JP2023174529A - Automatic traveling method, working vehicle, and automatic traveling system - Google Patents

Abstract

To provide an automatic traveling method, a work vehicle, and an automatic traveling system which can perform return traveling to a work route and improve the workability regardless of a position of the work vehicle that has broken away from the work route.SOLUTION: A combine 1 is a work vehicle that performs automatic traveling on a work route 63 preset in an agricultural field 60, and includes a control device 30. The control device 30 functions as a return traveling control part 37 to make the combine 1 automatically perform return traveling toward the work route 63 in response to a return operation for the combine 1 within the agricultural field 60 during breakaway of the combine 1 from the work route 63.SELECTED DRAWING: Figure 2

Description

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

2. Description of the Related Art Conventionally, work vehicles such as combines have been configured to be capable of automatically traveling along a preset work route in a field while automatically performing tasks such as reaping. In addition, in order to perform intermediate work such as discharging harvested grain or replenishing materials and fuel, the work vehicle temporarily suspends automatic driving, leaves the work route, and moves to the position where intermediate work is performed. Sometimes. In order to resume automatic driving that was temporarily interrupted, the work vehicle needs to return to the work route.

For example, in the automatic travel control system disclosed in Patent Document 1, there is a route setting unit that sets a travel route for automatic travel, and an automatic travel control unit that performs automatic travel control of the aircraft based on the position of the aircraft and the travel route. It is equipped with The route setting unit calculates a return position on the travel route based on the intermediate work position and the harvest status of the field after the automatic travel is interrupted and work is performed at a preset intermediate work position in the field. , a return route for moving to the return position is generated based on the return position and the harvest status of the field.

Japanese Patent Application Publication No. 2020-22429

In the prior art disclosed in Patent Document 1, the completion of the grain discharge operation is used as a trigger to perform return travel of the work vehicle along a return route from an intermediate work position to a return position. However, with conventional work vehicles, it is not possible for the worker to create a return route or perform return travel at any timing, resulting in reduced work efficiency. In addition, conventional work vehicles cannot start returning from any position in the field, and if the work vehicle is separated from the work position mid-way, the worker must move the work vehicle to the mid-work position. As a result, work efficiency decreases.

The present invention aims to provide an automatic driving method, a working vehicle, and an automatic driving system that can return to the working route regardless of the position of the working vehicle that has left the working route, and can improve work efficiency. purpose.

In order to solve the above-mentioned problems, an automatic driving method of the present invention is an automatic driving method for a working vehicle that automatically travels along a preset working route in a field, the working vehicle being separated from the working route. The present invention is characterized by comprising a return traveling step of automatically causing the working vehicle to return to the working route in response to a returning operation for the working vehicle in the field when the working vehicle is in the field.

Moreover, in order to solve the above-mentioned problem, the work vehicle of the present invention is a work vehicle that automatically travels along a preset work route in a field, and when the work vehicle is deviated from the work route, The present invention is characterized by comprising a return travel control unit that automatically causes the work vehicle to return to the work route in response to a return operation for the work vehicle in the field.

Moreover, in order to solve the above-mentioned problem, the automatic driving system of the present invention is an automatic driving system for a work vehicle that automatically travels along a preset work route in a field, wherein the work vehicle departs from the work route. The present invention is characterized by comprising a return travel control unit that automatically causes the work vehicle to return to the work route in response to a return operation for the work vehicle in the field when the work vehicle is in the field.

According to the present invention, there is provided an automatic driving method, a working vehicle, and an automatic driving system that can return to the working route regardless of the position of the working vehicle that has left the working route, and can improve work efficiency. .

FIG. 1 is a side view of a combine harvester according to a first embodiment of the present invention. FIG. 1 is a block diagram of a combine harvester according to a first embodiment of the present invention. FIG. 2 is a plan view showing a first example of return travel in the combine harvester according to the first embodiment of the present invention. FIG. 6 is a plan view showing a second example of return travel in the combine harvester according to the first embodiment of the present invention. FIG. 7 is a plan view showing a third example of return travel in the combine harvester according to the first embodiment of the present invention. FIG. 7 is a plan view showing a fourth example of return travel in the combine harvester according to the first embodiment of the present invention. FIG. 6 is a plan view showing a fifth example of return travel in the combine harvester according to the first embodiment of the present invention. FIG. 7 is a plan view showing a sixth example of return travel in the combine harvester according to the first embodiment of the present invention. FIG. 7 is a plan view showing a seventh example of return travel in the combine harvester according to the first embodiment of the present invention. It is a top view which shows 8th Example of a return run in the combine based on 1st Embodiment of this invention. FIG. 9 is a plan view showing a ninth example of return travel in the combine harvester according to the first embodiment of the present invention. FIG. 7 is a plan view showing a tenth example of return travel in the combine harvester according to the first embodiment of the present invention. In the combine harvester according to the first embodiment of the present invention, it is a plan view showing the discharge travel of the eleventh example. In the combine harvester according to the first embodiment of the present invention, it is a plan view showing return travel of the eleventh example. In the combine harvester according to the first embodiment of the present invention, it is a plan view showing the discharge travel of the twelfth example. In the combine harvester according to the first embodiment of the present invention, it is a plan view showing return travel of the twelfth example. In the combine harvester according to the first embodiment of the present invention, it is a plan view showing the discharge travel of the 13th example. FIG. 7 is a plan view showing return travel of the thirteenth example in the combine harvester according to the first embodiment of the present invention. In the combine harvester according to the first embodiment of the present invention, it is a plan view showing the discharge travel of the 14th example. In the combine harvester according to the first embodiment of the present invention, it is a plan view showing return travel of the 14th example. FIG. 7 is a plan view showing another example of return travel in the fourteenth example in the combine harvester according to the first embodiment of the present invention. In the combine harvester according to the first embodiment of the present invention, it is a plan view showing the discharge travel of the 15th example. In the combine harvester according to the first embodiment of the present invention, it is a plan view showing return travel of the 15th example. FIG. 7 is a plan view showing return travel of the 16th example in the combine harvester according to the first embodiment of the present invention. In the combine harvester according to the first embodiment of the present invention, it is a plan view showing return travel of the 17th example. FIG. 2 is a plan view showing an example of a work screen displayed on a mobile terminal in the combine harvester according to the first embodiment of the present invention. It is a side view of the tractor concerning a 2nd embodiment of the present invention. FIG. 2 is a block diagram of a tractor according to a second embodiment of the present invention. FIG. 7 is a plan view showing an eleventh example of return travel in the tractor according to the second embodiment of the present invention. FIG. 7 is a plan view showing a twelfth example of return travel in the tractor according to the second embodiment of the present invention. FIG. 7 is a plan view showing a thirteenth example of return travel in the tractor according to the second embodiment of the present invention.

[First embodiment]
As a first embodiment of the work vehicle of the present invention, a combine harvester 1 will be described with reference to FIG. 1 and the like. The combine harvester 1 is an example of a work vehicle capable of automatically traveling along a predetermined work route and automatically performing work such as reaping. The combine harvester 1 runs automatically or manually through a field to be worked on, and performs operations such as reaping to harvest crops from grain culms planted in unworked areas of the field. The combine harvester 1 is a work vehicle that is restricted from traveling without work in unworked areas of the field.In other words, it is allowed to travel without work in the already worked areas of the field. The combine 1 is configured to, for example, perform automatic operation in which the steering is controlled by automatic operation, while controlling the traveling speed in response to manual operation, or unmanned operation in which the steering and traveling speed are controlled by automatic operation, It can run, turn, and work autonomously in the field.

The combine harvester 1 performs reaping work on a plurality of rows of grain culms while traveling in a linear row having a reaping width of a predetermined number of rows within the reapable number of rows. The combine 1 is set to either a manual drive mode or an automatic drive mode. The combine harvester 1 is configured to perform manual travel in accordance with the operator's operation of the control unit 9 when the manual travel mode is set.

On the other hand, when the automatic driving mode is set, the combine 1 is configured to perform automatic driving in which the harvester performs reaping work while automatically traveling along a work route set in advance in the field. For example, the combine 1 can perform reciprocating mowing along a plurality of straight paths in an area with uncut grain culms in a field (hereinafter referred to as an unworked area), or mowing along a straight path along the inner circumference of an unworked area. Automatically runs a running pattern such as circular mowing, which repeats while shifting toward the center. In addition, before performing automatic travel, the combine 1 forms a headland in the field by performing circumference travel in which the harvester performs reaping work by circling along the outer circumference of the field and automatically moving inside the headland. Use it as a working area for traveling.

The combine harvester 1 can temporarily suspend automatic travel midway through the work route and leave the work route at a predetermined departure position on the work route. It is possible to move to an intermediate work position where intermediate work such as replenishment work is performed.

For example, the combine harvester 1 stores grains harvested from the field while reaping, and a collection section such as a truck or container is installed outside the field to collect the grains harvested by the combine harvester 1. There is. The combine harvester 1 has a discharge position (an intermediate work position) for discharging grains from the combine harvester 1 to the collection part at a position in the field adjacent to the collection part. When the combine 1 discharges grains during automatic travel, it interrupts automatic travel at a predetermined departure position on the work route, and performs automatic or manual discharge travel (moving travel) from the withdrawal position to the discharge position. Do it by manipulation. Note that the detachment position may be set, for example, based on the timing when the stored amount of grains becomes full, or may be set arbitrarily according to the operator's operation.

Further, after leaving the work route, the combine harvester 1 automatically returns to the return position along the return route from the own vehicle position of the combine harvester 1 to the predetermined return position on the work route in accordance with a predetermined return operation. The vehicle is configured to be able to execute return travel. The return position may be set to the detached position when the combine harvester 1 departs from the work route during automatic travel, or the return position may be set to the detached position when the combine harvester 1 leaves the work route during automatic travel. It may be set at another position above, or it may be set arbitrarily according to the operator's operation.

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 straw processing section 7, a power section 8, and a control section. 9, and is comprised of a so-called self-extracting combine harvester. The combine 1, while traveling by a running part 2, threshes grain culms cut by a reaping part 3 in a threshing part 4, sorts grains in a sorting part 5, and stores them in a storage part 6. In the combine harvester 1, the waste straw after threshing is processed by the waste straw processing section 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 using the power supplied by the power section 8 .

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

The reaping section 3 is provided in front of the traveling section 2, and performs the reaping operation of the rows within the reapable number of rows. The reaping section 3 includes a divider 13 , a pulling device 14 , a cutting device 15 , and a conveying device 16 . The divider 13 separates grain culms in the field row by row, and guides grain culms corresponding to a predetermined number of rows within the number of reapable rows to the pulling device 14. The lifting device 14 raises the grain culm guided by the divider 13. The cutting device 15 cuts the grain culm raised by the pulling device 14 . The conveying device 16 conveys the grain culm cut by the cutting device 15 to the threshing section 4 . The reaping section 3 is configured to be lowered to a working position when performing reaping work, and raised to a non-working position when not performing reaping work.

The threshing section 4 is provided behind the reaping section 3. The threshing section 4 includes a feed chain 18 and a handling barrel 19. The feed chain 18 transports the grain culm transported from the transport device 16 of the reaping section 3 for threshing, and further transports the grain culm after threshing, that is, waste straw, to the waste straw processing section 7. The handling cylinder 19 threshes the grain culm being conveyed by the feed chain 18.

The sorting section 5 is provided below the threshing section 4. The sorting section 5 includes a swing sorting device 21, a blow sorting device 22, a grain conveying device (not shown), and a straw waste discharge device (not shown). The swing sorting device 21 sieves the threshed grains that have fallen from the threshing section 4 and separates them into grains, straw waste, and the like. The blast sorting device 22 further sorts the threshed grains sorted by the swing sorting device 21 into grains, straw waste, etc. by blowing air. The grain conveying device conveys the grains sorted by the swing sorting device 21 and the blast sorting device 22 to the storage section 6. The straw waste discharging device discharges the straw waste etc. that have been sorted by the swing sorting device 21 and the blast 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 storage section 6 includes a grain tank 24 and a discharge device 25. The grain tank 24 stores the grains conveyed from the sorting section 5. The maximum amount of grain that the grain tank 24 can store (maximum storage amount) is set in the storage section 6 . The discharge device 25 is configured with an auger or the like, and discharges the grains stored in the grain tank 24 to an arbitrary location.

The straw processing section 7 is provided behind the threshing section 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 conveyance device conveys the straw conveyed from the feed chain 18 of the threshing section 4 to the straw cutting device. The straw removal cutting device cuts the waste straw conveyed by the straw removal conveyance device and discharges the cut straw to the outside 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 section 8 transmits the rotational power generated by the engine 27 to the running 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.

The control section 9 is provided above the power section 8. The control unit 9 includes a handle for instructing the combine 1 to turn, and a handle for instructing the combine 1 to move forward and backward, as an operating tool for controlling the travel of the combine 1, around the driver's seat where the operator sits. It is equipped with a main shift lever and a sub-shift lever for instructing speed changes. Manual traveling of the combine 1 is performed by the traveling section 2 that receives the operation of the handle of the control section 9, the main shift lever, and the auxiliary shift lever. Further, the control section 9 includes a mechanism for operating the reaping operation by the reaping section 3, the threshing operation by the threshing section 4, the discharging operation by the discharging device 25 of the storage section 6, and the like.

The combine 1 includes a positioning unit 28 that obtains the position of the combine harvester 1 using a satellite positioning system such as GNSS. The positioning unit 28 receives a positioning signal from a positioning satellite 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 signal. The positioning unit 28 may be configured with a quantum compass instead of the positioning antenna.

Next, the control device 30 of the combine harvester 1 will be explained with reference to FIG. 2. The control device 30 is composed of a computer such as a CPU, and is connected to a storage section 31 such as ROM, RAM, hard disk drive, flash memory, etc., and a communication section 32 that communicates with external devices.

The storage unit 31 stores programs and data for controlling various components and 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 is capable of wireless communication 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 perform wireless communication with the mobile terminal 40, and transmits and receives various information to and from the mobile terminal 40.

As shown in FIGS. 3 to 12, the control device 30 receives field information and a work route 63 set for the field 60, which is the work target of the combine 1, from the mobile terminal 40 via the communication unit 32. and stores it in the storage unit 31. The farm field 60 includes an unworked area 61 where no work has been done yet and an already worked area 62 where the grain culm reaping work has already been completed, and the work route 63 is set within the unworked area 61. . The field information includes, for example, the shape, size, and position information (coordinates, etc.) of the field area along the outer periphery of the field 60, and the shape, size, and position information (coordinates, etc.) of the unworked area 61 and the already worked area 62 in the field 60. etc.). Note that the field information may include an intermediate work position such as a discharge position adjacent to a collection section outside the field 60 within the field 60 .

Further, the control device 30 operates as an automatic travel control section 35, a movement travel control section 36, and a return travel control section 37 by executing a program stored in the storage section 31. Note that the automatic travel control section 35, the movement travel control section 36, and the return travel control section 37 realize the automatic travel process, the movement travel process, and the return travel process of the automatic travel method according to the present invention.

The automatic travel control unit 35 controls automatic travel of the combine harvester 1 when the automatic travel mode is set. When automatic travel is started, the automatic travel control unit 35 acquires the own vehicle position of the combine harvester 1 from the positioning unit 28 and moves the combine harvester 1 along the work route 63 based on the own vehicle position, the field information, and the work route 63. The power section 8, the traveling section 2, and the reaping section 3 are controlled so as to perform automatic traveling. Note that, when performing automatic travel, the automatic travel control section 35 starts the operation of the reaping section 3 and lowers the reaping section 3 to the working position.

In addition, the automatic travel control unit 35 causes the automatic travel to proceed along the work route in response to a predetermined interruption operation using the control unit 9 or the mobile terminal 40, or when a predetermined interruption condition based on the working state of the combine harvester 1 is satisfied. There will be a temporary interruption in the middle of 63. At this time, the automatic travel control section 35 stops the operation of the reaping section 3 and raises the reaping section 3 to the non-working position. When the combine harvester 1 that has interrupted automatic travel leaves the work route 63 by automatic operation or manual operation, the automatic travel control unit 35 stores the withdrawal position 64 in the storage unit 31 and sends it to the mobile terminal 40 via the communication unit 32. send to. Further, the automatic travel control unit 35 restarts the temporarily interrupted automatic travel in response to a predetermined restart operation using the control unit 9 or the mobile terminal 40, or when a predetermined restart condition based on the working state of the combine harvester 1 is satisfied. resume.

The travel control unit 36 controls the travel of the combine harvester 1, which has been detached from a predetermined detachment position 64 on the work route 63, to an intermediate work position separated from the work route 63, and can be operated automatically or manually. The vehicle travels by moving. For example, when the automatic travel control unit 35 of the combine 1 temporarily suspends automatic travel, the mobile travel control unit 36 controls the operation of the combine harvester 1 in response to a predetermined travel operation using the control unit 9 or the mobile terminal 40, or when the combine harvester 1 is operated When a predetermined movement condition based on the state is satisfied, the combine harvester 1 moves.

The combine harvester 1 can move to intermediate work positions such as a discharge position for discharging harvested grains and a replenishment position for replenishing materials and fuel. The combine harvester 1 that has reached the disengagement position 64 set in 1 performs a discharge run in which it moves to the discharge position as a moving run. For example, when the combine harvester 1 that automatically travels reaches the detachment position 64, the mobile travel control section 36 interrupts automatic travel, stops the operation of the reaping section 3, raises the reaping section 3 to a non-working position, and disengages the harvester 1. The ejection route from the position 64 to the ejection position is acquired from the mobile terminal 40, and the power unit 8 and the traveling unit 2 are controlled to perform automatic ejection traveling along the ejection route.

The return travel control unit 37 automatically causes the combine harvester 1 to return toward the work route 63 in response to a return operation for the combine harvester 1 in the field 60 when the combine harvester 1 is separated from the work route 63. be. For example, after the combine harvester 1 leaves the work route 63, the return travel control unit 37 moves the combine harvester 1 from its own vehicle position on the work route 63 in response to a predetermined return operation using the control unit 9 or the mobile terminal 40. A return route 66 (see FIGS. 3 to 12) to a predetermined return position 65 is acquired from the mobile terminal 40, and while the operation of the reaping section 3 is stopped and the reaping section 3 is raised to the non-working position, the return route 66 (see FIGS. 3 to 12) is acquired. The power section 8 and the traveling section 2 are controlled so as to carry out return travel along the line 66 to the return position 65 by automatic operation. Note that when the return travel control unit 37 stops the return travel when the return position 65 is reached and then shifts to automatic travel, the return travel control unit 37 starts decelerating a predetermined distance before the return position 65 and returns to the return position. Set the vehicle speed to 0 at 65. At this time, the return travel control section 37 lowers the reaping section 3 to the working position automatically or in response to manual operation when the return position 65 is reached in preparation for automatic travel, or decelerates the reaping section 3. The reaping section 3 may be automatically lowered to the working position while the vehicle is traveling. Alternatively, in the case of continuously transitioning from return travel to automatic travel, the return travel control unit 37 starts changing the vehicle speed a predetermined distance before the return position 65, and starts changing the vehicle speed at the return position 65 or before the return position 65. It is recommended to set the vehicle speed for automatic driving.

Note that the return travel control unit 37 enables return travel in automatic operation when the entire body of the combine harvester 1 is within the field 60, and on the other hand, when the combine harvester 1 is outside the field 60, for example, the combine harvester 1 If a part of the aircraft body protrudes outside the field 60, safety cannot be ensured, and return travel by automatic operation is not possible.

Further, when the return position 65 is provided at the end (starting end) of the straight path 67 constituting the work route 63, the return travel control unit 37 controls the own vehicle position of the combine 1 when the return operation is performed and the return position. When the distance from the position 65 is equal to or greater than a predetermined separation threshold, return travel in automatic operation is possible, and on the other hand, when the distance between the own vehicle position of the combine 1 and the return position 65 is less than the predetermined separation threshold. Since it is possible to return to the work route 63 even without the return route 66, return travel in automatic operation is disabled. Alternatively, as another example, the return travel control unit 37 may be able to perform return travel in automatic operation in response to a return operation, regardless of the distance between the own vehicle position and the return position 65. Note that when the withdrawal position 64 is provided in the middle of the straight path 67 that constitutes the work route 63, the return travel control unit 37 determines the relationship between the own vehicle position of the combine 1 and the withdrawal position 64 when the return operation is performed. If the distance is greater than or equal to a predetermined distance threshold, return travel can be performed automatically.On the other hand, if the distance between the own vehicle position of the combine 1 and the departure position 64 is less than a predetermined distance threshold, automatic It is impossible to perform a return run while driving. Alternatively, as another example, the return travel control unit 37 may be able to perform return travel in automatic operation in response to a return operation, regardless of the distance between the own vehicle position and the detached position 64.

The mobile terminal 40 is one of the components of the combine harvester 1 and is a terminal that can remotely control the combine harvester 1, and is configured, for example, as a tablet terminal with a touch panel, a notebook personal computer, or the like. Note that the control unit 9 may be equipped with an operating device similar to the mobile terminal 40. 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 terminal-side control device 41 composed of a computer such as a CPU. It is connected to a storage unit 42 and a terminal-side communication unit 43 that communicates with external devices. The mobile terminal 40 also includes a display section 44 such as a touch panel or monitor for displaying various information and outputting it to the worker, and also includes a touch panel or monitor for receiving various information input operations from the worker. It includes an input section 45 such as operation keys.

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 operates based on the programs and data stored in the terminal-side storage unit 42. By executing arithmetic processing using the mobile terminal 40, various components and functions of the mobile terminal 40 are controlled. The terminal side storage unit 42 stores field information and a work route 63 of a field 60 that is a work target of the combine harvester 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 perform wireless communication with the combine harvester 1 , and transmits and receives various information to and from the combine harvester 1 .

The terminal-side control device 41 of the mobile terminal 40 executes the program stored in the terminal-side storage section 42 to control the field selection section 50, the work route creation section 51, the movement route creation section 52, the return route creation section 53, It operates as a display control section 54. Note that the field selection section 50, the work route creation section 51, the movement route creation section 52, and the return route creation section 53 perform the field selection process, work route creation process, movement route creation process, and return route of the automatic traveling method according to the present invention. It realizes the creation process.

The field selection unit 50 manually or automatically selects a field 60 as a work target for automatic driving. For example, the field selection section 50 displays on the display section 44 a field selection screen (not shown) that selectably displays the field 60 corresponding to the field information stored in the terminal storage section 42 . When any of the fields 60 is selected by manual operation on the field selection screen, the field selection section 50 selects the selected field 60 as a work target and reads out the field information from the terminal side storage section 42.

Moreover, when the creation of a new field is operated on the field selection screen, the field selection unit 50 selects the new field at the own vehicle position of the combine harvester 1 as the work target. The field selection unit 50 receives from the combine 1 the own vehicle position of the combine 1 measured by the positioning unit 28 of the combine 1 when the combine 1 goes around and reaps along the outer circumference of a new field, By recording the position information of the shape and the position information of the reaping travel route, field information of the new field is created and stored in the terminal side storage unit 42.

The work route creation unit 51 creates a work route 63 on which the combine harvester 1 performs work while traveling, and, for example, creates a work route 63 (see FIGS. (see FIG. 12) is created, stored in the terminal-side storage section 42, and transmitted to the combine 1 via the terminal-side communication section 43. The work route 63 includes travel information regarding automatic travel and work information regarding work such as reaping. In addition to the driving position in the field 60, the driving information includes the traveling direction and set vehicle speed at each driving position. The work information includes information regarding work, such as operation or stop of reaping at each travel position, reaping speed, and reaping height.

Specifically, the work route creation unit 51 creates a machine that reaps the field 60 while traveling in the forward direction according to a travel pattern (reciprocating mowing or round mowing) selected by operating the mobile terminal 40. At least three straight routes 67 are created, and a work route 63 is created by combining the multiple straight routes 67 and a plurality of turning routes that connect each straight route 67. For example, as shown in FIGS. 3 to 12, the work route creation unit 51 allows the combine harvester 1 to automatically run on an unworked land 61 formed inside an already worked land 62 that serves as a headland along the outer periphery of a field 60. As shown in FIGS. 3 to 4, 6 to 12, and 22 to 25, the work route 63 for reciprocating mowing along a plurality of straight routes 67 in an unworked area 61, and As shown in FIGS. 13 to 21, a detour mowing work route 63 is created that spirals around a plurality of straight routes 67 in an unworked area 61. Note that the work route creation unit 51 may use the original work route 63 when re-creating the work route 63 in the same field 60. Moreover, the straight path 67 may be a curved path.

In addition, when the combine harvester 1 runs automatically as a manned work vehicle, since the control section 9 is provided on the right side of the machine body, the work route creation section 51 is configured so that the existing work area 62 is located on the right side of the machine body. , it is preferable to create a work route 63. On the other hand, when the combine harvester 1 runs automatically as an unmanned work vehicle, there is no need to consider the arrangement of the control section 9, so the work route creation section 51 determines whether the existing work area 62 is located on the right side of the machine body or not. Regardless, the work route 63 may be created.

The movement route creation unit 52 creates a movement route along which the combine harvester 1 travels from the detachment position 64 to an intermediate work position. The travel route includes traveling information regarding traveling, and the traveling information includes the traveling direction and set vehicle speed at each traveling position in addition to the traveling position in the field 60. Note that the vehicle speed set for the travel route may be set higher than the vehicle speed set for the work route 63 for automatic travel. In order to move the combine harvester 1 with a full storage amount of grains to the discharge position, the movement route creation unit 52 creates a discharge route for automatically discharging from the disengagement position 64 to the discharge position. It is created as a file, stored in the terminal-side storage section 42, and transmitted to the combine 1 via the terminal-side communication section 43.

The return route creation unit 53 creates a return route 66 (see FIGS. 3 to 12) for returning the combine harvester 1 that has left the work route 63 after interrupting automatic travel to the work route 63, and stores the created return route 66 in the terminal storage unit 42. and transmits it to the combine 1 via the terminal side communication section 43. The return route 66 includes travel information regarding travel, and the travel information includes, in addition to the travel position in the field 60, the traveling direction and set vehicle speed at each travel position. Note that the set vehicle speed of the return route 66 may be set higher than the set vehicle speed of the automatic travel work route 63. The return route creation unit 53 sets a return position 65 on the work route 63 in accordance with a predetermined creation operation using the control unit 9 or the mobile terminal 40, and sets the return position 65 on the own vehicle of the combine harvester 1 when the creation operation is performed. The position is acquired from the positioning unit 28 of the combine harvester 1, and a return route 66 is created for automatically driving the combine harvester 1 from its own vehicle position to the return position 65. Note that the return route creation unit 53 may create the return route 66 so as to travel straight ahead for at least a predetermined distance in the same direction as the traveling direction of the work route 63 and reach the return position 65. In other words, the return route 66 is It is preferable to set a straight path at least a predetermined distance or more at the end.

Further, the return route creation unit 53 combines a straight route and a turning route so that, for example, the combine 1 moves from the own vehicle position at the time of the creation operation to the return position 65 in the shortest distance while avoiding the unworked area 61. A return route 66 is created using the following steps. In other words, the return route creation unit 53 creates the return route 66 so that the combine harvester 1 returns to the existing work area 62. Note that the return route creation unit 53 may use the work route 63 when creating the return route 66.

[First example]
For example, as shown in FIG. 3, the combine 1 takes a predetermined linear route 67 constituting the working route 63 as the leaving route 67a, interrupts automatic travel at the leaving position 64 at the end of the leaving route 67a, and leaves the working route 63. If it has left, as a first example, the return route creation unit 53 sets the straight route 67 connected next to the departure route 67a as the next route 67b, and sets the return position 65 at the starting end of the next route 67b. do. At this time, the return route creation unit 53 creates a return route 66 so that the combine 1 moves from the own vehicle position at the time of the creation operation to the return position 65 at the starting end of the next route 67b while avoiding the unworked area 61. Although FIG. 3 shows an example in which a work route 63 for reciprocating mowing that goes back and forth along a plurality of straight routes 67 with respect to an unworked area 61 of a farm field 60 is created, other examples of the first embodiment may be used. Even when the work route 63 for round mowing is created, the return route creation unit 53 similarly sets the straight route 67 connected next to the withdrawal route 67a as the next route 67b, and sets the starting point of the next route 67b. The return position 65 may be set to .

[Second example]
Further, as shown in FIG. 4, the combine harvester 1 takes a predetermined linear route 67 constituting the working route 63 as the leaving route 67a, interrupts automatic travel at a leaving position 64 in the middle of the leaving route 67a, and leaves the working route 63. If it has left, the return route creation unit 53 sets a return position 65 at the starting end of the departure route 67a as a second example. At this time, the return route creation unit 53 creates the first return route 66a so that the combine 1 moves from the own vehicle position at the time of the creation operation to the return position 65 at the starting end of the withdrawal route 67a while avoiding the unworked area 61. do. Furthermore, the return route creation unit 53 acquires a part of the working route 63 corresponding to the section from the return position 65 at the starting end of the withdrawal route 67a to the withdrawal position 64 as the second return route 66b. Then, the return route creation unit 53 creates a return route 66 having a first return route 66a and a second return route 66b.

Note that if there is an unworked area 61 between the own vehicle position of the combine 1 and the detachment position 64 at the time of the creation operation, the return route creation unit 53 creates the first return route 66a and the second return route as described above. A return route 66 having a route 66b may be created. However, if there is no unworked area 61 between the host vehicle position and the withdrawal position 64, the return route creation unit 53 creates a return route 66 having a route 66b. A return route 66 may be created that travels the shortest distance up to 64 while avoiding the unworked area 61. In the second embodiment, as shown in FIG. 4, an example is shown in which a work route 63 for reciprocating mowing is created that reciprocates along a plurality of straight routes 67 with respect to an unworked area 61 of a field 60. As another example of the second embodiment, even when the circular mowing work route 63 is created, the return route creation unit 53 may similarly set the return position 65 at the starting end of the withdrawal route 67a.

[Third example]
In the first embodiment described above, when the combine harvester 1 interrupts automatic travel and leaves the working route 63 at the leaving position 64 at the end of the leaving route 67a, the return route creation unit 53 returns to the starting end of the next route 67b. Although an example has been described in which the return position 65 is set and the return path 66 is created, the present invention is not limited to this example.

For example, as shown in FIG. 5, when a circular mowing work route 63 is created in which a plurality of straight routes 67 are connected to an unworked area 61 of a field 60 and repeated while shifting the route toward the center, the work The combine harvester 1 that has left the route 63 may be located apart from the starting end of the next route 67b. In such a case, as a third embodiment, the corner of the unworked land 61 closest to the own vehicle position of the combine 1 at the time of the preparation operation is set as the approach corner 61a, and the combine 1 is not moved from the approach corner 61a. On the premise that automatic travel is to be resumed from the work route 63 located at the approach corner 61a after entering the work area 61, the return route creation unit 53 sets a return position 65 at the approach corner 61a, and sets the return position 65 at the approach corner 61a. A return route 66 may be created that travels to the return position 65 of the portion 61a. At this time, the return route creation unit 53 determines the approach corner so as to take the shortest distance based on the own vehicle position and traveling direction of the combine harvester 1 and the approach direction of the combine harvester 1 at each corner of the unworked area 61. 61a and also create a return route 66. Note that the return route creation unit 53 preferably sets the approach angle portion 61a and creates the return route 66 so that the vehicle travels only forward or includes fewer turns.

In addition, in the third embodiment described above, the work route creation unit 51 creates a straight route 67 starting from the approach corner 61a for the remaining unworked area 61 as the next route 67b', as shown in FIG. , and re-creates a circular mowing work route 63 in which a loop connecting a plurality of straight routes 67 including the next route 67b' is repeated while being shifted toward the center. In addition, in FIG. 5, the straight line route 67 of the original working route 63 is shown by a broken line, and the straight line route 67 of the recreated working route 63 is shown by a solid line.

[Fourth example]
Further, as shown in FIG. 6, when a work route 63 for reciprocating mowing that reciprocates along a plurality of straight routes 67 with respect to an unworked area 61 of a field 60 is being created, the combine harvester 1 that has separated from the work route 63 It may be located in a direction perpendicular to the next route 67b with respect to the unworked area 61. In such a case, as a fourth embodiment, the corner of the unworked land 61 closest to the own vehicle position of the combine 1 at the time of the preparation operation is set as the approach corner 61a, and the combine 1 is set at right angles to the next route 67b. On the premise that automatic travel is to be resumed from the work route 63 located at the approach corner 61a by entering the unworked area 61 from the approach corner 61a in the direction, the return route creation unit 53 returns to the approach corner 61a. The return route 66 may be created by setting the position 65 and traveling to the return position 65 of the approach corner 61a so that the combine 1 faces the approach corner 61a in a direction orthogonal to the next route 67b. Note that, in addition to the fact that the combine harvester 1 is spaced apart in the direction orthogonal to the next time route 67b, the return route creation unit 53 also creates a space between both ends of the next time route 67b in the running direction of the next time route 67b, as shown in FIG. You may also add to the condition that it is within the range of .

Further, in the fourth embodiment described above, the work route creation unit 51 creates a work path so that the next route 67b' includes a straight route 67 that runs from the approach corner 61a of the unworked area 61 in a direction orthogonal to the next route 67b. Recreate route 63. For example, as shown in FIG. 6, the work route creation unit 51 enters the unworked area 61 from the approach corner 61a in a direction perpendicular to the plurality of original straight routes 67 of the work route 63, and A new route 67b' is created that goes straight to the end opposite to the next route 67b'. Further, the working route creation unit 51 corrects the remaining straight line route 67 to be shorter by the working width of the combine harvester 1 on the approach angle portion 61a side. Then, the work route creation unit 51 sets the end closest to the end of the next route 67b' among the ends of the shortened straight route 67 as the starting end of the remaining straight route 67, and sets it as the end of the next route 67b'. The working route 63 is re-created so as to connect the starting end of the remaining linear route 67 and perform reciprocating mowing that starts from the starting end and moves back and forth along the remaining linear route 67. At this time, the traveling direction of the remaining linear route 67 may be changed. In addition, in FIG. 6, the straight line route 67 of the original work route 63 is shown by a broken line, and the straight line route 67 of the recreated work route 63 is shown by a solid line.

[Fifth example]
In the first embodiment described above, when the combine harvester 1 interrupts automatic travel and leaves the work route 63 at the withdrawal position 64 in the middle of the withdrawal route 67a, the return route creation unit 53 returns to the starting end of the withdrawal route 67a. Although an example has been described in which the return position 65 is set and the return path 66 is created, the present invention is not limited to this example.

For example, as shown in FIGS. 7 and 8, when a work route 63 for reciprocating mowing that goes back and forth along a plurality of straight routes 67 with respect to an unworked area 61 of a field 60 is being created, if a person deviates from the work route 63. There is a first situation in which the combine harvester 1 is located on the opposite side of the unworked area 61 from the detached position 64 and in a direction perpendicular to the straight path 67 with respect to the unworked area 61 . In response to such a first situation, as a fifth example, if the distance from the starting end of the withdrawal route 67a to the withdrawal position 64 is equal to or greater than a predetermined distance threshold, the straight route 67 adjacent to the withdrawal route 67a is Assuming that the end of the adjacent route 67c on the starting end side of the departure route 67a is the starting end of the adjacent route 67c as the route 67c, and that automatic travel is to be resumed from the starting end, the return route creation unit 53 creates the following steps as shown in FIG. As shown, a return position 65 is set at the starting end of the adjacent route 67c, and a return route 66 that travels from the own vehicle position of the combine 1 at the time of the creation operation to the return position 65 is created. Note that the predetermined distance threshold is set according to the length of the withdrawal route 67a, and may be set to, for example, half the length of the withdrawal route 67a, or may be set according to an arbitrary operation by the operator. Good too.

Further, in the fifth embodiment, in order to resume automatic travel on the withdrawal route 67a from the withdrawal position 64 after automatic travel on the adjacent route 67c, the return route creation unit 53 runs from the end of the adjacent route 67c to the withdrawal position 64. A return route 66 to be traveled is created. For example, the return route creation unit 53 creates a first return route 66c that runs backwards along the adjacent route 67c that has become the existing work site 62 from the end of the adjacent route 67c until it passes the departure position 64; A return path 66 is created that has a second return path 66d that rotates from the terminal end to the detachment position 64.

Further, in the fifth embodiment described above, the work route creation unit 51 automatically travels from the start end to the end of the adjacent route 67c, then automatically travels from the departure position 64 to the end of the departure route 67a, and then The work route 63 is re-created so as to perform reciprocating mowing along a straight line route 67. In addition, in FIG. 7, the straight line route 67 of the original work route 63 is shown with a broken line, and the straight line route 67 of the recreated work route 63 is shown with a solid line. In the above, when the distance from the starting end of the withdrawal route 67a to the withdrawal position 64 is equal to or greater than the predetermined distance threshold (that is, when the existing work area 62 of the withdrawal route 67a is equal to or greater than the predetermined mowing distance), the fifth embodiment is Although an applied example has been described, the present invention is not limited to this example. For example, in the fifth embodiment, when the distance from the withdrawal position 64 to the end of the withdrawal route 67a is less than a predetermined distance threshold (that is, when the remaining unworked land 61 on the withdrawal route 67a is less than the predetermined uncut distance) ) may be applied.

[Sixth Example]
On the other hand, for the first situation, as a sixth example, if the distance from the starting end of the leaving route 67a to the leaving position 64 is less than the predetermined distance threshold, the movement starts from the starting end of the leaving route 67a to the leaving position 64. Then, on the premise that automatic travel is resumed from the withdrawal position 64, the return route creation unit 53 sets a return position 65 at the starting end of the withdrawal route 67a, as shown in FIG. 8, similarly to the second embodiment. A return route 66 is created using the following steps. That is, the return route creation unit 53 creates a first return route 66e from the own vehicle position of the combine 1 at the time of the creation operation to the return position 65 at the starting end of the withdrawal route 67a, and a first return route 66e from the return position 65 at the start end of the withdrawal route 67a to the withdrawal position. A return route 66 having a second return route 66f corresponding to sections up to 64 is created. Note that in this case, the work route creation unit 51 does not need to recreate the work route 63. In the above, when the distance from the starting end of the withdrawal route 67a to the withdrawal position 64 is less than the predetermined distance threshold (that is, when the existing working area 62 of the withdrawal route 67a is less than the predetermined mowing distance), the sixth embodiment Although an applied example has been described, the present invention is not limited to this example. For example, in the sixth embodiment, when the distance from the withdrawal position 64 to the end of the withdrawal route 67a is equal to or greater than a predetermined distance threshold (that is, when the remaining unworked land 61 on the withdrawal route 67a is equal to or greater than the predetermined uncut distance) ) may be applied.

In the fifth and sixth embodiments described above, the return route creation unit 53 determines the return position 65 depending on whether the distance from the starting end of the withdrawal route 67a to the withdrawal position 64 is equal to or greater than the predetermined distance threshold. Although an example of creating the setting and return path 66 has been described, the present invention is not limited to this example. For example, in another example, the return route creation unit 53 sets the return position 65 that takes the shortest distance among the return routes 66 of the fifth embodiment and the sixth embodiment, and creates the return route 66. Good too. Alternatively, the return route creation unit 53 sets the return position 65 and creates the return route 66 according to an arbitrary selection operation by the operator among the return routes 66 of the fifth embodiment and the sixth embodiment. You may go.

[Seventh Example, Eighth Example]
For example, as shown in FIGS. 9 to 12, when a work route 63 for reciprocating mowing that reciprocates along a plurality of straight routes 67 with respect to an unworked area 61 of a farm field 60 is created, the withdrawal route 67a may be If the combine harvester 1 that has interrupted automatic travel and left the work route 63 at a halfway withdrawal position 64 is on the withdrawal position 64 side with respect to the unworked area 61 in the direction orthogonal to the straight route 67, or There is a second situation in which the vehicle is located outside the end of the straight route 67 with respect to the unworked land 61 in the traveling direction (outside the range between both ends of the straight route 67). In response to such a second situation, as a seventh embodiment and an eighth embodiment, the straight route 67 connected next to the withdrawal route 67a is set as the next route 67b, and the own vehicle position of the combine harvester 1 at the time of the creation operation is set. As shown in FIGS. 9 and 10, the return route creation unit 53 sets the end of the next route 67b on the near side as the starting point of the next route 67b, and resumes automatic travel from the starting end. A return position 65 is set at the starting end of the route 67b, and a return route 66 that travels from the own vehicle position of the combine harvester 1 at the time of the creation operation to the return position 65 is created.

Further, in the seventh and eighth embodiments, after the next automatic travel on the route 67b, the return route creation unit 53 moves from the starting end of the departure route 67a in the same manner as in the fifth and sixth embodiments. The return position 65 may be set and the return route 66 may be created depending on whether the distance to the departure position 64 is equal to or greater than a predetermined distance threshold.

That is, in the seventh embodiment, when the distance from the starting end of the leaving route 67a to the leaving position 64 is equal to or greater than the predetermined distance threshold, the return route creating unit 53 causes the return route creating unit 53 to leave from the ending point of the next route 67b as shown in FIG. A return route 66 is created that travels to a return position 65 at the starting end of an adjacent route 67c adjacent to the route 67a. In this case, similarly to the fifth embodiment, in order to resume automatic travel on the withdrawal route 67a from the departure position 64 after automatic travel on the adjacent route 67c, the return route creation unit 53 A return route 66 having a first return route 66c and a second return route 66d that travel to position 64 is created. In the above, when the distance from the starting end of the withdrawal route 67a to the withdrawal position 64 is equal to or greater than the predetermined distance threshold (that is, when the existing work area 62 on the withdrawal route 67a is equal to or greater than the predetermined mowing distance), the seventh embodiment Although an applied example has been described, the present invention is not limited to this example. For example, in the seventh embodiment, when the distance from the withdrawal position 64 to the end of the withdrawal route 67a is less than a predetermined distance threshold (that is, when the remaining unworked land 61 on the withdrawal route 67a is less than the predetermined uncut distance) ) may be applied.

On the other hand, in the eighth embodiment, when the distance from the starting end of the leaving route 67a to the leaving position 64 is less than the predetermined distance threshold, the return route creation unit 53 causes the return route to leave from the terminal end of the next route 67b, as shown in FIG. A return route 66 is created that has a first return route 66g to the return position 65 at the start end of the route 67a, and a second return route 66h corresponding to the section from the return position 65 at the start end of the withdrawal route 67a to the departure position 64. . In the above, when the distance from the starting end of the withdrawal route 67a to the withdrawal position 64 is less than the predetermined distance threshold (that is, when the existing working area 62 of the withdrawal route 67a is less than the predetermined mowing distance), the eighth embodiment Although an applied example has been described, the present invention is not limited to this example. For example, in the eighth embodiment, when the distance from the withdrawal position 64 to the end of the withdrawal route 67a is equal to or greater than a predetermined distance threshold (that is, when the remaining unworked land 61 on the withdrawal route 67a is equal to or greater than the predetermined uncut distance) ) may be applied.

In the seventh and eighth embodiments described above, the return route creation unit 53 determines the return position 65 depending on whether the distance from the starting end of the withdrawal route 67a to the withdrawal position 64 is equal to or greater than the predetermined distance threshold. Although an example of creating the setting and return path 66 has been described, the present invention is not limited to this example. For example, in another example, the return route creation unit 53 sets the return position 65 that takes the shortest distance among the return routes 66 of the seventh embodiment and the eighth embodiment, and creates the return route 66. Good too. Alternatively, the return route creation unit 53 sets the return position 65 and creates the return route 66 in response to an arbitrary selection operation by the operator among the return routes 66 of the seventh embodiment and the eighth embodiment. You may go.

[9th example, 10th example]
Alternatively, for the second situation described above, as a ninth embodiment and a tenth embodiment, the return route creation unit 53, as in the fifth and sixth embodiments, as shown in FIGS. 11 and 12, depending on whether the distance from the starting end of the withdrawal route 67a to the withdrawal position 64 is equal to or greater than a predetermined distance threshold. Then, the return route 66 may be created by setting the return position 65 on the withdrawal route 67a or the adjacent route 67c. For example, in the ninth embodiment, if the distance from the starting end of the leaving route 67a to the leaving position 64 is equal to or greater than a predetermined distance threshold, the automatic traveling of the remaining leaving route 67a is resumed from the leaving position 64 or the end of the leaving route 67a. On the premise that the return route creation unit 53 sets the return position 65 at the end of the withdrawal position 64 or the withdrawal route 67a, the return route creation unit 53 sets the return position 65 at the end of the withdrawal position 64 or the withdrawal route 67a, and creates a return route that travels from the own vehicle position of the combine 1 at the time of the creation operation to the return position 65. Create 66.

In FIG. 11, on the premise that the automatic traveling of the straight route 67a' from the end of the withdrawal route 67a is to be resumed, the return route creation unit 53 sets a return position 65a at the end of the withdrawal route 67a, and the combine harvester 1 automatically moves. An example will be shown in which a return route 66a is created in which the vehicle travels backward from the vehicle position until it passes the return position 65a, and then circles to the return position 65a at the end of the departure route 67a.

Further, in the ninth embodiment, in order to resume automatic travel on the remaining plurality of straight routes 67 from the next route 67b after automatic travel on the straight route 67a' from the end of the withdrawal route 67a, the return route creation unit 53 is a return route that sets a return position 65b at the starting end of the next route 67b and travels from the end of the exit route 67a or the exit position 64 to complete automatic travel on the straight route 67a' to the return position 65b at the start end of the next route 67b. 66b. FIG. 11 shows an example in which the return route creation unit 53 creates a return route 66b that travels from the withdrawal position 64 to the return position 65b at the starting end of the next route 67b.

In the ninth embodiment described above, the work route creation unit 51 recreates the work route 63 so as to automatically travel from the withdrawal position 64 to the end of the withdrawal route 67a, or from the end of the withdrawal route 67a to the withdrawal position 64. In this case, it is not necessary to recreate the work route 63 for the plurality of straight routes 67 after the next route 67b. In FIG. 11, the straight line 67 of the original work route 63 is shown by a broken line, and the straight line 67a' of the recreated work route 63 is shown by a solid line. In the above, when the distance from the starting end of the withdrawal route 67a to the withdrawal position 64 is equal to or greater than the predetermined distance threshold (that is, when the existing working area 62 of the withdrawal route 67a is equal to or greater than the predetermined mowing distance), the ninth embodiment Although an applied example has been described, the present invention is not limited to this example. For example, in the ninth embodiment, when the distance from the withdrawal position 64 to the end of the withdrawal route 67a is less than a predetermined distance threshold (that is, when the remaining unworked land 61 on the withdrawal route 67a is less than the predetermined uncut distance) ) may be applied.

On the other hand, in the tenth embodiment, when the distance from the starting end of the withdrawal route 67a to the withdrawal position 64 is less than the predetermined distance threshold, the vehicle position of the combine 1 at the time of the creation operation is determined in the adjacent route 67c adjacent to the withdrawal route 67a. The return route creation unit 53 changes the traveling direction of the adjacent route 67c so that the end closest to the route 67c becomes the starting end of the adjacent route 67c, and resumes automatic travel from the starting end. As shown in , a return position 65a is set at the starting end of the adjacent route 67c, and a return route 66a is created that runs from the own vehicle position of the combine harvester 1 to the return position 65a.

Further, in the tenth embodiment, in order to resume automatic travel on the withdrawal route 67a from the withdrawal position 64 after automatic travel on the adjacent route 67c, the return route creation unit 53 runs from the end of the adjacent route 67c to the withdrawal position 64. A return route 66b to be traveled is created. For example, the return route creation unit 53 sets the return position 65b at the starting end of the withdrawal route 67a, and creates a first return route 66i from the end of the adjacent route 67c to the return position 65b, and from the return position 65b to the withdrawal position 64. A return route 66b having a second return route 66j corresponding to the section up to is created.

In the tenth embodiment described above, the work route creation unit 51 re-creates the work route 63 so as to automatically travel from the starting end to the end of the adjacent route 67c, and also automatically travels from the exit position 64 of the exit route 67a to the end. After traveling, the work route 63 is re-created so that reciprocating mowing is performed along the remaining straight route 67. In addition, in FIG. 12, the straight line route 67 of the original work route 63 is shown by a broken line, and the straight line route 67 of the recreated work route 63 is shown by a solid line. In the above, when the distance from the starting end of the withdrawal route 67a to the withdrawal position 64 is less than the predetermined distance threshold (that is, when the existing working area 62 of the withdrawal route 67a is less than the predetermined mowing distance), the tenth embodiment Although an applied example has been described, the present invention is not limited to this example. For example, in the tenth embodiment, when the distance from the withdrawal position 64 to the end of the withdrawal route 67a is equal to or greater than a predetermined distance threshold (that is, when the remaining unworked land 61 on the withdrawal route 67a is equal to or greater than the predetermined uncut distance) ) may be applied.

In the ninth and tenth embodiments described above, the return route creation unit 53 determines the return position 65 depending on whether the distance from the starting end of the withdrawal route 67a to the withdrawal position 64 is equal to or greater than the predetermined distance threshold. Although an example of creating the setting and return path 66 has been described, the present invention is not limited to this example. For example, in another example, the return route creation unit 53 sets the return position 65 that takes the shortest distance among the return routes 66 of the ninth embodiment and the tenth embodiment, and creates the return route 66. Good too. Alternatively, the return route creation unit 53 sets the return position 65 and creates the return route 66 according to an operator's arbitrary selection operation among the return routes 66 of the ninth embodiment and the tenth embodiment. You may go.

[Eleventh Example]
Further, in the eleventh embodiment, as shown in FIGS. 13 and 14, a work route 63 for circular mowing in which a plurality of straight routes 67 are connected to an unworked area 61 of a farm field 60 and repeats a circuit while shifting it toward the center. has been created. In the eleventh embodiment, the combine harvester 1 uses a predetermined linear route 67 constituting the working route 63 as the leaving route 67a, interrupts automatic travel at a leaving position 64 in the middle of the leaving route 67a, and leaves the working route 63. In this case, the return route creation unit 53 sets the return position 65 in the middle of the withdrawal route 67a.

For example, in the eleventh embodiment, as shown in FIGS. 13 and 14, a discharge position 68 (midway work position) is set in front of the combine harvester 1 at the detachment position 64 with an unworked area 61 in between. In this case, as shown in FIG. 13, the movement route creation unit 52 creates a discharge route 69 ( travel route). For example, in order to avoid the remaining unworked area 61 on the exit route 67a, the movement route creation unit 52 moves backward from the exit position 64 along the exit route 67a, and then turns diagonally forward to avoid the remaining unworked area 61 on the exit route 67a. A discharge route 69 is created so as to move to the side of the ground 61, go around the remaining unworked land 61, and advance to the discharge position 68.

Alternatively, the moving route creation unit 52 mowing diagonally forward from the withdrawal position 64, cuts through the remaining unworked land 61 on the withdrawal route 67a, moves to the side of the remaining unworked land 61, and further moves to the side of the remaining unworked land 61. The discharge route 69 may be created so as to go around the remaining unworked area 61 and advance to the discharge position 68. In this case, the mobile travel control unit 36 maintains the reaping unit 3 in the working position and continues operating the reaping unit 3 even after reaching the detachment position 64, and after mowing the remaining unworked area 61. , it is preferable to stop the operation of the reaping section 3 and to raise the reaping section 3 to a non-working position.

In addition, as shown in FIG. 14, the return route creation unit 53 allows the combine 1 to avoid the unworked area 61 from the own vehicle position (for example, the discharge position 68) at the time of the creation operation to the return position 65 in the middle of the withdrawal route 67a. A return route 66 is created so that the robot moves while moving. At this time, the return route creation unit 53 may create a return route 66 that runs backwards along the discharge route 69, for example, by traveling backward from the discharge position 68 and going around the remaining unworked area 61 of the withdrawal route 67a. A first return path 66a is created so that the robot moves to the side of the remaining unworked area 61, further turns diagonally backward, and moves to the return position 65 on the withdrawal path 67a. Further, the return route creation unit 53 acquires a part of the work route 63 corresponding to the section from the return position 65 to the detachment position 64 in the middle of the withdrawal route 67a as the second return route 66b. Then, the return route creation unit 53 creates a return route 66 having a first return route 66a and a second return route 66b.

By the way, in the eleventh embodiment, since the distance between the withdrawal position 64 and the discharge position 68 of the withdrawal route 67a is less than the predetermined distance and is relatively close, the return route creation unit 53 returns to the middle of the withdrawal route 67a. Although the return path 66 is created by setting the position 65, the end of the withdrawal path 67a is also relatively close to the discharge position 68. Therefore, as another example, in order to resume mowing from the end of the withdrawal route 67a, the return route creation unit 53 moves the starting end of the straight route 67 connected next to the withdrawal route 67a to the end of the unworked area 61. The return position 65 may be set at the starting end of the linear path 67. In this case, the return route creation unit 53 creates a return route 66 that moves from the discharge position 68 to the return position 65 at the starting end of the extended linear route 67.

[12th Example]
In the eleventh embodiment described above, an example will be described in which, when the work route 63 for circular mowing is created, the return route creation unit 53 sets the return position 65 in the middle of the withdrawal route 67a and creates the return route 66. However, the invention is not limited to this example.

For example, in the twelfth embodiment, as shown in FIGS. 15 and 16, a discharge position 68 (intermediate work position) is set in front of the combine harvester 1 at the detachment position 64 with an unworked area 61 in between, and the work path is The own vehicle position (for example, the discharge position 68) of the combine 1 that has left the combine harvester 63 is separated from the departure route 67a. In this case as well, similarly to the eleventh embodiment, the movement route creation unit 52 causes the combine harvester 1 to discharge (move) from the detachment position 64 to the discharge position 68 while avoiding the unworked area 61, as shown in FIG. A discharge route 69 (movement route) is created so as to perform the following steps. For example, in order to avoid the remaining unworked area 61 on the exit route 67a, the movement route creation unit 52 moves backward from the exit position 64 along the exit route 67a, and then turns diagonally forward to avoid the remaining unworked area 61 on the exit route 67a. A discharge route 69 is created so as to move to the side of the ground 61, go around the remaining unworked land 61, and advance to the discharge position 68.

In addition, as shown in FIG. 16, the return route creation unit 53 is located at the corner of the unworked area 61 that is closest to the own vehicle position (discharge position 68) of the combine 1 during the creation operation, and is located at the corner of the unworked area 61 that moves forward from the discharge position 68. An approach corner 61a that can be entered is detected from the unworked area 61. Then, on the premise that the combine 1 enters the unworked area 61 from the approach corner 61a and resumes automatic travel from the work route 63 located at the approach corner 61a, the return route creation unit 53 A return position 65 is set at 61a, and a return route 66 is created that travels to the return position 65 at the approach corner 61a. For example, the return route creation unit 53 creates the return route 66 so that the direction of movement is directed toward the approach corner 61a after moving forward toward the approach corner 61a, and then moving forward a predetermined distance to the approach corner 61a. create.

Further, in the twelfth embodiment described above, the work route creation unit 51 creates a straight route 67 starting from the approach corner 61a as the next route 67b for the remaining unworked area 61, as shown in FIG. The working route 63 for circular mowing is recreated by repeating the loops connecting a plurality of straight routes 67 including the next route 67b while shifting them toward the center. At this time, the work route creation unit 51 re-creates the work route 63 so that the departure route 67a travels to the departure position 64 and then automatically travels from the departure position 64. Note that FIG. 15 shows a straight line route 67 of the original work route 63, and FIG. 16 shows a straight line route 67 of the recreated work route 63. Furthermore, if the distance from the starting end of the withdrawal route 67a to the withdrawal position 64 is equal to or greater than a predetermined distance threshold, the mowing work is performed to the end of the adjacent linear route created in the unworked area 61 at a position adjacent to the withdrawal route 67a. In order to resume automatic travel along the withdrawal route 67a from the departure position 64 after automatically traveling while the vehicle is moving, the return route creation unit 53 creates a return route for automatically traveling from the end of the above-mentioned adjacent straight route to the departure position 64. You may. In addition, if the distance from the starting end of the withdrawal route 67a to the withdrawal position 64 is less than a predetermined distance, the work route 63 is configured so that the automatic travel is performed from the withdrawal position 64 after traveling to the withdrawal position 64 as described above. may be recreated. Furthermore, instead of the case where the distance from the starting end of the withdrawal route 67a to the withdrawal position 64 is greater than or equal to the predetermined distance threshold, when the distance from the withdrawal position 64 to the end of the withdrawal route 67a is less than the predetermined distance threshold, the above-mentioned A return route for automatically traveling from the end of the adjacent linear route to the departure position 64 may be created. Furthermore, instead of the case where the distance from the starting end of the withdrawal route 67a to the withdrawal position 64 is less than the predetermined distance, the above-mentioned The work route 63 may be re-created so as to automatically travel from the detached position 64 after traveling to the detached position 64 as shown in FIG.

Note that the return route creation unit 53 applies either the eleventh embodiment or the twelfth embodiment when the discharge position 68 is set in front of the combine harvester 1 at the detachment position 64 with an unworked area 61 in between. It may be determined whether this is the case depending on the distance between the withdrawal position 64 (detachment route 67a) and the discharge position 68. For example, if the distance between the withdrawal position 64 and the ejection position 68 is less than a predetermined distance and is relatively close, the return path creation unit 53 applies the eleventh embodiment; If the distance to the position 68 is a predetermined separation distance or more and is relatively far, the twelfth embodiment may be applied.

Further, the return route creation unit 53 may determine whether to apply either the eleventh embodiment or the twelfth embodiment, depending on whether the automatic travel is manned or unmanned. For example, the return route creation unit 53 applies the twelfth embodiment regardless of the distance between the detachment position 64 and the discharge position 68 when the automatic driving is manned driving, and on the other hand, when the automatic driving is unmanned driving. , if the distance between the detachment position 64 and the discharge position 68 is less than a predetermined distance and is relatively close, the eleventh embodiment is applied; If the distance is longer than the separation distance and is relatively far, the twelfth embodiment may be applied.

[13th Example]
In the twelfth embodiment described above, when the work route 63 for circular mowing is created, the return route creation unit 53 sets the return position 65 at the approach corner 61a that can be advanced from the discharge position 68, and returns to the work route 63. Although an example of creating the route 66 has been described, the present invention is not limited to this example.

For example, in the thirteenth embodiment, as shown in FIGS. 17 and 18, a discharge position 68 (intermediate work position) is set to the side of the combine harvester 1 at the detachment position 64 with an unworked area 61 in between. In this case as well, as in the eleventh and twelfth embodiments, the moving route creation unit 52 allows the combine 1 to discharge while avoiding the unworked area 61 from the detachment position 64 to the discharge position 68, as shown in FIG. A discharge route 69 (movement route) is created so that the vehicle can travel (traveling). For example, in order to avoid the remaining unworked area 61 on the exit route 67a, the movement route creation unit 52 moves backward from the exit position 64 along the exit route 67a, and then turns diagonally forward to avoid the remaining unworked area 61 on the exit route 67a. A discharge route 69 is created so as to move to the side of the ground 61, go around the remaining unworked land 61, and advance to the discharge position 68.

In addition, as shown in FIG. 18, the return route creation unit 53 unworks the approach corner 61a that is closest to the own vehicle position (discharge position 68) of the combine 1, regardless of the traveling direction of the combine harvester 1 at the time of the creation operation. It is detected from the ground 61. Then, on the premise that the combine 1 enters the unworked area 61 from the approach corner 61a and resumes automatic travel from the work route 63 located at the approach corner 61a, the return route creation unit 53 A return position 65 is set at 61a, and a return route 66 is created that travels to the return position 65 at the approach corner 61a. For example, the return route creation unit 53 moves backward along the outer periphery of the field 60 from the discharge position 68 until the approach corner 61a is located in front of the combine 1, and then turns so that the direction of travel is directed toward the approach corner 61a. , a return route 66 is created so that the vehicle further advances a predetermined distance to the approach corner 61a.

Further, in the thirteenth embodiment described above, similarly to the twelfth embodiment, the work route creation unit 51 sets the approach angle portion 61a as the starting end for the remaining unworked area 61, as shown in FIG. The straight line route 67 is created as the next route 67b, and the working route 63 for circular mowing is re-created by repeating the circuits connecting the plurality of straight routes 67 including the next time route 67b while shifting them toward the center. At this time, the work route creation unit 51 re-creates the work route 63 so that the departure route 67a travels to the departure position 64 and then automatically travels from the departure position 64. Note that FIG. 17 shows a straight line route 67 of the original work route 63, and FIG. 18 shows a straight line route 67 of the recreated work route 63. Furthermore, if the distance from the starting end of the withdrawal route 67a to the withdrawal position 64 is equal to or greater than a predetermined distance threshold, the mowing work is performed to the end of the adjacent linear route created in the unworked area 61 at a position adjacent to the withdrawal route 67a. In order to resume automatic travel along the withdrawal route 67a from the departure position 64 after automatically traveling while the vehicle is moving, the return route creation unit 53 creates a return route for automatically traveling from the end of the above-mentioned adjacent straight route to the departure position 64. You may. In addition, if the distance from the starting end of the withdrawal route 67a to the withdrawal position 64 is less than a predetermined distance, the work route 63 is configured so that the automatic travel is performed from the withdrawal position 64 after traveling to the withdrawal position 64 as described above. may be recreated. Furthermore, instead of the case where the distance from the starting end of the withdrawal route 67a to the withdrawal position 64 is greater than or equal to the predetermined distance threshold, when the distance from the withdrawal position 64 to the end of the withdrawal route 67a is less than the predetermined distance threshold, the above-mentioned A return route for automatically traveling from the end of the adjacent linear route to the departure position 64 may be created. Furthermore, instead of the case where the distance from the starting end of the withdrawal route 67a to the withdrawal position 64 is less than the predetermined distance, the above-mentioned The work route 63 may be re-created so as to automatically travel from the detached position 64 after traveling to the detached position 64 as shown in FIG.

[14th Example]
For example, in the fourteenth embodiment, as shown in FIGS. 19 and 20, when the work route 63 for round mowing is created, the unworked area 61 is located on the side of the combine harvester 1 at the detachment position 64. A discharge position 68 (intermediate work position) is set on the opposite side. In this case as well, as in the eleventh and twelfth embodiments, the movement route creation unit 52 allows the combine 1 to discharge from the detachment position 64 to the discharge position 68 while avoiding the unworked area 61, as shown in FIG. A discharge route 69 (movement route) is created so that the vehicle can travel (traveling). For example, in order to avoid the remaining unworked area 61 on the exit route 67a, the movement route creation unit 52 moves backward from the exit position 64 along the exit route 67a, and then turns diagonally forward to avoid the remaining unworked area 61 on the exit route 67a. A discharge path 69 is created so as to move to the side of the ground 61 and further advance to a discharge position 68.

In addition, as shown in FIG. 20, the return route creation unit 53 is located at the corner of the unworked area 61 that is closest to the own vehicle position (discharge position 68) of the combine 1 during the creation operation, and is located at the corner of the unworked area 61 that moves forward from the discharge position 68. An approach corner 61a that can be entered is detected from the unworked area 61. Then, on the premise that the combine 1 enters the unworked area 61 from the approach corner 61a and resumes automatic travel from the work route 63 located at the approach corner 61a, the return route creation unit 53 A return position 65 is set at 61a, and a return route 66 is created that travels to the return position 65 at the approach corner 61a. For example, the return route creation unit 53 creates the return route 66 so that the direction of movement is directed toward the approach corner 61a after moving forward toward the approach corner 61a, and then moving forward a predetermined distance to the approach corner 61a. create.

Further, in the fourteenth embodiment described above, similarly to the thirteenth embodiment, the work route creation unit 51 sets the approach angle portion 61a as the starting end for the remaining unworked area 61, as shown in FIG. The straight line route 67 is created as the next route 67b, and the working route 63 for circular mowing is re-created by repeating the circuits connecting the plurality of straight routes 67 including the next time route 67b while shifting them toward the center. At this time, the work route creation unit 51 re-creates the work route 63 so that the departure route 67a travels to the departure position 64 and then automatically travels from the departure position 64. Note that FIG. 19 shows a straight line route 67 of the original work route 63, and FIG. 20 shows a straight line route 67 of the recreated work route 63. Furthermore, if the distance from the starting end of the withdrawal route 67a to the withdrawal position 64 is equal to or greater than a predetermined distance threshold, the mowing work is performed to the end of the adjacent linear route created in the unworked area 61 at a position adjacent to the withdrawal route 67a. In order to resume automatic travel along the withdrawal route 67a from the departure position 64 after automatically traveling while the vehicle is moving, the return route creation unit 53 creates a return route for automatically traveling from the end of the above-mentioned adjacent straight route to the departure position 64. You may. In addition, if the distance from the starting end of the withdrawal route 67a to the withdrawal position 64 is less than a predetermined distance, the work route 63 is configured so that the automatic travel is performed from the withdrawal position 64 after traveling to the withdrawal position 64 as described above. may be recreated. Furthermore, instead of the case where the distance from the starting end of the withdrawal route 67a to the withdrawal position 64 is greater than or equal to the predetermined distance threshold, when the distance from the withdrawal position 64 to the end of the withdrawal route 67a is less than the predetermined distance threshold, the above-mentioned A return route for automatically traveling from the end of the adjacent linear route to the departure position 64 may be created. Furthermore, instead of the case where the distance from the starting end of the withdrawal route 67a to the withdrawal position 64 is less than the predetermined distance, the above-mentioned The work route 63 may be re-created so as to automatically travel from the detached position 64 after traveling to the detached position 64 as shown in FIG.

Note that the return route creation unit 53 may determine whether or not to apply the fourteenth embodiment depending on the distance from the discharge position 68 to the approach corner 61a of the unworked area 61 closest to the departure position 64. good. For example, as shown in FIG. 20, when the ejection position 68 is closer to the approach corner 61a than the detachment position 64, the return path creation unit 53 applies the fourteenth embodiment to move the ejection position 68 from the approach angle. A return position 65 is set in the portion 61a to create a return path 66. On the other hand, as shown in FIG. 21, when the ejection position 68 is closer to the withdrawal position 64 than the approach corner 61a, the return route creation unit 53 does not apply the fourteenth embodiment and Alternatively, it is preferable to set the return position 65 on an extension of the withdrawal route 67a and create the return route 66. For example, the return route creation unit 53 moves backward from the discharge position 68 to the side of the remaining unworked area 61, and then turns diagonally backward and moves to the return position 65 on the withdrawal route 67a. 1. A return path 66a is created. Further, the return route creation unit 53 obtains a second return route 66b from the return position 65 to the detachment position 64, either midway through the withdrawal route 67a or on an extension of the withdrawal route 67a. Then, the return route creation unit 53 creates a return route 66 having a first return route 66a and a second return route 66b.

[15th example]
In addition, in the fifteenth embodiment, as shown in FIGS. 22 and 23, when the work route 63 for reciprocating mowing is created, on the side of the combine harvester 1 at the detachment position 64 and on the opposite side to the unworked area 61. A discharge position 68 is set at . At this time, if the distance between the withdrawal position 64 and the discharge position 68 is a predetermined separation distance or more and is relatively far, the moving route creation unit 52 moves along the withdrawal route 67a, as in the example of FIG. 19 described above. After moving backward from the detachment position 64, a discharge path 69 is created so as to turn obliquely forward, move to the side of the remaining unworked area 61, and further advance to the discharge position 68. On the other hand, if the distance between the detachment position 64 and the ejection position 68 is less than the predetermined distance and is relatively close, the movement route creation unit 52 prevents the moving route from moving backward and turning diagonally forward, as shown in FIG. The ejection path 69 may be created so that the ejector moves forward to the ejection position 68 after moving toward the ejection position 68 repeatedly a plurality of times (for example, twice).

Further, when the distance between the withdrawal position 64 and the ejection position 68 is a predetermined distance or more and is relatively far, the return route creation unit 53 generates a part in the middle of the withdrawal route 67a or The return position 65 is set on the extension line of the route 67a, and after moving backward from the discharge position 68 and moving to the side of the remaining unworked area 61, it turns diagonally backward and returns to the return position 65 on the withdrawal route 67a. A first return path 66a is created so as to move. On the other hand, when the distance between the withdrawal position 64 and the ejection position 68 is less than the predetermined distance and is relatively close, the return route creation unit 53 performs After setting the return position 65 on the extension line and moving backward from the ejection position 68, the vehicle moves to the return position 65 on the withdrawal route 67a by repeating diagonally backward turning and forward movement a plurality of times (for example, twice). The first return path 66a is created as follows. Further, the return route creating unit 53 obtains a second return route 66b from the return position 65 to the detachment position 64, which is in the middle of the withdrawal route 67a. Then, the return route creation unit 53 creates a return route 66 having a first return route 66a and a second return route 66b.

Note that the movement route creation unit 52 and the return route creation unit 53 perform comparison not only when the distance between the withdrawal position 64 and the discharge position 68 is short, but also when the existing working area 62 of the withdrawal route 67a is less than a predetermined mowing distance. The fifteenth embodiment may be applied when the target is short (that is, when the remaining uncut land 61 on the withdrawal route 67a is longer than a predetermined uncut distance and is relatively long).

Further, in the fifteenth embodiment, as shown in FIGS. 22 and 23, an example is shown in which a work route 63 for reciprocating mowing is created, but as another example of the fifteenth embodiment, Even when the route 63 has been created, the movement route creation unit 52 may similarly create an ejection route 69 that repeats backward travel and diagonally forward turning travel a plurality of times, and the return route creation unit 53 A first return path 66a may be created in which diagonally backward turning and forward movement are repeated multiple times.

[16th Example]
In the seventh and eighth embodiments described above, when the work route 63 for reciprocating mowing is created and the combine harvester 1 leaves the work route 63 at the withdrawal position 64 in the middle of the withdrawal route 67a, , the return route creation unit 53 sets the return position 65 at the starting end of the next route 67b connected next to the withdrawal route 67a, and moves the combine harvester 1 from its own vehicle position (discharge position 68) at the time of the creation operation to the return position 65. Although an example has been described in which a return path 66 is created up to, the present invention is not limited to this example.

In the sixteenth embodiment, the unworked width of the unworked area 61 in the direction perpendicular to the work route 63 is equal to or larger than a predetermined width threshold and is relatively long. At this time, if the distance between the ejection position 68 and the next route 67b is less than the predetermined distance and is relatively close, the return route creation unit 53 applies the seventh embodiment and the eighth embodiment, A return position 65 is set at the starting end of the next route 67b to create a return route 66. On the other hand, if the distance between the discharge position 68 and the starting end of the next route 67b is a predetermined separation distance or more and is relatively far, the return route creation unit 53 returns to the unworked area 61 as shown in FIG. In order to create an intermediate division, a return position 65 is set at the starting end of a straight line path 67 corresponding to the intermediate division among the work route 63, and a return route 66 is created.

[17th Example]
In the fourth embodiment described above, when the work route 63 for reciprocating mowing is created, the combine harvester 1, which has left the work route 63 at the departure position 64 at the end of the departure route 67a, moves toward the unworked area 61 on the next route. 67b, in the seventeenth embodiment, as shown in FIG. It is located at a discharge position 68 in a direction orthogonal to the next route 67b. In the 17th embodiment, similarly to the 4th embodiment, the corner of the unworked land 61 closest to the discharge position 68 is set as the approach corner 61a, and the combine 1 is moved from the approach corner 61a in the direction orthogonal to the next route 67b. On the premise that automatic travel is to be restarted from the work route 63 located at the approach corner 61a after entering the unworked area 61, the return route creation unit 53 sets a return position 65 at the approach corner 61a, and the combine harvester A return route 66 that travels to the return position 65 of the approach corner 61a is created such that the vehicle 1 faces the approach corner 61a in a direction orthogonal to the next route 67b.

In addition, in the seventeenth embodiment, similarly to the fourth embodiment, the work route creation unit 51 creates a straight route 67 running in a direction orthogonal to the next route 67b from the approach corner 61a of the unworked area 61 to the next route 67b. ' Re-create the work route 63 to include it as '. Further, the working route creation unit 51 corrects the remaining linear route 67 including the withdrawal route 67a to be shorter by the working width of the combine 1 on the approach angle portion 61a side, and also reciprocates the remaining linear route 67. The work route 63 is re-created to perform mowing. At this time, with respect to the withdrawal route 67a, the work route creation unit 51 and the return route creation unit 53 calculate the distance from the starting end of the withdrawal route 67a to the withdrawal position 64, or The working route 63 is re-created and the return route 66 is created according to the distance from to the rear end of the withdrawal route 67a. Note that FIG. 25 illustrates a work route 63 and a return route 66 to which the example of FIG. 8 is applied. In FIG. 25, the straight line 67 of the original work route 63 is shown by a broken line, and the straight line 67 of the recreated work route 63 is shown by a solid line.

As shown in FIG. 26, the display control unit 54 controls the display unit 44 to display a work screen 70 for automatically traveling and returning to the field 60 that is the work target. The display control unit 54 displays at least a map field 71, a travel start button 72, and a return route creation button 73 on the work screen 70.

The display control unit 54 displays the outline of the field 60 on a map in the map field 71 based on the field information of the field 60 selected by the field selection unit 50, and further displays the outline of the field 60 based on the field information of the field 60 selected by the field selection unit 50. The own vehicle sign 74 of the combine harvester 1 is displayed at the own vehicle position of the combine harvester 1. The display control unit 54 may display the unworked land 61 and the worked land 62 in a distinguishable manner within the field 60 by changing display methods such as line type, line color, background color, etc. The display control unit 54 displays the work route 63 created by the work route creation unit 51 over the field 60 in the map column 71. Note that the display control unit 54 updates the position of the own vehicle marking 74 according to the travel of the combine harvester 1, and updates the range of the unworked area 61 and the already worked area 62 according to the progress of the reaping work of the combine harvester 1. do.

The display control unit 54 enables selective operation of the travel start button 72 to start automatic travel when the start conditions for automatic travel are met, whereas when the start conditions are not met, the travel start button 72 is enabled. Make selection inoperable. When the travel start button 72 is selected, the display control unit 54 transmits information regarding the field information and the work route 63 to the combine 1 along with an instruction to start automatic travel. The combine 1 starts automatically traveling along the work route 63 in response to the start instruction.

While the combine harvester 1 is automatically traveling, the display control unit 54 selectably displays a travel stop button (not shown) in place of the travel start button 72 in order to stop the automatic travel. When the travel stop button is selected and operated, the display control unit 54 transmits a stop instruction to the combine harvester 1 . The combine 1 stops automatic travel in response to the stop instruction. Furthermore, when the combine 1 stops automatic travel, the display control unit 54 displays a travel start button 72 instead of the travel stop button. Note that when the combine harvester 1 stops automatic travel and leaves the work route 63, the display control unit 54 may display the departure position 64 on the work route 63 in the map column 71.

Further, the display control unit 54 displays the return route creation button 73 in a selectively operable manner to create the return route 66 when the start conditions for return travel are met, while when the start conditions are not met. In this case, the return route creation button 73 is disabled for selection. For example, when the combine harvester 1 is outside the field 60 and the distance between the own vehicle position of the combine harvester 1 and the return position 65 is less than a predetermined distance threshold, the distance between the own vehicle position of the combine harvester 1 and the withdrawal position 64 is less than the predetermined distance threshold. If the distance is less than the threshold, the display control unit 54 determines that the conditions for starting return travel are not satisfied.

Note that the display control unit 54 may display and notify the unfulfilled return travel start condition on the work screen 70 or other screens. In addition, when the distance between the own vehicle position of the combine 1 and the return position 65 is less than a predetermined distance threshold, or when the distance between the own vehicle position of the combine 1 and the withdrawal position 64 is less than a predetermined distance threshold, the return It may be displayed on the work screen 70 or other screens to notify that automatic travel can be resumed from the own vehicle position of the combine harvester 1 along the work route 63 without traveling.

Alternatively, the display control unit 54 always displays the return route creation button 73 in a selectively operable manner, and if the return travel start conditions are not met, the display control unit 54 does not accept the selection operation and indicates that the return route creation button 73 is not satisfied. The conditions for starting the return run may be displayed on the work screen 70 or other screens to notify the user.

The display control unit 54 may accept each selection operation of the return route creation button 73 as an operation to create the return route 66, and instruct the return route creation unit 53 to create the return route 66. Alternatively, the display control unit 54 switches the selection operation state on and off every time the return route creation button 73 is selected, and when the selection operation state is on, the display control unit 54 constantly (for example, at predetermined time intervals) , the return route creation unit 53 may be instructed to create the return route 66.

In the first embodiment, an example will be described in which the selection operation of the return route creation button 73 is used as a trigger for creating the return route 66, but the present invention is not limited to this example. For example, the completion of the discharge of harvested grains or the completion of the replenishment of materials and fuel may be used as a trigger for creating the return route 66.

Further, when the return position 65 is set and the return route 66 is created by the return route creation unit 53, the display control unit 54 displays the return position 65 and the return route 66 in the map column 71, superimposing them on the field 60. Furthermore, a direction line 75 connecting the return position 65 and the host vehicle marking 74 in a straight line is displayed.

In addition, when the start conditions for return travel are satisfied and the return route 66 has been created, the display control unit 54 displays the travel start button 72 in a selectively operable manner to start the return travel. When the start condition is not satisfied or when the return route 66 is not created, the running start button 72 is disabled for selection. When the travel start button 72 is selectively operated, the display control unit 54 accepts it as a return operation and transmits information regarding the return route 66 to the combine harvester 1 along with an instruction to start the return run. The combine harvester 1 starts returning along the return route 66 in response to the start instruction. The display control unit 54 may display on the work screen 70 or other screens to notify that the combine harvester 1 has started the return run, is performing the return run, or has completed the return run. The side control device 41 may notify by other means such as voice.

Note that in the first embodiment, an example will be described in which the selection operation of the travel start button 72 is used as a trigger for starting the return travel, but the present invention is not limited to this example. For example, the completion of the discharge of harvested grains or the completion of the replenishment of materials and fuel may be used as a trigger for starting the return run, or the creation of the return route 66 may be used as the trigger for starting the return run. .

As described above, according to the present embodiment, the combine harvester 1 is a work vehicle that automatically travels along a preset work route 63 in the field 60, and includes the control device 30. The control device 30 is a return travel control unit that automatically returns the combine harvester 1 toward the work route 63 in response to a return operation for the combine harvester 1 in the field 60 when the combine harvester 1 is separated from the work route 63. Functions as 37.

In other words, in the present invention, there is provided an automatic traveling method for a work vehicle such as a combine harvester 1 that automatically travels along a preset work route 63 in a field 60, in which the combine harvester 1 is separated from the work route 63. , has a return traveling step in which the combine harvester 1 is automatically returned to the working route 63 in response to a return operation for the combine harvester 1 in the field 60 .

As a result, regardless of the position of the combine harvester 1 that has left the work route 63, the return travel is performed from the own vehicle position of the combine harvester 1 when the return operation was performed, so that the combine harvester 1 is separated from the intermediate work position such as the discharge position. Since the combine harvester 1 can be returned to the original position even if the combine harvester is in the middle of the operation, and there is no need to move the combine harvester 1 to a working position midway, work efficiency can be improved.

According to this embodiment, the combine 1 includes a mobile terminal 40, and the mobile terminal 40 includes a terminal-side control device 41. The terminal-side control device 41 functions as a return route creation unit 53 that creates a return route 66 to the work route 63 based on the own vehicle position of the combine harvester 1 in response to a creation operation for the combine harvester 1 . The return travel control unit 37 automatically causes the combine harvester 1 to travel back based on the return route 66.

As a result, regardless of the position of the combine harvester 1 that has left the work route 63, the return route 66 is created from the own vehicle position of the combine harvester 1 when the return operation is performed, so that the combine harvester 1 is moved from an intermediate work position such as an ejection position. Even if they are separated, return travel can be performed based on the return route 66, and there is no need to move the combine 1 to an intermediate work position, so work efficiency can be improved.

According to the present embodiment, the return travel control unit 37 is configured to adjust the return position 65 provided at the end of the straight path 67 constituting the work route 63 and the own vehicle position of the combine harvester 1 when the return operation is performed. When the distance is equal to or greater than a predetermined separation threshold, the combine harvester 1 is automatically returned to the work route 63.

Thereby, when automatic operation is not required, such as when the own vehicle position of the combine 1 and the return position 65 are close, unnecessary return travel is not performed, so that workability can be improved.

According to this embodiment, the return travel control unit 37 determines the detachment position 64 where the combine harvester 1 leaves in the middle of the straight path 67 that constitutes the work route 63 and the own vehicle position of the combine harvester 1 when the return operation is performed. When the distance is equal to or greater than a predetermined distance threshold, the combine harvester 1 is automatically returned to the detached position 64.

As a result, when automatic operation is not required, such as when the own vehicle position of the combine harvester 1 and the detachment position 64 are close, unnecessary return travel is not performed, so that workability can be improved.

According to the present embodiment, the return route creation unit 53 is configured so that the combine harvester 1 is a work vehicle that is restricted from traveling without work in the unworked area 61 of the field 60, and the return route creation unit 53 creates a straight path 67 constituting the work route 63. When the combine harvester 1 leaves the detachment position 64 midway, the return route includes a first return route 66a that runs to the starting end of the straight route 67, and a second return route 66b that runs from the starting end of the straight route 67 to the detached position 64. Create 66.

Thereby, the return route 66 can be created by using the already created work route 63 as the second return route 66b, and the return travel can be performed smoothly.

According to the present embodiment, the terminal-side control device 41 functions as a work route creation unit 51 that creates a work route 63 including one or more straight routes 67, and the control device 30 operates as a combiner along the work route 63. 1 functions as an automatic travel control section 35 that causes the vehicle to travel automatically. The return route creation unit 53 sets a predetermined linear route 67 as a withdrawal route 67a, and when the combine harvester 1 leaves at the end of the withdrawal route 67a, the next straight route 67 after the withdrawal route 67a is set as the next route 67b, and the combine harvester 1 is separated in the direction orthogonal to the next route 67b, the corner of the unworked land 61 of the field 60 closest to the own vehicle position of the combine 1 is set as the approach corner 61a, and the approach corner is set in the orthogonal direction. A return route 66 is created that runs to the approach corner 61a so as to face the approach corner 61a. When the return route creating unit 53 creates a return route 66 facing the approach corner 61a in the orthogonal direction, the work route creating unit 51 creates the work route 63 so as to include a straight route 67 running in the orthogonal direction from the approach corner 61a. Re-create.

As a result, even if the own vehicle position of the combine harvester 1 is separated from the next route 67b, it is possible to smoothly return to the working route 63, and accordingly, the automatic traveling of the unworked area 61 is smoothed. can be resumed.

According to the present embodiment, the return route creation unit 53 sets a predetermined straight route 67 among the one or more straight routes 67 constituting the work route 63 as the withdrawal route 67a, so that the combine harvester 1 is located in the middle of the withdrawal route 67a. When leaving at a predetermined leaving position 64, a return route 66 is created that travels to the next route 67b, which is the next straight route 67 after the leaving route 67a, or to the starting end of the straight route 67 adjacent to the leaving route 67a.

As a result, even if the combine harvester 1 leaves in the middle of the withdrawal route 67a, it can smoothly return to the work route 63 and resume automatic travel in the unworked area 61 accordingly. As a result, work efficiency can be improved.

According to the present embodiment, the return travel control unit 37 sets a predetermined straight route 67 among the one or more straight routes 67 constituting the work route 63 as the withdrawal route 67a, and the combine harvester 1 is set in the middle of the withdrawal route 67a. When detached at a predetermined detachment position 64, the combine harvester 1 is returned to the starting point of the straight path 67 adjacent to the detached route 67a, and further, the combine harvester 1 continues traveling and working until the end of the straight route 67 adjacent to the detached route 67a. After that, the combine 1 is returned to the detachment position 64.

As a result, even if the combine harvester 1 leaves in the middle of the withdrawal route 67a, it can smoothly return to the work route 63 and resume automatic travel in the unworked area 61 accordingly. As a result, work efficiency can be improved.

In the first embodiment described above, an example of the combine harvester 1 configured as a self-extracting type combine harvester has been described, but the present invention is not limited to this example, and the combine harvester 1 may be configured as a normal type combine harvester.

Further, in the above-described first embodiment, an example in which the work vehicle is constituted 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 first embodiment is a vehicle that is restricted from traveling without work in an unworked area 61 of a farm field 60, and is not allowed to travel without work in an already worked area 62 of the farm field 60. Any vehicle is acceptable.

[Second embodiment]
In the first embodiment described above, an example has been described in which the work vehicle is the combine harvester 1 that is restricted from traveling without work in the unworked area 61 of the farm field 60, but the present invention is not limited to this example. For example, in the second embodiment, the working vehicle may be a vehicle such as a tractor 101 or a rice transplanter that is restricted from traveling in an unworked area 62 of the farm field 60 without doing work; 61, the vehicle may be allowed to travel without work. As a second embodiment of the work vehicle, a tractor 101 will be described with reference to FIG. 27 and the like. Note that the same description of the tractor 101 of the second embodiment as that of the combine harvester 1 of the first embodiment will be omitted.

As shown in FIG. 27, the tractor 101 includes a vehicle body 102 and a working machine 103, and is configured to perform work such as plowing with the working machine 103 while traveling with the vehicle body 102. In the tractor 101, a working machine 103 such as a rotary, a harrow, a loader, a plow, a box scraper, etc. that performs various works is attached to the vehicle body 102 as necessary.

The tractor 101 is set to either a manual drive mode or an automatic drive mode. When the manual travel mode is set, the tractor 101 performs manual travel in response to operations of various operating tools (handle, accelerator pedal, shift lever) by the operator. When the automatic driving mode is set, the vehicle speed, steering, etc. are controlled by the control device 130 so that the tractor 101 automatically travels along the work route 63. The tractor 101 performs various activities such as reciprocating along a plurality of straight paths 67 in an unworked area 61 of a farm field 60, and repeated laps along the straight path 67 while shifting from the center of the unworked area 61 toward the outside. Automatically runs the driving pattern. Further, the straight path 67 may be a curved straight path.

A pair of left and right front wheels 110 are provided on the front lower side of the vehicle body 102, and a pair of left and right rear wheels 111 are provided on the rear lower side of the vehicle body 102. A cabin 112 for an operator to board is provided in the upper part of the vehicle body 102, and a driver's seat and various operating tools are provided inside the cabin 112. Operating tools for controlling the traveling of the tractor 101 include a handle for instructing the turning of the body of the tractor 101, a main gear shift lever and an auxiliary gear shift lever for instructing changes in forward and backward speed of the tractor 101, and the like. . Further, the vehicle body 102 is provided with a power unit 113, a work implement lifting mechanism 114, a positioning unit 115 (see FIG. 28), and a control device 130.

The power unit 113 includes an engine 116 and a transmission 117, and the power of the engine 116 is changed in speed by the transmission 117 and transmitted to each front wheel 110 and each rear wheel 111. A pair of left and right lower links 118 , a top link 119 , and a PTO shaft 120 are connected to the rear of the transmission 117 . connected to the end and driven by the PTO shaft 120.

The work equipment lifting mechanism 114 includes a pair of left and right lift arms 121 and a lift cylinder 122 configured with a hydraulic cylinder. The tip of one lift arm 121 is connected to one lower link 118 via a link member 123, and the tip of the other lift arm 121 is connected to the other lower link 118 via a rolling cylinder 124. There is. The work implement lifting mechanism 114 can change the height of the work implement 103 supported by the vehicle body 102 by driving the lift cylinder 122. The work implement lifting mechanism 114 lowers the work implement 103 to a working position when performing work, and raises the work implement 103 to a non-working position when not performing work.

The working machine 103 is configured with a rotary, for example, and includes a tilling cover 125 extending in the left-right direction. A tilling rotating shaft 126 having a rotating shaft extending in the left-right direction is rotatably attached to the tilling cover 125, and the tilling rotating shaft 126 is rotated by the power transmitted from the PTO shaft 120. Further, a plurality of tilling claws 127 are provided on the tilling rotation shaft 126 at intervals in the left-right direction. The working machine 103 is configured so that the tilling claws 127 together with the tilling rotation shaft 126 rotate to till the soil in the field 60.

The positioning unit 115 is configured to obtain position information (positioning point) of the tractor 101 using a satellite positioning system such as GNSS, receives a positioning signal from a positioning satellite via a positioning antenna, and performs positioning based on the positioning signal. The position information of the positioning unit 115, that is, the position information of the tractor 101 is acquired. The positioning unit 115 may be configured with a quantum compass instead of the positioning antenna.

Next, the control device 130 will be explained. The control device 130 has the same functions as the control device 30 of the combine 1, and is composed of a computer such as a CPU, and as shown in FIG. 28, a storage section 131 such as ROM, RAM, hard disk drive, flash memory, etc. It is connected to a communication section 132 that communicates with external devices.

The storage unit 131 stores programs and data for controlling various components and functions of the tractor 101, and the control device 130 executes arithmetic processing based on the programs and data stored in the storage unit 131. controls various components and functions. The control device 130 obtains the vehicle position of the tractor 101 from the positioning unit 115, for example.

The communication unit 132 is capable of wireless communication with an external device such as a mobile terminal 140 owned by a worker via a wireless communication antenna. The control device 130 controls the communication unit 132 to perform wireless communication with the mobile terminal 140, and transmits and receives various information to and from the mobile terminal 140.

As shown in FIGS. 29 to 31, the control device 130 receives field information and work route 63 set for the field 60, which is the work target of the tractor 101, from the mobile terminal 140 via the communication unit 132. and stores it in the storage unit 131.

Further, the control device 130 operates as an automatic travel control section 135, a movement travel control section 136, and a return travel control section 137 by executing a program stored in the storage section 131. Note that the automatic travel control section 135, the movement travel control section 136, and the return travel control section 137 realize the automatic travel process, the movement travel process, and the return travel process of the automatic travel method according to the present invention.

The automatic travel control section 135 has the same function as the automatic travel control section 35 of the combine harvester 1, and controls automatic travel of the tractor 101 when the automatic travel mode is set. When automatic driving starts, the automatic driving control unit 135 acquires the own vehicle position of the tractor 101 from the positioning unit 115, and moves the tractor 101 along the working route 63 based on the own vehicle position, the field information, and the working route 63. The power unit 113, the steering device (not shown), and the work machine 103 are controlled to perform automatic travel. Note that when performing automatic travel, the automatic travel control unit 135 starts operating the work machine 103 and lowers the work machine 103 to the working position.

In addition, the automatic travel control unit 135 starts automatic travel in response to a predetermined interruption operation using an operating tool in the cabin 112 or the mobile terminal 140, or when a predetermined interruption condition based on the working state of the tractor 101 is satisfied. It is temporarily interrupted in the middle of the work route 63. At this time, the automatic travel control unit 135 stops the operation of the working machine 103 and raises the working machine 103 to the non-working position. When the tractor 101 that has interrupted automatic travel leaves the work route 63 by automatic operation or manual operation, the automatic travel control unit 135 stores the withdrawal position 64 in the storage unit 131 and sends it to the mobile terminal 140 via the communication unit 132. send to. Further, the automatic travel control unit 135 temporarily suspends the operation in response to a predetermined restart operation using the operating tool in the cabin 112 or the mobile terminal 140, or when a predetermined restart condition based on the working state of the tractor 101 is satisfied. Resume automatic driving.

The travel control unit 136 has the same function as the travel control unit 36 of the combine harvester 1, and moves the tractor 101 that has left the work route 63 at a predetermined departure position 64 to a work position that is halfway away from the work route 63. It controls the movement and movement of the vehicle, and the movement and movement are performed automatically or manually. For example, when the automatic travel control unit 135 of the tractor 101 temporarily suspends automatic travel, the mobile travel control unit 136 stops the operation of the work implement 103 and raises the work implement 103 to a non-working position, The tractor 101 moves in response to a predetermined movement operation using the operating tool or the mobile terminal 140, or when a predetermined movement condition based on the working state of the tractor 101 is satisfied.

The return travel control unit 137 has the same function as the return travel control unit 37 of the combine harvester 1, and when the tractor 101 is deviated from the work route 63, the return travel control unit 137 performs a return operation on the tractor 101 in the field 60. The tractor 101 is automatically returned to the work route 63. For example, after the tractor 101 leaves the work route 63, the return travel control unit 137 moves the tractor 101 from its own vehicle position to the work route 63 in response to a predetermined return operation using the operating tool in the cabin 112 or the mobile terminal 140. The return route 66 to the above predetermined return position 65 is acquired from the mobile terminal 140, and automatic operation is performed along the return route 66 while stopping the operation of the work implement 103 and raising the work implement 103 to the non-working position. The power unit 113 and the steering device (not shown) are controlled so that the vehicle returns to the return position 65. Note that when the return travel control unit 137 stops the return travel when the return position 65 is reached and then shifts to automatic travel, the return travel control unit 137 starts deceleration a predetermined distance before the return position 65 and returns to the return position. Set the vehicle speed to 0 at 65. At this time, in preparation for automatic travel, when the return position 65 is reached, the return travel control unit 137 automatically or in response to manual operation lowers the work equipment 103 to the work position or decelerates it. The work machine 103 may be automatically lowered to the work position while traveling. Alternatively, in the case of continuously transitioning from return travel to automatic travel, the return travel control unit 137 starts changing the vehicle speed a predetermined distance before the return position 65, and starts changing the vehicle speed at the return position 65 or before the return position 65. It is recommended to set the vehicle speed for automatic driving.

The mobile terminal 140 is one of the components of the tractor 101, has the same functions as the mobile terminal 40 of the combine harvester 1, and is a terminal that can remotely control the tractor 101, such as a tablet terminal with a touch panel or It consists of notebook personal computers, etc. Note that the cabin 112 may be equipped with an operating device similar to the mobile terminal 140. In the present invention, an automatic driving system is configured by the tractor 101 and the mobile terminal 140.

As shown in FIG. 28, the mobile terminal 140 includes a terminal-side control device 141 composed of a computer such as a CPU. It is connected to a storage unit 142 and a terminal-side communication unit 143 that communicates with external devices. The mobile terminal 140 also includes a display section 144 such as a touch panel or monitor for displaying various information and outputting it to the worker, and also includes a touch panel or monitor for receiving various information input operations from the worker. It includes an input section 145 such as operation keys.

The terminal-side storage unit 142 stores programs and data for controlling various components and functions of the mobile terminal 140, and the terminal-side control device 141 performs operations based on the programs and data stored in the terminal-side storage unit 142. By executing arithmetic processing using the mobile terminal 140, various components and functions of the mobile terminal 140 are controlled. The terminal side storage unit 142 stores field information of the field 60 on which the tractor 101 works.

The terminal side communication unit 143 is communicably connected to the communication unit 132 of the tractor 101 via a wireless communication antenna. The terminal-side control device 141 controls the terminal-side communication unit 143 to perform wireless communication with the tractor 101, and transmits and receives various information to and from the tractor 101.

The terminal-side control device 141 of the mobile terminal 140 executes the program stored in the terminal-side storage section 142 to control the field selection section 150, the work route creation section 151, the movement route creation section 152, the return route creation section 153, It operates as a display control section 154. The field selection unit 150, the work route creation unit 151, the movement route creation unit 152, and the return route creation unit 153 are configured to perform the field selection step, work route creation step, movement route creation step, and return route of the automatic traveling method according to the present invention. It realizes the creation process.

The field selection section 150 has the same function as the field selection section 50 of the combine harvester 1, and manually or automatically selects the field 60 that is the target of automatic travel of the tractor 101.

The work route creation unit 151 has the same function as the work route creation unit 51 of the combine harvester 1, and creates a work route 63 on which the tractor 101 works while traveling. A work route 63 (see FIGS. 29 to 31) for automatically traveling through the selected field 60 is created, stored in the terminal storage section 142, and transmitted to the tractor 101 via the terminal communication section 143. For example, the work route creation unit 151 creates a work route 63 for reciprocating travel along a plurality of straight routes 67 in an unworked area 61 inside the farm field 60 .

The travel route creation unit 152 has the same function as the travel route creation unit 52 of the combine harvester 1, and creates a travel route for the tractor 101 to travel from the detachment position 64 to the intermediate work position. The travel route includes traveling information regarding traveling, and the traveling information includes the traveling direction and set vehicle speed at each traveling position in addition to the traveling position in the field 60. Note that the vehicle speed set for the travel route may be set higher than the vehicle speed set for the work route 63 for automatic travel. When the travel route creation unit 152 creates the travel route, it stores it in the terminal side storage unit 142 and transmits it to the tractor 101 via the terminal side communication unit 143.

The return route creation unit 153 has the same function as the return route creation unit 53 of the combine harvester 1, and creates a return route 66 for returning the tractor 101 that has left the work route 63 by interrupting automatic travel to the work route 63. A return position 65 is set on the work route 63, and a return route 66 is created for automatically returning the tractor 101 from its own vehicle position to the return position 65 and stored in the terminal storage unit 142. and transmits it to the tractor 101 via the communication unit 132. The return route 66 includes travel information regarding travel, and the travel information includes, in addition to the travel position in the field 60, the traveling direction and set vehicle speed at each travel position. Note that the set vehicle speed of the return route 66 may be set higher than the set vehicle speed of the automatic travel work route 63. In response to a predetermined creation operation using the operating tool in the cabin 112 or the mobile terminal 140, the return route creation unit 153 acquires the own vehicle position of the tractor 101 at the time when the creation operation is performed from the positioning unit 115 of the tractor 101. Then, a return route 66 from the own vehicle position to the return position 65 is created. Note that the return route creation unit 153 may create the return route 66 so that it travels straight ahead for at least a predetermined distance in the same direction as the traveling direction of the work route 63 and reaches the return position 65; in other words, the return route 66 is It is preferable to set a straight path at least a predetermined distance or more at the end.

For example, the return route creation unit 153 can create the same return route 66 as in the first to seventeenth examples of the first embodiment, but in the second embodiment, in particular, the return route creation unit 153 For example, the return route 66 is created so that the tractor 101 moves in the shortest distance while avoiding the already worked area 62. In other words, the return route 66 is created so that the tractor 101 returns to the unworked area 61. . In any case where any of the first to seventeenth embodiments is applied, the return route creation unit 153 allows the tractor 101 to travel from the own vehicle position at the time of the creation operation to the return position 65 in the shortest possible time while avoiding the existing work area 62. A return route 66 is created by combining a straight route and a turning route so as to move by a distance.

[18th Example]
For example, as shown in FIG. 29, in an eighteenth embodiment similar to the first embodiment, the tractor 101 uses a predetermined linear route 67 constituting the work route 63 as a withdrawal route 67a, and leaves the terminal of the withdrawal route 67a. When automatic travel is interrupted at position 64 and the user leaves the work route 63, the return route creation unit 153 sets the straight route 67 connected next to the departure route 67a as the next route 67b, and sets the next route 67b as the next route 67b. A return position 65 is set at the starting end. At this time, the return route creation unit 153 creates a return route 66 so that the tractor 101 moves from the own vehicle position at the time of the creation operation to the return position 65 at the starting end of the next route 67b while avoiding the existing work area 62. Although FIG. 29 shows an example in which a work route 63 for reciprocating work that reciprocates along a plurality of straight routes 67 with respect to an unworked area 61 of a farm field 60 is created, other examples of the 18th embodiment Even if the work route 63 for the circular work is created as follows, the return route creation unit 153 similarly sets the straight route 67 connected next to the departure route 67a as the next route 67b, and sets the starting point of the next route 67b. The return position 65 may be set to .

[19th Example]
Further, as shown in FIG. 30, in the nineteenth embodiment, which has the same situation as the second embodiment, the tractor 101 takes a predetermined straight route 67 that constitutes the work route 63 as the withdrawal route 67a, and When the automatic travel is interrupted and the vehicle leaves the work route 63 at the departure position 64 , the return route creation unit 153 may set the return position 65 at the departure position 64 . At this time, the return route creation unit 153 moves the tractor 101 from the self-vehicle position of the tractor 101 at the time of the creation operation to a position spaced apart from the departure position 64 on the opposite side of the already worked area 62 on the withdrawal route 67a. A first return route 66k is created so as to move while avoiding the existing work area 62. Further, the return route creation unit 153 creates a second return route 66m that travels backward from the end of the first return route 66k to the return position 65 of the withdrawal position 64. Note that the return route creation unit 153 may acquire a part of the departure route 67a as the second return route 66m. Then, the return route creation unit 153 creates a return route 66 having a first return route 66k and a second return route 66m.

Note that if there is an existing work area 62 between the vehicle position of the tractor 101 at the time of the creation operation and the detached position 64, the return route creation unit 153 creates the first return route 66k and the second return route 66k as described above. A return route 66 having a route of 66 m may be created, but on the other hand, if there is no existing work area 62 between the own vehicle position and the departure position 64, the return route creation unit 153 creates a return route 66 from the own vehicle position to the departure position A return route 66 may be created that travels the shortest distance up to 64 while avoiding the existing work area 62. In the nineteenth embodiment, as shown in FIG. 30, an example is shown in which a work route 63 for reciprocating work that reciprocates along a plurality of straight routes 67 with respect to an unworked area 61 of a field 60 is created. As another example of the nineteenth embodiment, even if the work route 63 for the circular work is created, the return route creation unit 153 may similarly set the return position 65 on the withdrawal route 67a.

[Twentieth Example]
Alternatively, as shown in FIG. 31, in the 20th embodiment, which has the same situation as the 2nd embodiment, the tractor 101 uses a predetermined straight path 67 that constitutes the work route 63 as the withdrawal route 67a, and If the automatic travel is interrupted and the vehicle leaves the work route 63 at the departure position 64, the return route creation unit 153 may set the return position 65 at the starting end of the departure route 67a. At this time, the return route creation unit 153 creates a return route so that the tractor 101 moves from the self-vehicle position of the tractor 101 at the time of the creation operation to the return position 65 at the starting end of the withdrawal route 67a while avoiding the existing work area 62. Create 66. Further, after the tractor 101 has returned to the return position 65 at the starting end of the withdrawal route 67a, the tractor 101 may perform automatic travel with plowing work from the return position 65 to the withdrawal position 64 based on the work route 63, or Automatic driving without plowing work may also be performed.

Note that if there is an existing work area 62 between the own vehicle position of the tractor 101 at the time of the creation operation and the withdrawal position 64, the return route creation unit 153 creates a return route toward the starting end of the withdrawal route 67a as described above. However, if there is no existing work area 62 between the own vehicle position and the detached position 64, the return route creation unit 153 creates the existing work area 62 from the own vehicle position to the detached position 64. A return route 66 may be created that moves the shortest distance while avoiding. In the 20th embodiment, as shown in FIG. 31, an example is shown in which a work route 63 for reciprocating work that reciprocates along a plurality of straight routes 67 with respect to an unworked area 61 of a field 60 is created. As another example of the 20th embodiment, even if the work route 63 for the circular work is created, the return route creation unit 153 may similarly set the return position 65 on the withdrawal route 67a. Further, when the distance from the starting end of the withdrawal route 67a to the withdrawal position 64 is equal to or greater than a predetermined distance threshold (that is, when the existing work area 62 on the withdrawal route 67a is equal to or greater than a predetermined mowing distance), the return route creation unit 153 , when the nineteenth embodiment is applied and the distance from the starting end of the withdrawal route 67a to the withdrawal position 64 is less than a predetermined distance threshold (that is, when the existing work area 62 of the withdrawal route 67a is less than the predetermined mowing distance). , the twentieth embodiment may be applied. Alternatively, if the distance from the withdrawal position 64 to the end of the withdrawal route 67a is less than a predetermined distance threshold (that is, if the unworked area 61 of the withdrawal route 67a is less than a predetermined uncut distance) The nineteenth embodiment is applied to the case where the distance from the withdrawal position 64 to the end of the withdrawal route 67a is equal to or greater than a predetermined distance threshold (that is, when the unworked land 61 on the withdrawal route 67a is equal to or greater than the predetermined uncut distance). In this case, the 20th embodiment may be applied. Alternatively, the return route creation unit 153 may apply either the twelfth embodiment or the thirteenth embodiment according to an arbitrary operation by the operator.

The display control unit 154 has the same function as the display control unit 54 of the combine harvester 1, and displays a work screen 70 (see FIG. 26) on the display unit 144 for automatically traveling and returning to the field 60 that is the work target. Control what is displayed. The display control unit 154 displays at least a map field 71, a travel start button 72, and a return route creation button 73 on the work screen 70.

Similarly to the first embodiment, the display control unit 154 displays the outline of the farm field 60 in the map field 71, and further displays the own vehicle of the tractor 101 at the own vehicle position of the tractor 101 determined by the positioning unit 115 of the tractor 101. A sign 74 is displayed. The display control unit 154 displays an unworked area 61, an already worked area 62, and a work route 63 in the map column 71. Further, the display control unit 154 displays a departure position 64, a return position 65, a return route 66, and a direction line 75 in the map field 71 as necessary. In the second embodiment, the functions and operations of the work screen 70 (particularly the functions and operations of the map field 71, travel start button 72, and return route creation button 73) are the same as those in the first embodiment, so the description thereof will be omitted. Omitted.

As described above, according to the second embodiment, the tractor 101 is a work vehicle that is restricted from traveling without work in the existing work area 62 of the farm field 60, and the return travel control unit 137 The tractor 101 is automatically returned to travel so as to travel on an unworked area 61.

Thereby, the tractor 101 can return to work without trampling the existing work area 62, and work efficiency can be improved.

According to the present embodiment, when the tractor 101 leaves at the leaving position 64 in the middle of the straight line route 67 constituting the work route 63, the return route creating unit 153 determines whether there is any unworked work on the straight line route 67 separated from the leaving position 64. A return route 66 is created having a first return route 66k that travels to the ground 61 and a second return route 66m that travels backward from the end of the first return route 66k to the departure position 64.

Thereby, even if the tractor 101 leaves in the middle of the withdrawal route 67a, it can return to the work route 63 without trampling the existing work area 62 and return smoothly to the work route 63, improving work efficiency. .

According to the present embodiment, when the tractor 101 leaves at a separation position 64 that is less than a predetermined distance from the starting end of the straight path 67 in the middle of the straight path 67 that constitutes the work path 63, the return route creation unit 153 A return route 66 that travels to the starting end of the straight route 67 is created.

Thereby, the return route 66 can be created in accordance with the working conditions of the field 60, and the return travel can be carried out efficiently, thereby improving work efficiency.

In the second embodiment, an example will be described in which the selection operation of the travel start button 72 is used as a trigger for starting return travel, but the present invention is not limited to this example. For example, the completion of replenishment of materials and fuel may be used as a trigger for starting return travel, or the creation of the return route 66 may be used as a trigger for starting return travel.

Further, in the second embodiment described above, an example was described in which the work vehicle is constituted by the tractor 101, but the present invention is not limited to this example. For example, the work vehicle of the second embodiment is a vehicle that is restricted from traveling without work in an already worked area 62 of a farm field 60, and is not permitted to travel without work in an unworked area 61 of the farm field 60. Any vehicle is acceptable.

In addition, in the above-described first embodiment and second embodiment, the combine harvester 1 and the tractor 101 that have left the work route 63 are returned to predetermined positions on the work route 63 as in the first to 20th embodiments. Although an example has been described in which the return position 65 is set, a return route 66 is created, and the return travel is automatically performed along the return route 66 toward the work route 63, the present invention is not limited to this example. In another example, the combine 1 and the tractor 101 set the return position 65 at a predetermined position on the work path 63 as in the first to 20th embodiments, and then return to the return position 65 according to manual operation. You can also run it manually.

Incidentally, in the first embodiment and the second embodiment described above, the combine 1 and the tractor 101 are respectively provided with a main shift lever and a sub-shift lever for instructing a change in forward/backward speed. The auxiliary gear shift lever (shift member) makes it possible to change the set vehicle speed in multiple stages (e.g., high speed, medium speed, low speed, etc.), while the main gear shift lever allows you to change the amount of operation for forward or reverse operation (for example, tilting operation). The set vehicle speed can be continuously variable depending on the amount of vehicle. The combine 1 and the tractor 101 are used for the reaping section 3 and the tractor 101, in addition to the above-mentioned discharge travel and return travel during the work in the field 60, discharge travel when the work in the field 60 is completed, entry travel to and exit from the field 60, etc. When the work machine 103 is moving and not involved in any work, the sub-shift lever is normally disabled to ensure safety.

On the other hand, in another example, the combine 1 and the tractor 101 may be configured to be able to switch the sub-shift lever even while moving, depending on predetermined switching conditions. In addition, the combine 1 and the tractor 101 may be configured so that the sub-shift lever can be switched to either the high-speed side or the low-speed side, or the sub-shift lever may be switchable regardless of whether the vehicle is moving forward or backward. . Further, the combine 1 and the tractor 101 may automatically switch the sub-shift lever when the switching conditions are satisfied, or may switch the sub-shift lever according to manual operation.

For example, the combine 1 and the tractor 101 may move straight sections of a predetermined travel distance or more (gentle curvature radius or more (including curves such as
Further, the switching condition may be that the remaining length of the permissible route is greater than or equal to a predetermined permissible length while traveling on the permissible route. When this switching condition is satisfied, the combine 1 and the tractor 101 may switch the sub-shift lever to the high speed side. The combine 1 and the tractor 101 may make the sub-shift lever switchable regardless of whether the allowable route is along the working route 63 or not, if the switching conditions are satisfied for the allowable route.

Note that, since the combine 1 and the tractor 101 create a travel route by combining straight portions and turning portions, the vehicle speed may be set lower in the turning portions than in the straight portions. In this case, when the combine 1 and the tractor 101 transition from a straight section to a turning section, it is necessary to decelerate at the end of the straight section. The remaining length of the allowable path that does not include the deceleration section on the side is determined, and the sub-shift lever is disabled in the deceleration section.

Further, the switch condition for the combine harvester 1 and the tractor 101 may be that the reaping section 3 or the working machine 103 has stopped operating or is in a non-working position while traveling on the permissible route. Furthermore, the combine harvester 1 and the tractor 101 may be switched if they continue to travel on the permissible route for a predetermined distance or for a predetermined period of time. In addition, it is preferable that the combine 1 and the tractor 101 automatically return the switching of the sub-shift lever while traveling on the permissible route to the original state when the end of the permissible route is reached.

Furthermore, when the sub-shift lever is operated when the switching conditions are not satisfied, the combine 1 and the tractor 101 notify by display, voice, buzzer, etc. that the sub-shift lever cannot be switched. The combine 1 and the tractor 101 may notify by display, voice, buzzer, etc. that the sub-shift lever can be switched when the switching conditions are satisfied. The combine 1 and the tractor 101 may notify by display, sound, buzzer, etc. that they will decelerate when transitioning from a straight section to a turning section on the moving route or that the sub-shift lever should be switched back to its original state.

It should be noted that the present invention can be modified as appropriate within the scope of the gist or idea of the invention that can be read from the claims and the entire specification, and the automatic driving method, work vehicle, and automatic driving system that involve such changes may be modified. is also included in the technical idea of the present invention.

[Additional notes to the invention]
Hereinafter, a summary of the invention extracted from the above-described embodiments will be added. Note that each configuration and each processing function described in the following supplementary notes can be selected and combined as desired.

<Additional note 1>
An automatic driving method for a work vehicle that automatically travels along a preset work route in a field, the method comprising:
The method further includes a return traveling step of automatically returning the working vehicle toward the working route in response to a return operation for the working vehicle in the field when the working vehicle has left the working route. An automatic driving method featuring:

<Additional note 2>
further comprising a return route creation step of creating a return route to the work route based on the own vehicle position of the work vehicle in response to the creation operation for the work vehicle;
The automatic traveling method according to Supplementary Note 1, wherein the return traveling step automatically causes the work vehicle to travel back based on the return route.

<Additional note 3>
In the return traveling process, the distance between a return position provided at an end of a straight path constituting the work route and the own vehicle position of the work vehicle at the time of performing the return operation is equal to or greater than a predetermined distance threshold. In this case, the automatic traveling method according to appendix 1 or 2, characterized in that the working vehicle is automatically returned to the working route.

<Additional note 4>
In the return traveling process, the distance between the disengagement position from which the work vehicle left in the middle of the straight path constituting the work route and the own vehicle position of the work vehicle at the time of performing the return operation is a predetermined distance. The automatic traveling method according to any one of appendices 1 to 3, characterized in that when the threshold value is exceeded, the working vehicle is automatically returned to the detached position.

<Additional note 5>
In the return traveling process, if the working vehicle is a vehicle that is restricted from traveling without work in an already worked area of the field, the working vehicle is automatically returned so as to travel in an unworked area of the field. The automatic driving method according to any one of Supplementary Notes 1 to 4, characterized in that:

<Additional note 6>
In the return route creation step, the work vehicle is a vehicle that is restricted from traveling without work in an existing work area of the field, and the work vehicle is located at a departure position in the middle of a straight route constituting the work route. When detached, the vehicle has a first return route that travels to an unworked area on the straight path away from the detached position, and a second return route that travels backward from the end of the first return route to the detached position. The automatic driving method according to any one of appendices 2 to 4, characterized in that a return route is created.

<Additional note 7>
In the return route creation step, the work vehicle is a vehicle that is restricted from traveling without work in the existing work area of the field, and the work vehicle is a vehicle that is restricted from traveling without work in the existing work area of the field, and the work vehicle is located in the middle of a straight route constituting the work route, from the starting end of the straight route. The automatic driving method according to any one of appendices 2 to 4, characterized in that when the work vehicle leaves at a departure position less than a predetermined separation distance, the return route is created to travel to the starting end of the straight route.

<Additional note 8>
In the return route creation step, the work vehicle is a vehicle that is restricted from traveling without work in an unworked area of the field, and the work vehicle is at a departure position in the middle of a straight route constituting the work route. A supplementary note characterized in that when the vehicle leaves, the return route is created having a first return route that runs to the starting end of the linear route, and a second return route that runs from the starting end to the detached position on the linear route. The automatic driving method according to any one of 2 to 4.

<Additional note 9>
a work route creation step of creating the work route including one or more straight routes;
an automatic driving step of automatically driving the work vehicle along the work route,
The return route creation step is performed when the work vehicle leaves at the end of the departure route using the predetermined straight route as the departure route, and the work vehicle departs from the work vehicle by using the straight route next to the departure route as the next route. When the vehicle is separated in a direction orthogonal to the next route, the corner of the unworked area of the field closest to the vehicle position of the working vehicle is set as the approach corner, and the approach angle is set in the orthogonal direction. creating the return route that runs to the approach corner so as to face the corner;
In the work route creation step, when the return route creation step creates the return route facing the approach corner in the orthogonal direction, the work route is configured to include a straight path running from the approach corner in the orthogonal direction. The automatic driving method according to any one of Supplementary Notes 2 to 4, characterized by recreating a route.

<Additional note 10>
In the return route creation step, a predetermined straight route among one or more straight routes constituting the work route is set as an exit route, and when the work vehicle leaves at a predetermined exit position in the middle of the exit route, The automatic driving method according to any one of appendices 2 to 4, characterized in that the return route is created that travels to the straight line route next to the departure route or to the starting end of the straight route adjacent to the departure route.

<Additional note 11>
In the return traveling step, when the work vehicle leaves at a predetermined departure position in the middle of the departure route, using a predetermined straight route as the departure route among one or more straight routes constituting the work route, After the work vehicle returns to the starting end of the straight path adjacent to the withdrawal route, and further travels and works to the end of the straight route adjacent to the withdrawal route, the work vehicle returns to the withdrawal position. The automatic traveling method according to any one of Supplementary Notes 1 to 4, which comprises causing the work vehicle to return to its original position.

<Additional note 12>
Normally, switching of the transmission member that can change the set vehicle speed in multiple stages is disabled during traveling that does not involve work, but a predetermined switching condition is set in a straight line portion of a travel route that does not involve work that exceeds a predetermined travel distance. The automatic driving method according to any one of Supplementary Notes 1 to 11, characterized in that the automatic driving method can be switched according to the following.

<Additional note 13>
A work vehicle that automatically travels along a preset work route in a field,
a return travel control unit that automatically causes the work vehicle to return toward the work route in response to a return operation for the work vehicle in the field when the work vehicle has left the work route; A work vehicle characterized by:

<Additional note 14>
further comprising a return route creation unit that creates a return route to the work route based on the own vehicle position of the work vehicle in response to a creation operation for the work vehicle;
The work vehicle according to appendix 13, wherein the return travel control unit automatically causes the work vehicle to return travel based on the return route.

<Additional note 15>
The return travel control unit is configured such that a distance between a return position provided at an end of a straight path constituting the work route and the own vehicle position of the work vehicle when the return operation is performed is a predetermined separation threshold value. In the above case, the work vehicle according to appendix 13 or 14, wherein the work vehicle is automatically returned to the work route.

<Additional note 16>
The return travel control unit is configured to control a distance between a detachment position from which the work vehicle left midway along a straight line constituting the work route and the own vehicle position of the work vehicle at the time of performing the return operation to be a predetermined distance. The work vehicle according to any one of appendices 13 to 15, characterized in that when the distance is equal to or greater than a separation threshold, the work vehicle is automatically returned to the detached position.

<Additional note 17>
When the work vehicle is a vehicle that is restricted from traveling without work in an already worked area of the field, the return travel control unit automatically returns the work vehicle to travel in an unworked area of the field. The work vehicle according to any one of appendices 13 to 16, characterized in that the work vehicle is driven.

<Additional note 18>
The return route creation unit is a vehicle in which the work vehicle is restricted from traveling without work in the existing work area of the field, and the work vehicle When detached, the vehicle has a first return route that travels to an unworked area on the straight path away from the detached position, and a second return route that travels backward from the end of the first return route to the detached position. The work vehicle according to any one of appendices 14 to 16, characterized in that a return route is created.

<Additional note 19>
The return route creation unit is a vehicle in which the work vehicle is restricted from traveling without work in an existing work area of the field, and the return route creation unit is a vehicle that is restricted from traveling without work in an existing work area of the field, and the return route creation unit 17. The work vehicle according to any one of appendices 14 to 16, wherein when the work vehicle leaves at a departure position less than a predetermined separation distance, the work vehicle creates the return route that travels to the starting end of the straight route.

<Additional note 20>
The return route creation unit is a vehicle in which the work vehicle is restricted from traveling without work in an unworked area of the field, and the work vehicle is configured to prevent the work vehicle from moving at a departure position in the middle of a straight route constituting the work route. A supplementary note characterized in that when the vehicle leaves, the return route is created having a first return route that runs to the starting end of the linear route, and a second return route that runs from the starting end to the detached position on the linear route. 16. The work vehicle according to any one of 14 to 16.

<Additional note 21>
a work route creation unit that creates the work route including one or more straight routes;
an automatic travel control unit that automatically travels the work vehicle along the work route,
The return route creation unit is configured to set the predetermined linear route as an exit route, and when the work vehicle leaves at the end of the exit route, set the straight route next to the exit route as the next route for the work. When the vehicle is separated in a direction orthogonal to the next route, the corner of the unworked area of the field closest to the vehicle position of the working vehicle is set as the approach corner, and the approach angle is set in the orthogonal direction. creating the return route that runs to the approach corner so as to face the corner;
When the return route creation unit creates the return route facing the approach corner in the orthogonal direction, the work route creation unit is configured to create the work route so that the return route includes a straight route running from the approach corner in the orthogonal direction. The work vehicle according to any one of appendices 14 to 16, characterized in that the work vehicle recreates a route.

<Additional note 22>
The return route creation unit sets a predetermined straight route among the one or more straight routes constituting the work route as an exit route, and when the work vehicle leaves at a predetermined exit position in the middle of the exit route, 17. The work vehicle according to any one of appendices 14 to 16, wherein the return route is created so that the return route travels to the next straight route after the departure route or to the starting end of the straight route adjacent to the departure route.

<Additional note 23>
The return travel control unit sets a predetermined straight route among the one or more straight routes constituting the work route as an exit route, and when the work vehicle leaves at a predetermined exit position in the middle of the exit route, After the work vehicle returns to the starting point of the linear route adjacent to the withdrawal route, and further travels and works to the end of the straight route adjacent to the withdrawal route, the work vehicle returns to the withdrawal position. The work vehicle according to any one of appendices 13 to 16, characterized in that the work vehicle is caused to travel back.

<Additional note 24>
Normally, switching of the transmission member that can change the set vehicle speed in multiple stages is disabled during traveling that does not involve work, but a predetermined switching condition is set in a straight line portion of a travel route that does not involve work that exceeds a predetermined travel distance. 24. The work vehicle according to any one of appendices 13 to 23, characterized in that the work vehicle can be switched according to the following.

<Additional note 25>
An automatic driving system for a work vehicle that automatically travels along a preset work route in a field,
a return travel control unit that automatically causes the work vehicle to return toward the work route in response to a return operation for the work vehicle in the field when the work vehicle has left the work route; An automatic driving system characterized by:

<Additional note 26>
further comprising a return route creation unit that creates a return route to the work route based on the own vehicle position of the work vehicle in response to a creation operation for the work vehicle;
26. The automatic driving system according to appendix 25, wherein the return travel control unit automatically causes the work vehicle to return to the vehicle based on the return route.

<Additional note 27>
The return travel control unit is configured such that a distance between a return position provided at an end of a straight path constituting the work route and the own vehicle position of the work vehicle when the return operation is performed is a predetermined separation threshold value. In the above case, the automatic driving system according to appendix 25 or 26, characterized in that the work vehicle is automatically returned to the work route.

<Additional note 28>
The return travel control unit is configured to control a distance between a detachment position from which the work vehicle left midway along a straight line constituting the work route and the own vehicle position of the work vehicle at the time of performing the return operation to be a predetermined distance. 28. The automatic driving system according to any one of appendices 25 to 27, characterized in that when the distance is equal to or greater than a separation threshold, the work vehicle is automatically returned to the detached position.

<Additional note 29>
When the work vehicle is a vehicle that is restricted from traveling without work in an already worked area of the field, the return travel control unit automatically returns the work vehicle to travel in an unworked area of the field. The automatic driving system according to any one of appendices 25 to 28, characterized in that the automatic driving system is caused to run.

<Additional note 30>
The return route creation unit is a vehicle in which the work vehicle is restricted from traveling without work in the existing work area of the field, and the work vehicle When detached, the vehicle has a first return route that travels to an unworked area on the straight path away from the detached position, and a second return route that travels backward from the end of the first return route to the detached position. The automatic driving system according to any one of appendices 26 to 28, characterized in that a return route is created.

<Additional note 31>
The return route creation unit is a vehicle in which the work vehicle is restricted from traveling without work in an existing work area of the field, and the return route creation unit is a vehicle that is restricted from traveling without work in an existing work area of the field, and the return route creation unit 29. The automatic driving system according to any one of appendices 26 to 28, characterized in that when the work vehicle leaves at a departure position less than a predetermined separation distance, the automatic driving system creates the return route that travels to the starting end of the straight route.

<Additional note 32>
The return route creation unit is a vehicle in which the work vehicle is restricted from traveling without work in an unworked area of the field, and the work vehicle is configured to prevent the work vehicle from moving at a departure position in the middle of a straight route constituting the work route. A supplementary note characterized in that when the vehicle leaves, the return route is created having a first return route that runs to the starting end of the linear route, and a second return route that runs from the starting end to the detached position on the linear route. The automatic driving system according to any one of 26 to 28.

<Additional note 34>
a work route creation unit that creates the work route including one or more straight routes;
an automatic travel control unit that automatically travels the work vehicle along the work route,
The return route creation unit is configured to set the predetermined linear route as an exit route, and when the work vehicle leaves at the end of the exit route, set the straight route next to the exit route as the next route for the work. When the vehicle is separated in a direction orthogonal to the next route, the corner of the unworked area of the field closest to the vehicle position of the working vehicle is set as the approach corner, and the approach angle is set in the orthogonal direction. creating the return route that runs to the approach corner so as to face the corner;
When the return route creation unit creates the return route facing the approach corner in the orthogonal direction, the work route creation unit is configured to create the work route so that the return route includes a straight route running from the approach corner in the orthogonal direction. 29. The automatic driving system according to any one of appendices 26 to 28, characterized in that the route is recreated.

<Additional note 34>
The return route creation unit sets a predetermined straight route among the one or more straight routes constituting the work route as an exit route, and when the work vehicle leaves at a predetermined exit position in the middle of the exit route, 29. The automatic driving system according to any one of appendices 26 to 28, wherein the automatic driving system creates the return route that travels to the next straight route after the departure route or to the starting end of the straight route adjacent to the departure route.

<Additional note 35>
The return travel control unit sets a predetermined straight route among the one or more straight routes constituting the work route as an exit route, and when the work vehicle leaves at a predetermined exit position in the middle of the exit route, After the work vehicle returns to the starting point of the linear route adjacent to the withdrawal route, and further travels and works to the end of the straight route adjacent to the withdrawal route, the work vehicle returns to the withdrawal position. The automatic driving system according to any one of appendices 25 to 28, characterized in that the work vehicle is caused to return to its original position.

<Additional note 36>
Normally, switching of the transmission member that can change the set vehicle speed in multiple stages is disabled during traveling that does not involve work, but a predetermined switching condition is set in a straight line portion of a travel route that does not involve work that exceeds a predetermined travel distance. 36. The automatic driving system according to any one of appendices 25 to 35, characterized in that the automatic driving system can be switched according to the following.

1 Combine harvester (work vehicle)
2 Traveling section 3 Reaping section 30 Control device 35 Automatic traveling control section 37 Return traveling control section 40 Mobile terminal 41 Terminal side control device 44 Display section 51 Work route creation section 53 Return route creation section 54 Display control section 60 Field 61 Unworked area 62 Existing work area 63 Work route 64 Departure position 65 Return position 66 Return route 70 Work screen 73 Return route creation button 101 Tractor 102 Vehicle body 103 Work equipment 130 Control device 135 Automatic travel control unit 137 Return travel control unit 140 Mobile terminal 141 Terminal side Control device 144 Display unit 151 Work route creation unit 153 Return route creation unit 154 Display control unit

Claims (14)

An automatic driving method for a work vehicle that automatically travels along a preset work route in a field, the method comprising:
The method further includes a return traveling step of automatically returning the working vehicle toward the working route in response to a return operation for the working vehicle in the field when the working vehicle has left the working route. An automatic driving method featuring:
further comprising a return route creation step of creating a return route to the work route based on the own vehicle position of the work vehicle in response to the creation operation for the work vehicle;
2. The automatic traveling method according to claim 1, wherein the return traveling step automatically causes the work vehicle to travel back based on the return route.
In the return traveling process, the distance between a return position provided at an end of a straight path constituting the work route and the own vehicle position of the work vehicle at the time of performing the return operation is equal to or greater than a predetermined distance threshold. 3. The automatic driving method according to claim 1, further comprising automatically causing the work vehicle to return to the work route in this case.
In the return traveling process, the distance between the disengagement position from which the work vehicle left in the middle of the straight path constituting the work route and the own vehicle position of the work vehicle at the time of performing the return operation is a predetermined distance. 3. The automatic traveling method according to claim 1, further comprising automatically causing the work vehicle to return to the detached position when the threshold value is exceeded.
In the return traveling process, if the working vehicle is a vehicle that is restricted from traveling without work in an already worked area of the field, the working vehicle is automatically returned so as to travel in an unworked area of the field. The automatic driving method according to claim 1 or 2, characterized in that:
In the return route creation step, the work vehicle is a vehicle that is restricted from traveling without work in an existing work area of the field, and the work vehicle is located at a departure position in the middle of a straight route constituting the work route. When detached, the vehicle has a first return route that travels to an unworked area on the straight path away from the detached position, and a second return route that travels backward from the end of the first return route to the detached position. 3. The automatic driving method according to claim 2, further comprising creating a return route.
In the return route creation step, the work vehicle is a vehicle that is restricted from traveling without work in the existing work area of the field, and the work vehicle is a vehicle that is restricted from traveling without work in the existing work area of the field, and the work vehicle is located in the middle of a straight route constituting the work route, from the starting end of the straight route. 3. The automatic driving method according to claim 2, further comprising creating a return route in which the work vehicle travels to a starting end of the straight route when the work vehicle leaves the departure position at a separation distance less than a predetermined separation distance.
In the return route creation step, the work vehicle is a vehicle that is restricted from traveling without work in an unworked area of the field, and the work vehicle is at a departure position in the middle of a straight route constituting the work route. In the case of detachment, the return route is created having a first return route that runs to the starting end of the linear route, and a second return route that runs from the starting end to the detached position on the linear route. The automatic driving method described in Section 2.
a work route creation step of creating the work route including one or more straight routes;
an automatic driving step of automatically driving the work vehicle along the work route,
The return route creation step is performed when the work vehicle leaves at the end of the departure route using the predetermined straight route as the departure route, and the work vehicle departs from the work vehicle by using the straight route next to the departure route as the next route. When the vehicle is separated in a direction orthogonal to the next route, the corner of the unworked area of the field closest to the vehicle position of the working vehicle is set as the approach corner, and the approach angle is set in the orthogonal direction. creating the return route that runs to the approach corner so as to face the corner;
In the work route creation step, when the return route creation step creates the return route facing the approach corner in the orthogonal direction, the work route is configured to include a straight path running from the approach corner in the orthogonal direction. 3. The automatic driving method according to claim 2, further comprising recreating a route.
In the return route creation step, a predetermined straight route among one or more straight routes constituting the work route is set as an exit route, and when the work vehicle leaves at a predetermined exit position in the middle of the exit route, 3. The automatic driving method according to claim 2, further comprising creating the return route that travels to the straight line route next to the departure route or to the starting end of the straight route adjacent to the departure route.
In the return traveling step, when the work vehicle leaves at a predetermined departure position in the middle of the departure route, using a predetermined straight route as the departure route among one or more straight routes constituting the work route, After the work vehicle returns to the starting end of the straight path adjacent to the withdrawal route, and further travels and works to the end of the straight route adjacent to the withdrawal route, the work vehicle returns to the withdrawal position. The automatic traveling method according to claim 1 or 2, characterized in that the work vehicle is caused to travel back.
Normally, switching of the transmission member that can change the set vehicle speed in multiple stages is disabled during traveling that does not involve work, but a predetermined switching condition is set in a straight line portion of a travel route that does not involve work that exceeds a predetermined travel distance. 2. The automatic driving method according to claim 1, wherein the automatic driving method is switchable according to the following.
A work vehicle that automatically travels along a preset work route in a field,
a return travel control unit that automatically causes the work vehicle to return toward the work route in response to a return operation for the work vehicle in the field when the work vehicle has left the work route; A work vehicle characterized by:
An automatic driving system for a work vehicle that automatically travels along a preset work route in a field,
a return travel control unit that automatically causes the work vehicle to return toward the work route in response to a return operation for the work vehicle in the field when the work vehicle has left the work route; An automatic driving system characterized by:

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