of changing amounts for changing the turning parameter in advance in correspondence with the plurality of storage amount thresholds, respectively. Then, the automatic travel control unit 35 compares the stored amount of the storage unit 6 with the stored amount threshold value of each level, and changes the turning parameter by the changed amount corresponding to the stored amount threshold value that the stored amount has reached.

Alternatively, the automatic travel control unit 35 sets in advance a correspondence relationship between the stored amount of the storage unit 6 and the change amount of the turning parameter by a table or a numerical expression. Then, the automatic travel control unit 35 changes the change amount corresponding to the turning parameter storage amount based on the correspondence relation.

The automatic travel control unit 35 may change at least one of the turning gain, the turning radius, and the turning vehicle speed, or may change the turning gain, the turning radius, and the turning vehicle speed by combining two or more of them.

For example, when a limit value of one turning parameter is set and a change value of one turning parameter based on the storage amount of the storage unit 6 exceeds the limit value, the automatic travel control unit 35 changes one turning parameter while suppressing the change to the limit value and changes the other turning parameters to a predetermined change value. At this time, the change value of the other turning parameter may be set to a value that suppresses the detachment from the turning path 55 in the case where the combine 1 performs turning running in a state where one turning parameter is set as a limit value while the weight of the body including the storage amount of the storage unit 6.

Specifically, when the change value of the turning radius based on the stored amount is larger than the predetermined turning radius limit value, the automatic travel control unit 35 changes the turning radius to the turning radius limit value and changes the turning vehicle speed to a change value lower than the predetermined vehicle speed value (for example, a preset turning vehicle speed). The turning radius limit value may be set so that the turning path 55 is stored in the field 50, and may be set as a threshold value for switching the turning method. By limiting the change of the turning radius to the turning radius limiting value, the turning path 55 can be prevented from flying out of the field 50, and the turning method can be prevented from switching due to an excessively large turning radius. Alternatively, the automatic travel control unit 35 may change the turning method set in the turning path 55 to another turning method when the change value of the turning radius based on the stored amount is larger than the predetermined turning radius limit value.

Alternatively, the automatic travel control unit 35 sets the turning vehicle speed to a predetermined turning vehicle speed limit value when the change value of the turning vehicle speed based on the stored amount is lower than the predetermined turning vehicle speed limit value, and changes the turning radius to a change value larger than the predetermined radius value (for example, a preset turning radius).

The mobile terminal 40 is one of the components of the combine harvester 1, and is a terminal capable of remotely operating the combine harvester 1, and is constituted by a tablet terminal having a touch panel, a notebook personal computer, or the like, for example. The same operation device as the mobile terminal 40 may be provided in the operation unit 9. In the present invention, the combine harvester 1 and the mobile terminal 40 constitute an automatic travel system. The mobile terminal 40 may be configured independently of the combine harvester 1 or may be configured integrally with the combine harvester 1.

As shown in fig. 2, the mobile terminal 40 includes a terminal-side control device 41 configured by a computer such as a CPU, and the terminal-side control device 41 is connected to a terminal-side storage unit 42 such as a ROM, a RAM, a hard disk drive, or a flash memory, and a terminal-side communication unit 43 that communicates with an external device. The mobile terminal 40 includes a display unit 44 such as a touch panel and a monitor for displaying various information and outputting the information to the operator, and an input unit 45 such as a touch panel and an operation key for receiving an input operation of various information from the operator.

The terminal-side storage unit 42 stores programs and data for controlling various components and functions of the mobile terminal 40, and the terminal-side control device 41 executes arithmetic processing based on the programs and data stored in the terminal-side storage unit 42 to control the various components and functions of the mobile terminal 40. The terminal-side storage unit 42 stores field information and travel route 53 of the field 50, which is the object of operation of the combine 1.

The terminal-side communication unit 43 is communicably connected to the communication unit 32 of the combine harvester 1 via a wireless communication antenna. The terminal-side control device 41 controls the terminal-side communication unit 43 to wirelessly communicate with the combine 1, and transmits and receives various information to and from the combine 1.

The terminal-side control device 41 operates as a field selection unit 46, a travel path generation unit 47, and a display control unit 48 by executing a program stored in the terminal-side storage unit 42. The field selection unit 46, the travel path generation unit 47, and the display control unit 48 implement a field selection step, a travel path generation step, and a display control step, respectively, of the automatic travel method according to the present invention.

The field selection unit 46 manually or automatically selects the field 50 to be the work object for automatic travel. For example, the field selection unit 46 displays a field selection screen (not shown) that displays a field 50 corresponding to the field information stored in the terminal-side storage unit 42 as selectable on the display unit 44. When any one of the fields 50 is selected on the field selection screen by a manual operation, the field selection unit 46 selects the field 50 that has been selected as the work object and reads out the field information from the terminal-side storage unit 42.

When the generation of a new field is operated on the field selection screen, the field selection unit 46 selects a new field at the vehicle position of the combine 1 as a work target. When the combine 1 performs harvesting travel around the outer peripheral shape of the new field, the field selection unit 46 receives the self-vehicle position of the combine 1 positioned by the positioning unit 28 of the combine 1 from the combine 1, records positional information of the outer peripheral shape and positional information of a harvesting travel path, and generates field information of the new field to be stored in the terminal-side storage unit 42.

The travel route generation unit 47 generates a travel route 53 for the combine 1 to travel while performing a job, and for example, generates a travel route 53 (see fig. 3) for automatically traveling in the field 50 selected by the field selection unit 46, stores the generated travel route in the terminal-side storage unit 42, and transmits the generated travel route to the combine 1 via the terminal-side communication unit 43. The travel path 53 includes travel information related to travel by automatic travel and job information related to a job such as harvesting. The travel information includes the travel direction and the set vehicle speed at each travel position in addition to the travel position in the field 50. The job information includes information related to the job such as the running or stop of harvesting at each travel position, harvesting speed, and harvesting height.

In addition, when the automatic travel control unit 35 changes the turning parameter according to the stored amount of the storage unit 6, the terminal-side control device 41 obtains the changed turning parameter from the combine 1 and stores the same in the terminal-side storage unit 42. At this time, when the changed turning parameter is a turning gain or a turning radius and the turning path 55 needs to be changed, the travel path generation unit 47 changes the turning path 55 to change the travel path 53 according to the changed turning gain or turning radius. The travel path generation unit 47 transmits the travel path 53 including the changed turning path 55 to the combine 1.

The display control unit 48 controls the automatic travel mode as follows: based on the field information of the field 50 selected by the field selection unit 46, as shown in fig. 4, a work screen 60 for performing automatic travel of the field 50, which is the work object, is displayed on the display unit 44. The display control unit 48 displays at least the map field 61 on the work screen 60, and displays the travel start button 62 so as to be operable. The display control unit 48 displays a field registration name 64 based on the field information and a harvestable distance 65 of the combine 1 based on the storage capacity (free capacity) of the grain box 24 storing grains on the operation screen 60.

The display control unit 48 displays the outline of the field 50 in the map field 61, and also displays the travel route 53 set in the field 50, and also displays the vehicle logo 66 of the combine 1 on the vehicle position of the combine 1 positioned by the positioning unit 28. The display control unit 48 displays the unworn land 51 and the worked land 52 in a recognizable manner by changing the display method of the line type, the line color, the background color, and the like within the range of the field 50. The display control unit 48 updates the position of the vehicle mark 66, the non-work area 51, and the range of the work area 52 according to the progress of the harvesting travel of the combine 1.

The display control unit 48 enables the operation of the travel start button 62 to be selected in order to start the automatic travel when the start condition of the automatic travel is satisfied, and disables the operation of the travel start button 62 when the start condition is not satisfied. When the travel start button 72 is selected and operated, the display control unit 48 transmits the field information and the information on the travel route 53 to the combine 1 together with an automatic travel start instruction. The combine 1 starts automatic travel along the travel path 53 in response to the start instruction.

During the automatic travel of the combine 1, the display control unit 48 displays a travel stop button (not shown) in place of the travel start button 62 so as to be selectively operable to stop the automatic travel. When the travel stop button is selected, the display control unit 48 transmits a stop instruction to the combine 1. The combine 1 stops the automatic travel according to the stop instruction. When the combine 1 stops the automatic travel, the display control unit 48 displays the travel start button 62 instead of the travel stop button.

Next, an example of the operation of the combine 1 in the automatic harvesting travel will be described with reference to the flowchart of fig. 5.

When the combine 1 executes the automatic harvesting travel based on the preset field information and the travel route 53 (step S1), the automatic travel control unit 35 determines whether or not the storage amount of the storage unit 6 exceeds a predetermined storage amount threshold while executing the automatic harvesting travel (step S2). When the storage amount is equal to or less than the storage amount threshold (no in step S2), the automatic harvesting travel is continued with the automatic travel control unit 35 intact (step S3). On the other hand, when the stored amount exceeds the stored amount threshold (yes in step S2), the automatic travel control unit 35 changes the turning parameter based on the stored amount (step S4).

When the turning route 55 does not need to be changed according to the change of the turning parameter (step S5: no), the automatic travel control unit 35 continues the automatic harvesting travel based on the changed turning parameter (step S3). On the other hand, when it is necessary to change the turning path 55 in accordance with the change in the turning parameter (yes in step S5), the travel path generation unit 47 of the mobile terminal 40 changes the turning path 55 based on the changed turning parameter, and changes the travel path 53 (step S6), and the automatic travel control unit 35 continues the automatic harvesting travel based on the travel path 53 including the changed turning parameter and the changed turning path 55 (step S3).

The combine 1 that continues the automatic harvesting travel determines whether or not the storage amount of the storage unit 6 exceeds a predetermined discharge threshold (step S7). When the storage amount is equal to or less than the discharge threshold (step S7: NO), the combine 1 proceeds to step S2 to continue the automatic harvesting travel when the harvesting operation of the field 50 is not completed (step S8: NO), and ends the automatic harvesting travel when the harvesting operation of the field 50 is completed (step S8: YES).

On the other hand, when the stored amount exceeds the discharge threshold (yes in step S7), the combine harvester 1 moves to the discharge operation of the grains stored in the discharge storage unit 6 (step S9), and when the discharge operation is completed, the turning parameter is returned to that before the change (step S10). Then, in the same manner as described above, when the harvesting operation of the field 50 is not completed (step S8: NO), the flow proceeds to step S2 to continue the automatic harvesting travel, and when the harvesting operation of the field 50 is completed (step S8: YES), the automatic harvesting travel is ended.

As described above, according to the present embodiment, the combine 1 is a work vehicle that automatically travels based on the travel path 53 set in advance, and includes the control device 30 and the stored amount detection unit 26. The control device 30 functions as an automatic travel control unit 35 that controls automatic travel based on the travel path 53 including the turning path 55. The storage amount detecting section 26 detects the storage amount of grains (harvest) stored in the storage section 6 of the combine harvester 1. Then, the automatic travel control unit 35 changes the turning parameter concerning the travel of the turning path 55 based on the stored amount.

In other words, the automatic travel method of the present invention for automatically traveling the work vehicle such as the combine 1 based on the travel path 53 set in advance includes: an automatic travel step of automatically traveling on the basis of the travel path 53 including the turning path 55; and a storage amount detection step of detecting a storage amount of grains (harvest) stored in the storage unit 6 of the combine 1, wherein in the automatic travel step, a turning parameter relating to travel of the turning path 55 is changed based on the storage amount.

Accordingly, the combine harvester 1 can perform turning travel on the turning path 55 matching the centrifugal force acting on the combine harvester 1 by setting the turning parameter based on the storage amount, and therefore, separation from the turning path 55 can be suppressed, and the accuracy of automatic travel can be improved.

For example, as the turning parameter, the automatic travel control unit 35 changes the turning gain at the turning path 55. By changing the turning gain in this way, the combine harvester 1 can be prevented from falling off the turning path 55.

Further, as the turning parameter, the automatic travel control unit 35 changes the turning radius at the turning path 55. By changing the turning radius in this way, the combine harvester 1 can be prevented from falling off the turning path 55.

Further, as the turning parameter, the automatic travel control unit 35 changes the turning vehicle speed at the turning path 55. Thus, by changing the turning vehicle speed, the combine 1 can be prevented from being separated from the turning path 55.

Alternatively, the automatic travel control unit 35 sets the turning radius and the turning vehicle speed at the turning path 55 as the turning parameters, and changes the turning radius to a predetermined limit value and changes the turning vehicle speed to be lower than the predetermined vehicle speed value when the change value of the turning radius based on the stored amount exceeds the predetermined limit value. This makes it possible to prevent the turning radius from being excessively changed and to prevent the turning path 55 from being separated.

In the above-described embodiment, the example in which the automatic travel control unit 35 changes the turning parameter based on the stored amount of the storage unit 6 has been described, but the present invention is not limited to this example.

For example, in another embodiment, the automatic travel control unit 35 may change the turning parameter based on the storage amount of the storage unit 6 and the moisture amount of the grain (harvest) stored in the storage unit 6. For example, in the case where the storage amount detection unit 26 detects the storage amount of grains in the grain box 24 by a grain sensor (rice sensor), the weight of the grains stored in the grain box 24 changes according to the moisture amount of the grains. Therefore, the automatic travel control unit 35 calculates the weight of the grains stored in the storage unit 6 based on the storage amount of the storage unit 6 and the moisture content of the grains, and changes the turning parameter based on the calculation result. In this case, the combine harvester 1 measures the moisture content of grains stored in the storage unit 6 by a moisture content sensor (moisture content detecting unit) provided in the storage space, the inlet, or the like of the grain tank 24. In the automatic travel method according to the present invention, the moisture amount sensor realizes a moisture amount detection step of detecting the moisture amount of the grain (harvest).

Thus, even when the moisture content of the cereal grains affects the weight of the body of the combine harvester 1, the deviation from the turning path 55 can be more suppressed by setting the turning parameter based on the storage amount and the moisture content of the cereal grains, and the accuracy of the automatic travel can be more improved.

Alternatively, in another embodiment, the automatic travel control unit 35 may change the turning parameter based on the storage amount of the storage unit 6 and the type of grain (harvest) stored in the storage unit 6. For example, when the storage amount detection unit 26 detects the storage amount of grains in the grain box 24 by a grain sensor (rice sensor), the weight of the grains stored in the grain box 24 changes according to the type of the grains. Specifically, even when the storage volume of grains is the same, soybeans are heavier than rice and wheat, and the weight of the stored grains is increased. Therefore, the automatic travel control unit 35 calculates the weight of the cereal grains stored in the storage unit 6 based on the storage amount of the storage unit 6 and the type of cereal grains, and changes the turning parameter based on the calculation result. In this case, the combine harvester 1 may set the type of grain by an operation performed by an operator using the mobile terminal 40 before starting automatic travel, or may set the type of grain set in the same field 50 in the previous year. The control device 30 functions as a type determining unit that determines the type of the grain (harvest), and the automatic travel method according to the present invention implements a type determining step that determines the type of the grain (harvest).

Thus, even when the type of grain affects the weight of the body of the combine 1, the turning parameter is set based on the storage amount and the type of grain, so that the separation from the turning path 55 can be more suppressed, and the accuracy of automatic travel can be more improved.

In the above-described embodiment, the example was described in which the automatic travel control unit 35 changes the turning parameter when it is determined that the changing condition for changing the turning parameter is satisfied based on the storage amount of the storage unit 6, but the present invention is not limited to this example.

For example, in another embodiment, the automatic travel control unit 35 may perform the discharge travel for discharging grains in the storage unit 6 before the turning parameter is changed when it is determined that the changing condition for changing the turning parameter is satisfied based on the storage amount in the storage unit 6.

Specifically, as the discharge traveling, the automatic traveling control unit 35 may perform a discharge report prompting the discharge of grains, and may report to the operator that the storage amount of the storage unit 6 reaches a predetermined storage amount threshold by performing a display on a display device provided in the operation unit 9 and output a sound by a speaker, or may transmit a report signal to the mobile terminal 40, and may report to the operator by performing a display on the display unit 44 and output a sound by a speaker based on the report signal by the mobile terminal 40.

At this time, the operator who responds to the discharge report may interrupt the automatic harvesting travel by operating a travel stop button (not shown) of the operation screen 60 of the mobile terminal 40, and move the combine 1 to the discharge position by the manual travel. Alternatively, the operator who responds to the discharge report may automatically interrupt the automatic harvesting travel by operating a discharge movement travel button (not shown) of the operation screen 60 of the mobile terminal 40, and automatically move the combine 1 to the discharge position. The position at which the automatic harvesting travel is interrupted is preferably the terminal end of the predetermined straight path 54, but may be a position midway along the straight path 54.

When the operator does not operate the travel stop button or the discharge travel button in response to the discharge report, the automatic travel control unit 35 changes the turning parameter based on the stored amount of the storage unit 6, and continues the automatic harvesting travel of the combine 1.

Alternatively, as the discharge movement travel, the automatic travel control unit 35 may automatically perform the discharge movement travel to the discharge position for discharging the grain. At this time, when the storage amount of the storage unit 6 reaches the predetermined storage amount threshold, the automatic travel control unit 35 may automatically start the discharge travel regardless of the operation of the travel stop button or the discharge travel button, and the position at which the discharge travel is started (the position at which the automatic harvesting travel is interrupted) is preferably the terminal end of the predetermined straight travel path 54, but may be the halfway position of the straight travel path 54.

Accordingly, when the turning parameter is required to be changed more and the storage amount of the storage unit 6 is increased, the grains are discharged from the storage unit 6, whereby the combine harvester 1 can be prevented from being separated from the turning path 55 and the accuracy of automatic travel can be prevented from being deteriorated.

In the above-described embodiment, the example was described in which the automatic travel control unit 35 changes the turning parameter when it is estimated that the vehicle is out of the turning path 55 based on the stored amount of the storage unit 6.

For example, in another embodiment, the automatic travel control unit 35 may change the turning parameter when it is estimated that the combine harvester is out of the turning path 55 based on a change condition based on the inclination angle of the combine harvester 1 with respect to the ground of the field 50. In this case, the combine harvester 1 includes an inclination angle detection unit that detects an inclination angle of the combine harvester 1 with respect to the ground surface of the field 50. The automatic travel control unit 35 may determine the inclination angle of the combine 1 before entering each of the turning paths 55, and determine whether or not to change the turning parameters. The inclination angle detection unit realizes an inclination angle detection step of detecting the inclination angle of the combine harvester 1 with respect to the ground surface of the field 50 in the automatic travel method according to the present invention.

The automatic travel control unit 35 changes the turning parameter based on the inclination angle when the external load of the combine 1 traveling in the turning becomes large due to the inclination of the combine 1 (for example, when the external load of the combine 1 traveling in the turning becomes lower and the inclination angle becomes larger than a predetermined inclination angle threshold value). For example, the automatic travel control unit 35 changes the turning gain so as to increase the inclination angle, changes the turning radius so as to increase the inclination angle, or changes the turning vehicle speed so as to decrease the inclination angle of the combine 1.

The pair of right and left crawler traveling devices 11 of the traveling unit 2 of the combine harvester 1 support the machine body, and the inclination angle detection unit may detect the inclination angle of the combine harvester 1 with respect to the ground of the inclined field 50 when each crawler traveling device 11 horizontally supports the machine body. Alternatively, the inclination angle detection unit may detect the inclination angle of the combine 1 with respect to the ground of the field 50 when the one crawler travel device 11 tilts and supports the machine body higher than the other crawler travel device 11.

Alternatively, in another embodiment, the automatic travel control unit 35 may change the turning parameter when it is estimated that the vehicle is out of the turning path 55 from the changing condition of the turning angle or the turning radius of the turning path 55 on which the combine harvester 1 is turning. In this case, the combine harvester 1 includes a turning angle acquisition unit that acquires the turning angle of the turning path 55 or a turning radius acquisition unit that acquires the turning radius. The automatic travel control unit 35 may determine whether or not to change the turning parameter by determining the turning angle or the turning radius before entering each turning path 55. In the automatic running method according to the present invention, control device 30 realizes a turning angle detection step of detecting the turning angle of turning path 55 or a turning radius detection step of detecting the turning radius of turning path 55.

The automatic travel control unit 35 changes the turning parameter based on the turning angle or the turning radius when the external load becomes large in the combine 1 that is turning due to the turning angle or the turning radius of the turning path 55 (for example, when the turning angle becomes larger than a predetermined turning angle threshold value or when the turning radius becomes larger than a predetermined turning radius threshold value). For example, the automatic travel control unit 35 changes the turning gain so as to increase the turning angle, changes the turning radius so as to increase the turning radius, or changes the turning vehicle speed so as to decrease the turning angle of the turning path 55, as the turning angle is larger. Alternatively, the automatic travel control unit 35 changes the turning gain so as to increase the turning gain, changes the turning radius so as to increase the turning radius, or changes the turning vehicle speed so as to decrease the turning vehicle speed, on the condition that the turning radius of the turning path 55 is small.

Alternatively, in another embodiment, the automatic travel control unit 35 may change the turning parameter when it is estimated that the vehicle is out of the turning path 55 based on other changing conditions such as a field state such as a mud state of the field 50, a weather of the previous day, a position at which the vehicle is out of the turning path 55 during the automatic harvesting travel of the previous year, and the like.

In another embodiment, the automatic travel control unit 35 may determine whether or not a deviation from the turning path 55 is estimated based on two or more of the storage amount of the storage unit 6, the inclination angle of the combine 1, the turning angle of the turning path 55, and other changing conditions, and change the turning parameter.

In the above-described embodiment, the combine harvester 1 including the traveling unit 2 including the pair of right and left crawler traveling devices 11 has been described as an example in which the automatic traveling control unit 35 changes the turning parameter based on the predetermined changing condition, but the present invention is not limited to this example. For example, in another embodiment, the working vehicle including the travel unit 2 including the pair of left and right front wheels and the pair of left and right rear wheels may be configured such that the automatic travel control unit 35 changes the turning parameter based on the storage amount of the storage unit 6.

In the above-described embodiment, the example of the combine 1 constituted by the combine with harvesting and threshing has been described, but the present invention is not limited to this example, and the combine 1 may be constituted by a general-purpose combine. In the above-described embodiment, the control device 30 of the combine harvester 1 has been described as an example in which the automatic travel control unit 35 that changes the turning parameter related to the travel of the turning path 55 based on the storage amount of the storage unit 6 is used, but the present invention is not limited to this example, and the mobile terminal 40 of the combine harvester 1 may also be used as an automatic travel control unit that changes the turning parameter related to the travel of the turning path 55 based on the storage amount of the storage unit 6.

In the above-described embodiment, the example in which the work vehicle is constituted by the combine 1 has been described, but the present invention is not limited to this example. For example, the work vehicle of the present invention may be comprised of other farm work machines that harvest crops.

The working vehicle of the present invention is not limited to a working vehicle that automatically travels while storing harvested products such as harvested grains, and may be configured by other agricultural machines such as a tractor, a rice seedling transplanting machine, and a mower, or may be configured by other working vehicles other than the agricultural machines. For example, in other agricultural machinery, the automatic travel control unit 35 may change the turning parameter based on the weight of materials such as chemical solutions and seedlings, or the weight of fuel, specifically, may change the turning gain so as to increase the weight, change the turning radius so as to increase the weight, or change the turning vehicle speed so as to decrease the weight, with the weight being heavier (the weight being heavier than a predetermined weight threshold value) as a change condition. In other agricultural machinery, the automatic travel control unit 35 may change the turning parameter according to a change condition based on the inclination angle of the work vehicle and the turning angle of the turning path 55.

The present invention can be appropriately modified within a range not departing from the gist or the idea of the invention that can be read from the claims and the entire specification, and an automatic travel method, a work vehicle, and an automatic travel method that accompany such modification are also included in the technical idea of the present invention.

[ appendix of invention ]

Hereinafter, an outline of the invention extracted from the above embodiment will be described. The configurations and processing functions described in the following notes can be optionally combined.

< appendix 1 >

An automatic travel method for automatically traveling a work vehicle based on a travel path set in advance, comprising:

an automatic travel step of automatically traveling on the basis of the travel path including the turning path; and

a storage amount detection step of detecting a storage amount of the harvest stored in the working vehicle,

in the automatic travel step, a turning parameter relating to travel of the turning route is changed based on the stored amount.

< annex 2 >

The automatic travel method according to appendix 1, characterized in that,

in the automatic traveling step, a turning gain at the turning path is changed as the turning parameter.

< notes 3 >

The automatic travel method according to any one of appendixes 1 and 2, characterized in that,

in the automatic traveling step, the turning radius at the turning path is changed as the turning parameter.

< appendix 4 >

The automatic travel method according to any one of supplementary notes 1 to 3, characterized in that,

in the automatic traveling step, the turning vehicle speed at the turning path is changed as the turning parameter.

< notes 5 >

The automatic travel method according to appendix 1, characterized in that,

in the automatic traveling step, a turning radius and a turning vehicle speed at the turning path are set as the turning parameters,

when the change value of the turning radius based on the storage amount exceeds a predetermined limit value, the turning radius is changed to the predetermined limit value, and the turning vehicle speed is changed to be lower than a predetermined vehicle speed value.

< notes 6 >

The automatic travel method according to any one of supplementary notes 1 to 5, characterized in that,

comprises a moisture amount detecting step of detecting the moisture amount of the harvest,

in the automatic running step, the turning parameter is set based on the storage amount and the moisture amount.

< appendix 7 >

The automatic travel method according to any one of supplementary notes 1 to 6, characterized in that,

comprises a type judging step of judging the type of the harvest,

in the automatic travel step, the turning parameter is set based on the storage amount and the type of the harvest.

< notes 8 >

The automatic travel method according to any one of supplementary notes 1 to 7, characterized in that,

in the automatic travel step, when it is determined that the turning parameter needs to be changed based on the stored amount, a discharge report prompting the discharge of the harvest is performed, or a discharge movement is automatically performed to a discharge position for discharging the harvest.

< notes 9 >, respectively

An automatic travel method for automatically traveling a work vehicle based on a travel path set in advance, comprising:

an automatic travel step of automatically traveling on the basis of the travel path including the turning path; and

an inclination angle detection step of detecting an inclination angle of the work vehicle with respect to the field floor,

in the automatic traveling step, a turning parameter related to traveling of the turning path is changed based on the inclination angle.

< notes 10 >

The automatic travel method according to appendix 9, characterized in that,

in the automatic traveling step, a turning gain at the turning path is changed as the turning parameter.

< notes 11 >

The automatic travel method according to any one of notes 9 and 10, characterized in that,

in the automatic traveling step, the turning radius at the turning path is changed as the turning parameter.

< notes 12 >

The automatic travel method according to any one of notes 9 to 11, characterized in that,

in the automatic traveling step, the turning vehicle speed at the turning path is changed as the turning parameter.

< notes 13 >

The automatic travel method according to appendix 9, characterized in that,

in the automatic traveling step, a turning radius and a turning vehicle speed at the turning path are set as the turning parameters,

when the change value of the turning radius based on the inclination angle exceeds a predetermined limit value, the turning radius is changed to the predetermined limit value, and the turning vehicle speed is changed to be lower than a predetermined vehicle speed value.

< notes 14 >

The automatic travel method according to any one of notes 9 to 13, characterized in that,

in the automatic travel step, when it is determined that the turning parameter needs to be changed based on the inclination angle, a discharge report prompting the discharge of the harvest is performed, or a discharge movement is automatically performed to a discharge position for discharging the harvest.

< notes 15 >

An automatic travel method for automatically traveling a work vehicle based on a travel path set in advance, comprising:

an automatic travel step of automatically traveling on the basis of the travel path including the turning path; and

a turning angle detection step of detecting a turning angle of the turning path based on the travel path,

in the automatic traveling step, a turning parameter relating to traveling of the turning route is changed based on the turning angle.

< notes 16 >

The automatic travel method according to appendix 15, characterized in that,

in the automatic traveling step, a turning gain at the turning path is changed as the turning parameter.

< notes 17 >

The automatic travel method according to any one of notes 15 and 16, characterized in that,

in the automatic traveling step, the turning radius at the turning path is changed as the turning parameter.

< notes 18 >

The automatic travel method according to any one of notes 15 to 17, characterized in that,

in the automatic traveling step, the turning vehicle speed at the turning path is changed as the turning parameter.

< notes 19 >

The automatic travel method according to appendix 15, characterized in that,

in the automatic traveling step, a turning radius and a turning vehicle speed at the turning path are set as the turning parameters,

when the change value of the turning radius based on the turning angle exceeds a predetermined limit value, the turning radius is changed to the predetermined limit value, and the turning vehicle speed is changed to be lower than a predetermined vehicle speed value.

< notes 20 >

The automatic travel method according to any one of notes 15 to 19, characterized in that,

in the automatic travel step, when it is determined that the turning parameter needs to be changed based on the turning angle, a discharge report prompting the discharge of the harvest is performed, or a discharge movement is automatically performed to a discharge position for discharging the harvest.

< notes 21 >

A work vehicle that automatically travels on the basis of a travel path set in advance, comprising:

an automatic travel control unit that controls automatic travel based on the travel path including the turning path; and

a storage amount detecting unit configured to detect a storage amount of the harvest stored in the working vehicle,

the automatic travel control unit changes a turning parameter related to travel of the turning route based on the stored amount.

< notes 22 >

The working vehicle according to appendix 21, characterized in that,

as the turning parameter, the automatic travel control unit changes a turning gain at the turning path.

< notes 23 >

The working vehicle according to any one of notes 21 and 22, characterized in that,

as the turning parameter, the automatic travel control unit changes the turning radius at the turning path.

< notes 24 >

The working vehicle according to any one of notes 21 to 23, characterized in that,

the automatic travel control unit changes the turning vehicle speed at the turning path as the turning parameter.

< notes 25 >

The working vehicle according to appendix 21, characterized in that,

the automatic travel control unit sets a turning radius and a turning vehicle speed at the turning path as the turning parameters,

when the change value of the turning radius based on the storage amount exceeds a predetermined limit value, the turning radius is changed to the predetermined limit value, and the turning vehicle speed is changed to be lower than a predetermined vehicle speed value.

< notes 26 >

The working vehicle according to any one of notes 21 to 25, characterized in that,

comprises a moisture amount detecting unit for detecting the moisture amount of the harvest,

the automatic travel control unit sets the turning parameter based on the storage amount and the moisture amount.

< notes 27 >

The working vehicle according to any one of notes 21 to 26, characterized in that,

comprises a type judging part for judging the type of the harvest,

the automatic travel control unit sets the turning parameter based on the storage amount and the type of the harvest.

< notes 28 >

The working vehicle according to any one of notes 21 to 27, characterized in that,

the automatic travel control unit may perform a discharge report prompting the discharge of the harvest or may automatically perform a discharge movement to a discharge position for discharging the harvest when it is determined that the turning parameter needs to be changed based on the storage amount.

< notes 29 >)

An automatic travel system for automatically traveling a work vehicle based on a travel path set in advance, comprising:

an automatic travel control unit that controls automatic travel based on the travel path including the turning path; and

a storage amount detecting unit configured to detect a storage amount of the harvest stored in the working vehicle,

the automatic travel control unit changes a turning parameter related to travel of the turning route based on the stored amount.

< notes 30 >

The automatic travel system according to appendix 29, characterized in that,

as the turning parameter, the automatic travel control unit changes a turning gain at the turning path.

< notes 31 >

The automatic travel system according to any one of notes 29 and 30, characterized in that,

as the turning parameter, the automatic travel control unit changes the turning radius at the turning path.

< notes 32 >

The automatic travel system according to any one of notes 29 to 31, characterized in that,

the automatic travel control unit changes the turning vehicle speed at the turning path as the turning parameter.

< notes 33 >

The automatic travel system according to appendix 29, characterized in that,

the automatic travel control unit sets a turning radius and a turning vehicle speed at the turning path as the turning parameters,

when the change value of the turning radius based on the storage amount exceeds a predetermined limit value, the turning radius is changed to the predetermined limit value, and the turning vehicle speed is changed to be lower than a predetermined vehicle speed value.

< notes 34 >, respectively

The automatic travel system according to any one of notes 29 to 33, characterized in that,

comprises a moisture amount detecting unit for detecting the moisture amount of the harvest,

the automatic travel control unit sets the turning parameter based on the storage amount and the moisture amount.

< notes 35 >

The automatic travel system according to any one of notes 29 to 34, characterized in that,

comprises a type judging part for judging the type of the harvest,

the automatic travel control unit sets the turning parameter based on the storage amount and the type of the harvest.

< notes 36 >

The automatic travel system according to any one of notes 29 to 35, characterized in that,

The automatic travel control unit may perform a discharge report prompting the discharge of the harvest or may automatically perform a discharge movement to a discharge position for discharging the harvest when it is determined that the turning parameter needs to be changed based on the storage amount.

Claims (12)

1. An automatic travel method for automatically traveling a work vehicle based on a travel path set in advance, comprising:

an automatic travel step of automatically traveling on the basis of the travel path including the turning path; and

a storage amount detection step of detecting a storage amount of the harvest stored in the working vehicle,

in the automatic travel step, a turning parameter relating to travel of the turning route is changed based on the stored amount.

2. The automatic traveling method according to claim 1, wherein,

in the automatic traveling step, a turning gain at the turning path is changed as the turning parameter.

3. The automatic traveling method according to claim 1, wherein,

in the automatic traveling step, a turning radius at the turning path is changed as the turning parameter.

4. The automatic traveling method according to claim 1, wherein,

in the automatic traveling step, the turning vehicle speed at the turning path is changed as the turning parameter.

5. The automatic traveling method according to claim 1, wherein,

in the automatic traveling step, a turning radius and a turning vehicle speed at the turning path are set as the turning parameters,

when the change value of the turning radius based on the storage amount exceeds a predetermined limit value, the turning radius is changed to the predetermined limit value, and the turning vehicle speed is changed to be lower than a predetermined vehicle speed value.

6. The automatic traveling method according to claim 1, wherein,

a moisture amount detecting step of detecting the moisture amount of the harvest,

in the automatic running process, the turning parameter is set based on the storage amount and the moisture amount.

7. The automatic traveling method according to claim 1, wherein,

comprises a type judging step of judging the type of the harvest,

in the automatic running process, the turning parameter is set based on the storage amount and the type of the harvest.

8. The automatic traveling method according to claim 1, wherein,

in the automatic travel step, when it is determined that the turning parameter needs to be changed based on the storage amount, a discharge report prompting the discharge of the harvest is performed, or a discharge movement is automatically performed to a discharge position for discharging the harvest.

9. An automatic travel method for automatically traveling a work vehicle based on a travel path set in advance, comprising:

an automatic travel step of automatically traveling on the basis of the travel path including the turning path; and

an inclination angle detection step of detecting an inclination angle of the work vehicle with respect to the field floor,

in the automatic traveling step, a turning parameter relating to traveling of the turning route is changed based on the inclination angle.

10. An automatic travel method for automatically traveling a work vehicle based on a travel path set in advance, comprising:

an automatic travel step of automatically traveling on the basis of the travel path including the turning path; and

a turning angle detection step of detecting a turning angle of the turning path based on the travel path,

In the automatic traveling step, a turning parameter relating to traveling of the turning route is changed based on the turning angle.

11. A work vehicle that automatically travels on the basis of a travel path set in advance, comprising:

an automatic travel control unit that controls automatic travel based on the travel path including a turning path; and

a storage amount detection unit that detects a storage amount of the harvest stored in the work vehicle,

the automatic travel control unit changes a turning parameter related to travel of the turning route based on the stored amount.

12. An automatic travel system for automatically traveling a work vehicle based on a travel path set in advance, comprising:

an automatic travel control unit that controls automatic travel based on the travel path including a turning path; and

a storage amount detection unit that detects a storage amount of the harvest stored in the work vehicle,

the automatic travel control unit changes a turning parameter related to travel of the turning route based on the stored amount.