JP2023097567A - Automated travelling method, work vehicle, and automated travelling system - Google Patents

Abstract

To provide an automated travelling method, a work vehicle, and an automated travelling system that allow a moving route to be set flexibly according to a condition of a farm field.SOLUTION: A combine 1 includes a control device 30 and a portable terminal 40. The control device 30 functions as a discharge travelling control part 36 for executing automated discharge travelling on the basis of a discharge route 72. The portable terminal 40 includes a control device 41. The control device 41 functions as a discharge route creation part 52 for creating a discharge route 72 for executing automated discharge travelling in a non-work state from a predetermined transition position 65 at which work travelling is suspended after executing both travelling in a forward direction and travelling in a backward direction, to a discharge position 71, which is a target position.SELECTED DRAWING: Figure 2

Description

The present invention relates to an automatic traveling method, a working vehicle, and an automatic traveling system for automatically traveling a working vehicle in a field.

2. Description of the Related Art Conventionally, a work vehicle such as a combine harvester performs automatic reaping travel in which reaping work is performed while automatically traveling along an automatic travel route in a field, and harvested grains are stored. In addition, in order to discharge the stored grains to the recovery section at the discharge position, the work vehicle creates a discharge route from a predetermined transition position to the discharge position on the automatic travel route, and automatically reaps the grain at the transition position. Some interrupt and automatically drive to the ejection position along the ejection path.

For example, in the automatic traveling control system disclosed in Patent Document 1, a route setting unit that sets a traveling route for automatic traveling, and an automatic traveling control unit that performs automatic traveling control of the aircraft based on the position of the aircraft and the traveling route , a state detection unit that detects the state of the harvester, and an interruption determination unit that can determine interruption of automatic traveling based on the detection result of the state detection unit. When the discontinuation determination unit determines that the automatic travel is to be interrupted, the route setting unit selects a preset halfway work position (for example, a discharge position for discharging harvested grains) for work after the suspension of the automatic travel in the field. ), the position of the machine body when it is determined that the automatic travel is to be interrupted, and the harvesting state of the field, an intermediate work route for moving to the intermediate work position is generated.

Japanese Patent Application Laid-Open No. 2020-22429

In the prior art such as Patent Document 1, the vehicle travels from the transition position to the ejection position by setting an ejection path that travels only in one direction, forward or backward. However, since the discharge route is created so as to avoid the uncut area of the field and travel only in the harvested area, the pattern is limited when it is created so as to travel in only one direction. In addition to the discharge position, a work vehicle such as a combine harvester may set a target position for performing various processes. Therefore, it may not be possible to create a movement route such as a discharge route that moves smoothly and efficiently from the transition position to a target position such as a discharge position, or a movement route such as a discharge route that meets the operator's intention.

SUMMARY OF THE INVENTION An object of the present invention is to provide an automatic traveling method, a work vehicle, and an automatic traveling system that can flexibly set a moving route according to the situation of a field.

In order to solve the above-described problems, an automatic traveling method of the present invention is an automatic traveling method for automatically traveling a work vehicle in a field, wherein the working vehicle travels in both forward and backward directions. characterized by having a moving route creating step of creating a moving route for automatically traveling from the interrupted predetermined transition position to a target position in a non-working state, and a moving and traveling step of automatically traveling based on the moving route. and

Further, in order to solve the above-described problems, a work vehicle according to the present invention is a work vehicle that automatically travels in a field, and performs both forward travel and backward travel and stops the work travel for a predetermined time. A moving route creation unit that creates a moving route for automatically traveling from a transition position to a target position in a non-working state; and a moving travel control unit that automatically travels based on the moving route. .

Further, in order to solve the above problems, an automatic traveling system of the present invention is an automatic traveling system for automatically traveling a work vehicle in a field, wherein the working vehicle travels in both the forward direction and the backward direction. A travel route creation unit that creates a travel route for automatically traveling in a non-working state from a predetermined transition position where travel is interrupted to a target position, and a travel travel control unit that automatically travels based on the travel route. It is characterized by

ADVANTAGE OF THE INVENTION According to this invention, the automatic traveling method, working vehicle, and automatic traveling system which can set a moving route flexibly according to the condition of a field are provided.

It is a side view of a combine concerning an embodiment of the present invention. It is a block diagram of a combine according to an embodiment of the present invention. FIG. 10 is a plan view showing an example of a field in which a discharge path leading to a discharge position is set in the combine according to the embodiment of the present invention by traveling straight backward. FIG. 10 is a plan view showing an example of a field in which a discharge path leading to a discharge position is set in the combine according to the embodiment of the invention. FIG. 10 is a plan view showing an example of a field in which a discharge route to a discharge position is set by a combine harvester according to another embodiment of the present invention, avoiding obstacles and traveling straight backward. FIG. 10 is a plan view showing an example of a field in which a discharge route to a discharge position is set by a combine harvester according to another embodiment of the present invention, avoiding obstacles and traveling straight backward. FIG. 10 is a plan view showing an example of a field in which a discharge route to a discharge position is set by a combine harvester according to another embodiment of the present invention, avoiding obstacles and traveling straight forward. FIG. 10 is a plan view showing an example of a field in which a discharge path leading to a discharge position is set in reverse straight traveling in a combine according to a further embodiment of the present invention.

A combine 1 according to an embodiment of the present invention will be described with reference to FIG. 1 and the like. The combine harvester 1 is an example of a work vehicle that travels for work, performing work while manually or automatically traveling along a predetermined work path. The combine 1 runs in a field to be worked by automatic operation or manual operation, and performs work such as reaping to harvest crops from stalks planted in the field. For example, the combine 1 is configured to perform automatic work in which the steering direction is controlled by automatic operation and the travel speed is controlled in response to manual operation, and unmanned work in which the steering direction and travel speed are controlled by automatic operation. It can run, turn and work autonomously in the field.

The combine 1 performs reaping work on a plurality of rows of grain culms while traveling in a straight row having a reaping width of a predetermined number of rows within the number of reapable rows. The combine 1 is set to either a manual running mode or an automatic running mode. The combine harvester 1 is configured to perform manual traveling according to the operation of the operating section 9 by the operator when the manual traveling mode is set.

On the other hand, when the automatic travel mode is set, the combine harvester 1 is configured to perform automatic reaping travel in which the harvest is performed while automatically traveling along the automatic travel route set in the field. For example, the combine 1 performs reciprocating cutting in which a plurality of straight paths are reciprocated in an area having uncut grain culms in a field (hereinafter referred to as an uncut area), or laps the straight path along the inner circumference of the uncut area. Automatic reaping travel is performed in a traveling pattern such as circular reaping that is repeated while being shifted toward the center.

Before the automatic reaping travel, the combine harvester 1 performs perimeter reaping travel in which it travels along the outer periphery of the field while reaping, thereby forming a headland in the field and moving the inside of the headland. Work area for automatic reaping travel.

The combine harvester 1 interrupts work travel, such as reaping travel, which is manually traveled or automatically traveled in a working state, at a predetermined transition position, and travels along a predetermined movement route in a non-working state to a predetermined target position where predetermined processing is performed. Perform automatic movement driving that runs automatically. The combine 1 stores the grain harvested from the field while traveling for reaping, and a collecting part such as a truck or a container for collecting the grain harvested by the combine 1 is provided outside the field. In the present embodiment, the combine 1 sets the discharge position at which the grain is discharged from the combine 1 to the collection section as the target position at a position along the outer circumference of the field adjacent to the collection section. When the combine 1 discharges the grain during the automatic reaping travel, the automatic reaping travel is interrupted at a predetermined transition position on the automatic travel route, and the automatic travel along the predetermined discharge route as the movement route is automatically traveled to the discharge position. The automatic discharge run that moves to the position is performed as an automatic move run. For example, the combine 1 may set the transition position based on the timing when the amount of stored grain becomes full, or may be arbitrarily settable according to the operator's operation. The combine 1 may set the transition position not only to the position on the automatic travel route in the automatic reaping travel, but also to the position where the manual travel is interrupted.

As shown in FIG. 1, the combine 1 includes a traveling section 2, a reaping section 3, a threshing section 4, a sorting section 5, a storage section 6, a waste straw processing section 7, a power section 8, and a control section. 9, and is composed of a so-called self-threshing combine. The combine 1 threshes the culms harvested by the reaping unit 3 in the threshing unit 4 while traveling by the traveling unit 2 , sorts the grains in the sorting unit 5 , and stores them in the storage unit 6 . The combine 1 processes the waste straw after threshing by the waste straw processing unit 7 . The combine 1 drives the traveling section 2 , the reaping section 3 , the threshing section 4 , the sorting section 5 , the storage section 6 and the waste straw processing section 7 by the power supplied by the power section 8 .

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

The reaping unit 3 is provided in front of the traveling unit 2, and reaps rows within the number of reapable rows. The reaping unit 3 includes a divider 13 , a lifting device 14 , a cutting device 15 and a conveying device 16 . The divider 13 divides the grain culms in the field for each row and guides the grain culms for a predetermined number of rows within the number of reapable rows to the raising device 14 . A lifting device 14 lifts the culm guided by the divider 13 . The cutting device 15 cuts the culms raised by the raising device 14 . The conveying device 16 conveys the culms cut by the cutting device 15 to the threshing section 4 .

The threshing part 4 is provided behind the reaping part 3 . The threshing section 4 includes a feed chain 18 and a threshing cylinder 19 . The feed chain 18 conveys the culms conveyed from the conveying device 16 of the reaping unit 3 for threshing, and further conveys the culms after threshing, that is, the removed straw to the removed straw processing unit 7 . The threshing cylinder 19 threshes the culms being conveyed by the feed chain 18 .

The sorting section 5 is provided below the threshing section 4 . The sorting unit 5 includes a swing sorting device 21, an air sorting device 22, a grain conveying device (not shown), and a straw waste discharging device (not shown). The swing sorting device 21 sieves the threshed grains dropped from the threshing section 4 to sort them into grains, straw scraps, and the like. The air blow sorting device 22 further sorts the degrained grains sorted by the swing sorting device 21 into grains, straw scraps, and the like by blowing air. The grain conveying device conveys the grains sorted by the swing sorting device 21 and the air sorting device 22 to the storage section 6 . The straw waste discharging device discharges straw waste and the like sorted by the swing sorting device 21 and the air sorting device 22 to the outside of the machine.

The storage section 6 is provided on the right side of the threshing section 4 . The reservoir 6 includes a grain tank 24 and a discharge device 25 . The grain tank 24 stores grains conveyed from the sorting section 5 . A maximum amount (maximum storage amount) of grains that can be stored in the grain tank 24 is set in the storage unit 6 . The discharging device 25 is composed of an auger or the like, and discharges the grains stored in the grain tank 24 to an arbitrary place. The discharging device 25 is configured to be able to discharge grains in any of the front, rear, left, and right directions of the body of the combine harvester 1, but due to the arrangement of the auger, etc., one side in the left and right direction (for example, the right side) is recommended for discharge. side can be set.

The discharged straw processing unit 7 is provided behind the threshing unit 4 . The waste straw processing unit 7 includes a waste straw conveying device (not shown) and a waste straw cutting device (not shown). The straw conveying device conveys the straw conveyed from the feed chain 18 of the threshing section 4 to the straw cutting device. The waste straw cutting device cuts the waste straw conveyed by the waste straw conveying device and discharges it out of the machine.

The power section 8 is provided above the traveling section 2 and in front of the storage section 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 reaping unit 3 , the threshing unit 4 , the sorting unit 5 , the storage unit 6 and the waste straw processing unit 7 .

The control section 9 is provided above the power section 8 . The operating unit 9 includes a handle for instructing turning of the machine body of the combine harvester 1 and a forward and backward movement of the combine harvester 1 as operation tools for controlling the running of the combine harvester 1 around the driver's seat where the operator sits. A main shift lever and an auxiliary shift lever are provided for instructing speed changes. The manual travel of the combine harvester 1 is performed by the travel section 2 that receives the operation of the steering wheel of the control section 9, the main gear shift lever, and the sub gear shift lever. Further, the control unit 9 includes a mechanism for operating the harvesting work by the harvesting unit 3, the threshing work by the threshing unit 4, the discharge work by the discharge device 25 of the storage unit 6, and the like.

The combine 1 includes a positioning unit 28 that acquires the position of the combine 1 using a satellite positioning system such as GPS. The positioning unit 28 receives positioning signals from positioning satellites via a positioning antenna, and acquires position information of the positioning unit 28, that is, the own vehicle position of the combine 1 based on the positioning signals.

Next, the control device 30 of the combine 1 will be described with reference to FIG. The control device 30 is composed of a computer such as a CPU, and is connected to a storage unit 31 such as ROM, RAM, hard disk drive, flash memory, etc., and a communication unit 32 that communicates with external devices.

The storage unit 31 stores programs and data for controlling various components and various functions of the combine 1, and the control device 30 executes arithmetic processing based on the programs and data stored in the storage unit 31. controls various components and functions. The control device 30 acquires the own vehicle position of the combine harvester 1 from the positioning unit 28, for example.

The communication unit 32 can wirelessly communicate with an external device such as a mobile terminal 40 owned by a worker via a wireless communication antenna. The control device 30 controls the communication unit 32 to wirelessly communicate with the mobile terminal 40 to transmit and receive various information to and from the mobile terminal 40 .

The control device 30 also operates as a reaping travel control unit 35 (work travel control unit) and a discharge travel control unit 36 (moving travel control unit) by executing programs stored in the storage unit 31 . The reaping travel control unit 35 and the discharge travel control unit 36 implement a reaping travel process (work travel process) and a discharge travel process (moving travel process) of the automatic travel method according to the present invention.

The reaping travel control unit 35 is an example of a work travel control unit that controls the work travel of the combine harvester 1, and in this embodiment, controls the automatic reaping travel of the combine harvester 1 when the automatic travel mode is set. is. For example, the reaping travel control unit 35 acquires the field information set for the farm field 60 and the automatic travel route 64 (see the broken line) from the portable terminal 40, as shown in FIGS. The field 60 has an uncut area 61 where no work has been done yet and an already cut area 62 where cutting has already been completed, and the automatic travel route 64 is set within the uncut area 61 . When the automatic reaping travel is started, the reaping travel control unit 35 acquires the own vehicle position of the combine harvester 1 from the positioning unit 28, and based on the own vehicle position, the agricultural field information, and the automatic travel route 64, the combine harvester 1 automatically follows the travel route. The power section 8 and the traveling section 2 and the reaping section 3 are controlled to perform automatic reaping travel along the line 64 .

The discharge travel control unit 36 is an example of a travel travel control unit that controls travel travel from the transfer position of the combine harvester 1 to the target position. It controls automatic discharge travel. For example, as shown in FIGS. 3 to 7, the discharge travel control unit 36 performs automatic discharge travel in which the combine 1 reaches the transition position 65 set on the automatic travel route 64 in the field 60 and moves to the discharge position 71. Control. Specifically, when the combine 1 that performs automatic reaping travel reaches the transition position 65 , the discharge travel control unit 36 interrupts the automatic reaping travel, stops the operation of the reaping unit 3 , and stops at the transition position 65 . Instead, the power section 8 and the traveling section 2 are controlled so as to start automatic discharge travel along the discharge route 72 from the transition position 65 to the discharge position 71 . In another example, the discharge travel control unit 36 may interrupt and stop the automatic reaping travel at the transition position 65, and then start the automatic discharge travel according to the operation of the control unit 9 or the mobile terminal 40. . 3 to 7 the combine 1 in the transition position 65 is shown in solid lines and the combine 1 in the discharge position 71 in dashed lines.

The portable terminal 40 is one of the constituent elements of the combine harvester 1, and is a terminal capable of remotely controlling the combine harvester 1. For example, the portable terminal 40 is configured by a tablet terminal having a touch panel, a notebook personal computer, or the like. Note that an operation device similar to the portable terminal 40 may be provided in the control section 9 . In the present invention, the combine 1 and the mobile terminal 40 constitute an automatic driving system.

As shown in FIG. 2, the mobile terminal 40 includes a control device 41 configured by a computer such as a CPU. It is connected to a communication unit 43 that communicates with the device. In addition, the mobile terminal 40 includes a display unit 44 such as a touch panel or a monitor for displaying various information and outputting it to the worker. An input unit 45 such as operation keys is provided.

The storage unit 42 stores programs and data for controlling various components and various functions of the mobile terminal 40, and the control device 41 executes arithmetic processing based on the programs and data stored in the storage unit 42. Thus, various components and various functions of the mobile terminal 40 are controlled. The storage unit 42 stores field information of the field 60 that is the work target of the combine harvester 1 . The farm field information includes, for example, the shape, size, and position information (coordinates, etc.) of the farm field region along the outer circumference of the farm field 60, the discharge position 71 adjacent to the collection unit 70 outside the farm field 60 within the farm field 60, and the like. The farm field information includes information such as the shape, size, and position information (coordinates, etc.) of the uncut area 61 and the already cut area 62 in the farm field 60 .

The communication unit 43 is communicably connected to the communication unit 32 of the combine harvester 1 via a wireless communication antenna. The control device 41 controls the communication unit 43 to wirelessly communicate with the combine harvester 1 to transmit and receive various information to and from the combine harvester 1 .

By executing the program stored in the storage unit 42, the control device 41 of the mobile terminal 40 controls the farm field selection unit 50, the automatic travel route creation unit 51 (work route creation unit), the discharge route creation unit 52 (movement route creation unit). part). The farm field selection unit 50, the automatic travel route creation unit 51, and the discharge route creation unit 52 perform the farm field selection process, the automatic travel route creation process (work route creation process), and the discharge route creation process (work route creation process) of the automatic travel method according to the present invention. movement route creation step).

The farm field selection unit 50 manually or automatically selects a farm field 60 to be automatically traveled. For example, the farm field selection unit 50 displays on the display unit 44 a farm field selection screen (not shown) that selectably displays the farm field 60 corresponding to the farm field information stored in the storage unit 42 . When one of the fields 60 is selected on the field selection screen according to manual operation, the field selection unit 50 selects the selected field 60 as a work target and reads field information from the storage unit 42 .

Further, when a new farm field is created on the farm field selection screen, the farm field selection unit 50 selects the new farm field at the vehicle position of the combine harvester 1 as a work target. The farm field selection unit 50 receives the own vehicle position of the combine harvester 1 positioned by the positioning unit 28 of the combine harvester 1 from the combine harvester 1 when the combine harvester 1 performs reaping traveling along the outer circumference shape of the new farm field. By recording the position information of the shape and the position information of the reaping traveling route, the field information of the new field is created and stored in the storage unit 42 .

The automatic travel route creation unit 51 is an example of a work route creation unit that creates a work route along which the combine harvester 1 travels for work. An automatic travel route 64 (see dashed lines in FIGS. 3 to 7) is created, stored in the storage unit 42, and transmitted to the combine harvester 1 via the communication unit 32. FIG. The automatic travel route 64 includes travel information related to automatic travel and work information related to work such as automatic harvesting. The travel information includes the traveling direction and the set vehicle speed at each travel position in addition to the travel position in the field 60 . The work information includes information about work such as operation or stop of reaping at each traveling position, reaping speed and reaping height. The automatic travel route creation unit 51 creates a plurality of straight routes for reaping while traveling in the forward direction for the field 60 according to the travel pattern (reciprocating reaping or circular reaping) selected by operating the mobile terminal 40 . An automatic travel route 64 is created by combining a plurality of straight routes and a plurality of turning routes connecting the straight routes.

For example, as shown in FIGS. 3 to 7, an uncut area 61 formed inside an already cut area 62, which is a headland along the outer periphery of a field 60, is set as an object for automatic reaping travel of the combine 1, and automatic traveling is performed. The route creation unit 51 creates an automatic traveling route 64 for reciprocating cutting that reciprocates a plurality of rectilinear routes in the uncut area 61 . A recovery unit 70 is provided outside the farm field 60 , and a discharge position 71 (target position) is set at a position along the outer circumference of the farm field 60 and adjacent to the recovery unit 70 . Also, the headland where the target position is set is defined as the target headland, for example, the headland where the discharge position 71 is set is defined as the discharge headland 66. A side corresponding to the target headland, for example, a side corresponding to the discharge headland 66 is defined as a headland side 67 . In this embodiment, the automatic travel route creation unit 51 creates the automatic travel route 64 so as to have a straight route parallel to the headland side 67, and sets the transition position 65 at the end of the predetermined straight route. The combine 1 may not only set the transition position 65 on the automatic travel route 64 by the automatic travel route creation unit 51, but may also set the transition position 65 at the position where the manual travel was interrupted.

The discharge route creation unit 52 is an example of a travel route creation unit that creates a travel route along which the combine harvester 1 travels to a target position. Before reaching the transition position 65, a discharge route 72 (moving route) for automatic discharge travel from the transition position 65 to the discharge position 71 (target position) is created, stored in the storage unit 42, and communicated. It is transmitted to the combine 1 via the unit 32 . The discharge route 72 includes travel information related to automatic travel, and the travel information includes the traveling direction and set vehicle speed at each travel position in addition to the travel position in the field 60 . The discharge route creation unit 52 creates the discharge route 72 by combining the straight route and the turn route so as to move from the transition position 65 to the discharge position 71 while avoiding the uncut area 61, for example.

Note that the discharge route creation unit 52 creates the discharge route 72 configured according to the present invention as described later only when predetermined creation conditions are satisfied, and when the predetermined creation conditions are not satisfied, A normal discharge route 72, for example, a discharge route 72 that moves from the transition position 65 to the discharge position 71 (target position) in the shortest distance or time while avoiding the uncut area 61 may be created. For example, the discharge route creation unit 52 determines that the turning route that turns with the turning radius set to the combine harvester 1 is located outside the farm field 60 in the normal discharging route 72 along which the combine harvester 1 moves from the transition position 65 to the discharge position 71 . The creation condition may be the case where it is stored. In addition, the discharge route generation unit 52 directs the recommended discharge side (for example, the right side) of the combine harvester 1 toward the recovery unit 70 side (outside the farm field 60) so that the combine harvester 1 stops at the discharge position 71. The creation condition may be a case where a discharge route 72 with a shorter travel time or a shorter route length can be created than a normal discharge route 72 that only travels. Furthermore, regardless of the direction in which the combine harvester 1 stops at the discharge position 71, the discharge route creation unit 52 reduces the travel time or the route length compared to the normal discharge route 72 in which the combine 1 travels only in one direction, the forward direction or the reverse direction. The creation condition may be a case where a shorter discharge route 72 can be created.

In this embodiment, as an example of a route different from the normal discharge route 72, the discharge route creation unit 52 runs both forward and backward to discharge from the transition position 65 on the automatic driving route 64. A discharge route 72 for automatic discharge travel to a position 71 is created. In addition, the discharge route generation unit 52 creates a first discharge route 73 (first movement route) that moves from the transition position 65 to the discharge headland 66 where the discharge position 71 is set, and the end position of the first discharge route 73. A second discharge route 74 (second movement route) that moves from 73a to the discharge position 71 is created, and a discharge route 72 that automatically discharges the first discharge route 73 and the second discharge route 74 continuously is created. At this time, the discharge route generating unit 52 creates a straight path along a target straight line 68 that is parallel to the outline side of the farm field 60 (the headland side 67 corresponding to the discharge headland 66) and passes through the discharge position 71. Two ejection paths 74 are created, and a first ejection path 73 having an end position 73a on the second ejection path 74 and comprising at least one of a straight path and a turning path is created. The second discharge path 74 sets the traveling direction so as to be the same as the orientation of the combine harvester 1 at the discharge position 71 , and the first discharge path 73 reaches the second discharge path 74 at the end position 73 a , where the combine harvester 1 is a route for traveling so that is directed in the traveling direction of the second discharge route 74 . In addition, the discharge route generation unit 52 travels the second discharge route 74 so that the combine 1 traveling on the second discharge route 74 stops at the discharge position 71 with the recommended discharge side facing the recovery unit 70 side (outside). Set the direction. In the present embodiment, an example will be described in which the discharge route creation unit 52 creates a linear second discharge route 74 passing through the discharge position 71 in parallel with the headland side 67, but in another example, the headland side A straight second ejection path 74 running obliquely to 67 and passing through the ejection position 71 may be created.

For example, in the agricultural field 60 shown in FIG. A first discharge path 73 is created so as to move up to a target straight line 68 passing through the discharge position 71 in parallel. Note that FIG. 3 shows an example in which the ejection path creation unit 52 creates the first ejection path 73 as a turning path in the forward direction. However, if it is not possible to move onto the target straight line 68 with only the turning path in the forward direction, or if turning is necessary, the discharge route creating unit 52 may create a turning path in the forward direction and a turning path in the forward direction. It is preferable to create the first discharge path 73 so as to have an end position 73a on the target straight line 68 by appropriately combining the straight path, the turning path in the backward direction, and the straight path in the backward direction. Further, in the agricultural field 60 shown in FIG. 3 , the discharge route generation unit 52 moves backward to move from the end position 73 a of the first discharge route 73 to the discharge position 71 on the second discharge route. Create 74.

Alternatively, in the agricultural field 60 shown in FIG. 4 , the discharge route generation unit 52 travels in the backward direction or travels in both the forward direction and the backward direction to move from the transition position 65 to the headland side 67. A first discharge path 73 is created so as to move up to a target straight line 68 passing through the discharge position 71 in parallel. Note that FIG. 4 shows an example in which the discharge route creation unit 52 creates the first discharge route 73 as a turning route in the backward direction. However, if it is not possible to move onto the target straight line 68 with only the turning path in the backward direction, or if turning is necessary, the discharge path creation unit 52 may create a turning path in the forward direction and a turning path in the forward direction. It is preferable to create the first discharge path 73 so as to have an end position 73a on the target straight line 68 by appropriately combining the straight path, the turning path in the backward direction, and the straight path in the backward direction. Further, in the agricultural field 60 shown in FIG. 4 described above, the discharge route creation unit 52 moves forward and moves from the end position 73a of the first discharge route 73 to the discharge position 71, so that the second discharge route Create 74.

As described above, according to this embodiment, the combine 1 includes the control device 30 and the mobile terminal 40 . The control device 30 includes a reaping travel control unit 35 (work travel control unit) that performs automatic reaping travel (work travel) based on the set automatic travel route 64, and an automatic discharge travel based on the discharge route 72 (moving route). It functions as a discharge travel control unit 36 (moving travel control unit) that performs (moving travel). The mobile terminal 40 includes a control device 41, and the control device 41 moves from a predetermined transition position 65, at which automatic reaping travel is interrupted, to a discharge position 71 (target position) by performing both forward travel and reverse travel. It functions as a discharge route creation unit 52 (moving route creation unit) that creates a discharge route 72 for automatic discharge travel in a non-working state.

In other words, in the present invention, the automatic traveling method for automatically traveling the work vehicle such as the combine harvester 1 in the field 60 includes a reaping traveling process (work traveling process) in which automatic reaping traveling is performed based on the set automatic traveling route 64. Then, both forward traveling and backward traveling are performed to create a discharge route 72 for automatic discharge travel in a non-working state from a predetermined transition position 65 where automatic reaping travel was interrupted to a discharge position 71. It has a route creation step (moving route creating step) and a discharge travel step (moving travel step) in which automatic discharge travel is performed based on the discharge route 72 .

As a result, since the discharge route 72 is created for both forward travel and reverse travel, various patterns of the discharge route 72 can be adopted, and the positional relationship between the transition position 65 and the discharge position 71 can be changed. In spite of this, it is possible to set the discharge route 72 that smoothly and efficiently moves from the transition position 65 to the discharge position 71, or the discharge route 72 that meets the operator's intention. Therefore, the discharge route 72 can be flexibly set according to the conditions of the field 60 .

According to the present embodiment, the discharge position 71 (destination position) is set as a headland, and the discharge route creation unit 52 sets the headland for which the discharge position 71 is set as the discharge headland 66 (destination headland). , the first ejection path 73 travels from the transition position 65 to the ejection headland 66, traveling in the forward direction, or both traveling in the forward direction and in the reverse direction, and traveling in the reverse direction. to create a second ejection path 74 moving from the end position 73a of the first ejection path 73 to the ejection position 71, and an ejection path 72 having the first ejection path 73 and the second ejection path 74 is created.

Alternatively, the discharge route generation unit 52 sets the headland where the discharge position 71 is set as the discharge headland 66, and travels in the backward direction, or travels in both the forward direction and the backward direction. , a first discharge path 73 that moves from a transition position 65 to a discharge headland 66, and a second discharge path 74 that travels forward and moves from an end position 73a of the first discharge path 73 to a discharge position 71. and create an ejection path 72 having a first ejection path 73 and a second ejection path 74 .

As a result, the second discharge path 74 for reaching the discharge position 71 can be set without complication, and the combine 1 when reaching the discharge position 71 can be easily set in a direction suitable for discharge. In addition, since the first discharge route 73 for reaching the second discharge route 74 is created with at least a different traveling direction from the second discharge route 74, the first discharge route 73 and the second discharge route 74 are formed. The discharge path 72 can be flexibly set.

According to this embodiment, the discharge route creation unit 52 creates the first discharge route 73 including turning travel, and creates the second discharge route 74 including only straight travel.

As a result, the second discharge route 74 for reaching the discharge position 71 can be set without complication by creating the second discharge route 74 for reaching the discharge position 71 only by traveling straight ahead. It becomes easy to set in the suitable direction. In addition, by creating the first discharge route 73 for reaching the second discharge route 74 including turning travel, the discharge route 72 composed of the first discharge route 73 and the second discharge route 74 is flexibly set. be able to.

According to the present embodiment, the discharge route creation unit 52 sets the side corresponding to the discharge headland 66 among the sides forming the outer shape of the farm field 60 as the headland side 67, and sets the headland side 67 parallel to the headland side 67. A second discharge path 74 is created.

Thus, by creating the second discharge path 74 along the outer shape of the field 60, the setting can be made without complication, and the combine harvester 1 can be set in the direction suitable for discharge when reaching the discharge position 71. becomes easier.

Also, in other embodiments, there may be an obstacle 69 between the transition position 65 and the discharge position 71 at the discharge headland 66 of the field 60, as shown in FIGS. The obstacle 69 includes, for example, an object placed on the discharge headland 66, a ridge overhanging the discharge headland 66, and the like. In this case, the combine harvester 1 detects the obstacle 69 in advance before creating the discharge route 72, for example, detects the obstacle 69 based on a route that bypasses the obstacle 69 during outer reaping travel, and detects the obstacle 69. The position information of the object 69 is included in the field information and stored in the storage unit 42 . Alternatively, the combine 1 may detect the obstacle 69 based on the result of imaging the surroundings with a camera, the detection result of an obstacle sensor such as an infrared sensor, or the like, or the obstacle 69 detected by the operator. You may enter information.

In such another embodiment, the ejection path generator 52 creates the ejection path 72 to avoid the obstacle 69 and move from the transition position 65 to the ejection position 71 . Specifically, when the obstacle 69 exists on one side of the discharge position 71 and the transition position 65 exists on one side of the discharge position 71 in the extending direction of the discharge headland 66, the discharge The route creation unit 52 creates a discharge route 72 that avoids the obstacle 69 .

For example, as shown in FIG. 5, the discharge route generator 52 determines a position on a target straight line 68 passing through the discharge position 71 parallel to the headland side 67 and between the obstacle 69 and the discharge position 71. , the end position 73a of the first discharge route 73 is set to create the first discharge route 73, and the second discharge route 74 from the end position 73a of the first discharge route 73 to the discharge position 71 is created. In FIG. 5, the discharge route generator 52 advances from the transition position 65 on a turning route in the forward direction, turns the reverse direction toward the discharge headland 66, and then advances on the turning route in the backward direction to reach the obstacle. An example of creating a first discharge path 73 to move to an end position 73a between an object 69 and a discharge position 71 is shown. However, the discharge route creating unit 52 is not limited to this example, and the discharge route creation unit 52 appropriately selects a turning route in the forward direction, a straight route in the forward direction, a turning route in the backward direction, and a straight route in the backward direction according to the headland conditions. In combination, the first ejection path 73 may be created so as to move to the end position 73 a between the obstacle 69 and the ejection position 71 .

Alternatively, as shown in FIGS. 6 and 7, the discharge route generator 52 sets the end position 73a of the first discharge route 73 on the opposite side of the obstacle 69 with the discharge position 71 therebetween. , and a second ejection path 74 from the end position 73a of the first ejection path 73 to the ejection position 71 is created. In FIG. 6, the discharge route generator 52 changes the direction of the combine harvester 1 to the discharge position 71 side by changing the direction (so-called fishtail turn) consisting of a turning route in the forward direction and a turning route in the backward direction from the transition position 65. 7 shows an example in which the first ejection path 73 is created so as to move toward the end position 73a on the opposite side of the obstacle 69 with the ejection position 71 interposed therebetween, and then advance in a turning path in the backward direction. Then, the ejection path creation unit 52 creates the first ejection path 73 so that the first ejection path 73 moves from the transition position 65 to the end position 73a on the opposite side of the obstacle 69 with the ejection position 71 interposed therebetween through a turning path in the backward direction. Here is an example of However, the discharge route creating unit 52 is not limited to these examples, and the discharge route creation unit 52 can create a turning route in the forward direction, a straight route in the forward direction, a turning route in the backward direction, and a straight route in the backward direction according to the conditions of the headland. It is preferable to form the first discharge path 73 so as to move to the end position 73a on the opposite side of the obstacle 69 across the discharge position 71 by appropriately combining them.

According to another embodiment, even if there is an obstacle 69 at the discharge headland 66, the first discharge path 73 does not have an obstacle 69 between the end position 73a of the first discharge path 73 and the discharge position 71. Since the discharge route 73 can be created and the second discharge route 74 can be prevented from overlapping with the obstacle 69, the obstruction of the automatic discharge travel due to the obstacle 69 can be suppressed.

As shown in FIGS. 5 to 7, depending on the distance between the discharge position 71 and the obstacle 69, the combine 1 may or may not enter. Therefore, the discharge route creation unit 52 calculates the distance between the discharge position 71 and the obstacle 69 based on each position information indicated in the field information. When it is determined that the combine 1 can enter between the discharge position 71 and the obstacle 69 as shown in FIG. is equal to or greater than a predetermined distance threshold, the first ejection path 73 is created so that the end position 73 a is set between the ejection position 71 and the obstacle 69 . On the other hand, when it is determined that the combine harvester 1 cannot enter between the discharge position 71 and the obstacle 69 as shown in FIGS. is less than a predetermined distance threshold, the first ejection path 73 is created so that the end position 73a is set on the opposite side of the obstacle 69 with the ejection position 71 interposed therebetween. At this time, the distance threshold is preferably set to two or more lengths of the combine harvester 1 in the front-rear direction so that the combine harvester 1 can enter safely, and may be arbitrarily set by the operator.

Thereby, the end position 73a of the first discharge path 73 can be automatically set to a more appropriate position according to the distance between the discharge position 71 and the obstacle 69. FIG. Therefore, the first discharge path 73 that does not contain the obstacle 69 between the end position 73a of the first discharge path 73 and the discharge position 71 can be created more reliably, and the second discharge path 74 is prevented from interfering with the obstacle 69. Since it is possible to more reliably prevent the overlapping, it is possible to suppress the obstruction of the automatic discharge travel.

In the above-described embodiment, the discharge route generation unit 52 assumes the target straight line 68 passing through the discharge position 71 in parallel with the headland side 67 of the farm field 60, and creates a linear second line along the target straight line 68. Although the example of creating the ejection path 72 consisting of the ejection path 74 and the first ejection path 73 moving from the transition position 65 to the second ejection path 74 has been described, the present invention is not limited to this example.

For example, in a further embodiment, as shown in FIG. A second target straight line 68 b that is parallel to the discharge position 71 and the obstacle 69 and shifted toward the uncut area 61 by one path may be set. Then, the discharge route generating unit 52 creates the first discharge route 81 that moves from the transition position 65 to a predetermined position 81a on the second target straight line 68b by turning in the forward direction, and the first discharge route along the second target straight line 68b. A straight second ejection path 82 that travels straight in the backward direction from the end position 81a of the path 81 to a predetermined position 82a, and from the end position 82a of the second ejection path 82 to a predetermined position 83a on the first target straight line 68a. A third ejection path 83 that travels by turning in the forward direction, and a linear fourth ejection path that moves straight in the forward direction from the end position 83a of the third ejection path 83 to the ejection position 71 along the first target straight line 68a. You may create the discharge route 72 which consists of the discharge route 84. FIG.

In the above-described embodiment, as an example of the movement route for automatically traveling in a non-working state from the predetermined transition position where the work traveling is interrupted to the target position, from the predetermined transition position where the automatic reaping traveling is interrupted to the discharge position. Although an ejection path for automatic ejection travel in a non-working state has been described, the invention is not limited to this example. For example, the target position may be set to a replenishment position where the work vehicle such as the combine 1 replenishes fuel. In addition, the target position may be set to a replenishment position where a work vehicle such as a rice transplanter or other transplanter that performs transplantation traveling while transplanting seedlings as work traveling replenishes seedlings, and may be set to a replenishment position. A work vehicle such as a sprayer that travels while spraying as work travel may be set at a replenishment position for replenishing chemicals and fertilizers. Alternatively, the target position may be set to a replenishment position where the work vehicle replenishes other materials. Then, a moving route is created so as to travel to the various target positions described above.

Although an example of the combine 1 configured as a self-threshing combine has been described in the above-described embodiment, the present invention is not limited to this example, and the combine 1 may be configured as a normal combine.

Moreover, in the above-described embodiment, an example in which the work vehicle is configured by the combine harvester 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 configured by other agricultural work machines for harvesting crops, or may be configured by work vehicles other than agricultural work machines.

It should be noted that the present invention can be modified as appropriate within a range that does not contradict the gist or idea of the invention that can be read from the scope of claims and the entire specification, and an automatic traveling method, work vehicle, and automatic traveling method that accompany such modifications. is also included in the technical idea of the present invention.

1 combine (work vehicle)
2 travel unit 3 reaping unit 30 control device 35 reaping travel control unit 36 discharge travel control unit (moving travel control unit)
40 portable terminal 41 control device 52 discharge route creation unit (movement route creation unit)
64 automatic driving route 65 transition position 66 discharge headland (destination headland)
69 Obstacle 71 Ejection position (target position)
72 Ejection route (moving route)
73 First discharge route (first movement route)
73a end position 74 second ejection path (second movement path)

Claims (10)

An automatic traveling method for automatically traveling a work vehicle in a field,
a travel route creation step of creating a travel route for automatically traveling in a non-working state from a predetermined transition position where work travel was interrupted to a target position by performing both forward travel and backward travel;
a movement and travel step of automatically traveling based on the movement route;
An automatic driving method characterized by having
The target position is set in a headland,
In the movement route creation step, the headland where the target position is set is set as the destination headland, and the headland is traveled in the forward direction, or both the forward travel and the backward travel are performed, and the transition is performed. A first movement route that moves from a position to the destination headland and a second movement route that moves from the end position of the first movement route to the destination position by traveling backward are created, and the first movement route is created. 2. The automatic traveling method according to claim 1, wherein said movement route having said movement route and said second movement route is created.
The target position is set in a headland,
In the movement route creation step, the headland where the target position is set is set as the destination headland, and the headland is traveled in the backward direction, or both the forward travel and the backward travel are performed, and the transition is performed. A first movement route that moves from a position to the destination headland and a second movement route that moves forward from the end position of the first movement route to the destination position are created. 2. The automatic traveling method according to claim 1, wherein said movement route having said movement route and said second movement route is created.
4. The automatic traveling method according to claim 2, wherein the moving route creation step creates the first moving route including turning travel, and creates the second moving route including only straight travel.
In the moving route creating step, a side corresponding to the target headland is defined as a headland side among the sides forming the outer shape of the farm field, and the second moving path is created so as to be parallel to the headland side. The automatic driving method according to any one of claims 2 to 4, characterized in that:
When an obstacle is detected in the destination headland, the movement route creating step sets an end position of the first movement route between the obstacle and the destination position. 6. The automatic driving method according to any one of 5.
2. The movement route creating step, when an obstacle is detected in the destination headland, sets the end position of the first movement route on the opposite side of the obstacle across the target position. 6. The automatic driving method according to any one of 2 to 5.
In the moving route creation step, when an obstacle is detected in the destination headland, if the distance between the target position and the obstacle is equal to or greater than a predetermined distance threshold, the obstacle and the target position While setting the end position of the first movement path between 6. The automatic traveling method according to any one of claims 2 to 5, wherein the end position of the first moving route is set to .
A work vehicle that automatically travels in a field,
a travel route creation unit that creates a travel route for automatically traveling from a predetermined transition position where work travel is interrupted to a target position in a non-working state by performing both forward travel and reverse travel;
a mobile travel control unit that automatically travels based on the travel route;
A work vehicle comprising:
An automatic traveling system for automatically traveling a work vehicle in a field,
a travel route creation unit that creates a travel route for automatically traveling from a predetermined transition position where work travel is interrupted to a target position in a non-working state by performing both forward travel and reverse travel;
a mobile travel control unit that automatically travels based on the travel route;
An automatic driving system comprising:

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