JP2024118489A - Motion control method, motion control system, and motion control program - Google Patents

Abstract

The present invention provides a motion control method, a motion control system, and a motion control program that are capable of improving the work efficiency of a work unit that performs a specified task on a work object while discharging waste generated by the task into a travel trail.
[Solution] An automatic driving system 10 drives along a target route R while performing a mowing operation on a work object, and controls the operation of a mowing unit 15 provided on a combine harvester 1 that discharges waste generated by the mowing operation into a trail along the target route R. A motion processing unit 113 gradually changes the attitude of the mowing unit 15 based on at least one of the position of the discharged waste and the position of the work object.
[Selected Figure] Figure 1

Description

The present invention relates to a technology for controlling the operation of a working part of a work vehicle.

Conventionally, there is known a work vehicle (e.g., a combine harvester) that automatically travels along a preset target route in a field. For example, the work vehicle performs a harvesting operation on stalks in a field while automatically traveling along a target route from a start position to an end position (see, for example, Patent Document 1).

JP 2021-185852 A

Conventional work vehicles are configured to lower the cutting unit to a specified working position when entering a work area to perform cutting work, and to raise the cutting unit to a non-working position when exiting the work area to move through the headland area. With this configuration, for example, if the timing of raising and lowering the cutting unit is off, some areas may not be cut, or the cutting unit may get entangled in discarded straw discharged from the work vehicle during cutting work. Thus, conventional technology creates the problem of reduced work efficiency of the working unit.

The object of the present invention is to provide a motion control method, a motion control system, and a motion control program that can improve the work efficiency of a work unit that performs a specified task on a work object while discharging waste generated by the task into a travel trail.

The motion control method according to the present invention is a method for controlling the motion of a working unit provided on a work vehicle that travels along a target route while performing a predetermined task on a work object, and discharges waste generated by the task into a trail along the target route. The motion control method executes a stepwise change in the attitude of the working unit based on at least one of the position of the waste and the position of the work object.

The motion control system according to the present invention is a system that controls the motion of a working unit provided on a work vehicle that travels along a target route while performing a predetermined task on a work object and discharges waste generated by the task into a trail along the target route. In the motion control system, the motion processing unit gradually changes the attitude of the working unit based on at least one of the position of the waste and the position of the work object.

The motion control program according to the present invention is a program that controls the motion of a working unit provided on a work vehicle that travels along a target route while performing a predetermined task on a work object, and discharges waste generated by the task into a trail along the target route. The motion control program causes one or more processors to execute a stepwise change in the attitude of the working unit based on at least one of the position of the waste and the position of the work object.

The present invention provides a motion control method, a motion control system, and a motion control program that can improve the work efficiency of a work unit that performs a specified task on a work object while discharging waste generated by the task into a travel trail.

FIG. 1 is a functional block diagram showing a configuration of an automatic driving system according to an embodiment of the present invention. FIG. 2 is an external view showing the configuration of a combine harvester according to an embodiment of the present invention. FIG. 3 is a diagram showing an example of a target route set in a farm field according to the embodiment of the present invention. FIG. 4A is a diagram showing an example of an operating procedure of a combine harvester according to an embodiment of the present invention. FIG. 4B is a diagram showing an example of an operation procedure of a combine harvester according to an embodiment of the present invention. FIG. 4C is a diagram showing an example of a work procedure of a combine harvester according to an embodiment of the present invention. FIG. 4D is a diagram showing an example of a work procedure of a combine harvester according to an embodiment of the present invention. FIG. 5 is a diagram showing another example of an operating procedure of the combine harvester according to the embodiment of the present invention. Fig. 6 is a diagram showing the height of a reaping part of a combine harvester according to an embodiment of the present invention. FIG. 7A is a diagram showing the configuration of a cutting height detection device for a cutting unit according to an embodiment of the present invention. FIG. 7B is a diagram showing the configuration of a cutting height detection device for the cutting unit according to an embodiment of the present invention. FIG. 7C is a diagram showing the configuration of a cutting height detection device for a cutting unit according to an embodiment of the present invention. FIG. 8 is a diagram showing an example of a traveling method of a combine harvester on a sloping field according to an embodiment of the present invention. FIG. 9 is a diagram showing an example in which the reaping unit rolls up discarded straw in a sloping farm field. FIG. 10 is a diagram showing an example of a method for changing the height of a cutting unit in a sloping field according to an embodiment of the present invention. FIG. 11 is a diagram showing an example in which the harvesting unit rolls up discarded straw in a sloping farm field. FIG. 12 is a diagram showing an example of a method for changing the height of a cutting unit in a sloping field according to an embodiment of the present invention. FIG. 13 is a flowchart showing an example of a procedure of an automatic driving process executed by the automatic driving system according to an embodiment of the present invention. FIG. 14A is a diagram showing an example of a method for tilting a reaping unit according to an embodiment of the present invention. FIG. 14B is a diagram showing an example of a method for tilting the reaping unit according to an embodiment of the present invention. FIG. 14C is a diagram showing an example of a method for tilting the reaping unit according to an embodiment of the present invention.

The following embodiment is an example of the present invention and does not limit the technical scope of the present invention.

A combine harvester 1 will be described as an example of a work vehicle of the present invention. As shown in FIG. 1, an automated driving system 10 according to an embodiment of the present invention includes a combine harvester 1 and an operation terminal 3. The combine harvester 1 and the operation terminal 3 can communicate with each other via a communication network N1. For example, the combine harvester 1 and the operation terminal 3 can communicate with each other via a mobile phone line network, a packet line network, or a wireless LAN.

The combine harvester 1 is a work vehicle that performs agricultural work such as harvesting in a field (an example of a specified work of the present invention). The combine harvester 1 performs work while traveling, and transmits GNSS information from a GNSS antenna mounted on the combine harvester 1, i.e., the vehicle position of the combine harvester 1, to the operation terminal 3 as measurement point data.

The combine harvester 1 can also travel automatically according to a preset target route. The combine harvester 1 may be configured to travel automatically in some areas of the field (e.g., straight routes) and manually in other areas (e.g., turning routes). The combine harvester 1 also receives various setting information from the operation terminal 3 and travels automatically according to the setting information.

The operation terminal 3 is a mobile terminal capable of remotely operating the combine harvester 1, and is, for example, a tablet terminal, a notebook personal computer, a smartphone, etc. An operation device similar to the operation terminal 3 may be mounted on the combine harvester 1.

The worker (operator) can perform setting operations for various setting items on the operation terminal 3. In addition, the operation terminal 3 displays information such as the work status and running status of the combine harvester 1 while it is running automatically. The worker can grasp the work status and running status on the operation terminal 3.

Figure 3 shows an example of a target route R generated for a field F. For example, the combine harvester 1 performs mowing work ("circumferential mowing", "reciprocating mowing") while traveling from the outer periphery to the inner periphery in the field F according to the target route R from the start position S to the end position G. Specifically, in the outer periphery region F1 on the outer periphery of the field F, the combine harvester 1 performs mowing work while traveling along the edge of the field (outer periphery). Also, in the inner periphery region F2 on the inner periphery of the field F, the combine harvester 1 performs mowing work while traveling straight in the up-down direction of Figure 3, and moves between work routes by turning and traveling straight without performing mowing work in the left-right direction.

An example of the operation procedure of the combine harvester 1 will be described with reference to FIG. 4. First, as shown in FIG. 4A, the combine harvester 1 starts automatic travel at the start position S and travels along the outer periphery of the field F while harvesting the stalks. In addition, when the combine harvester 1 threshes the harvested stalks, it discharges waste straw such as straw chips (an example of the discharged matter of the present invention) from the rear of the machine body to the outside. As a result, as shown in FIG. 4B, waste straw B1 is piled up in the travel trail of the combine harvester 1, and a straw row is formed on the path where the combine harvester 1 has finished harvesting work. The combine harvester 1 is set to discharge the waste straw of the harvested stalks at the position of the stalks to be harvested, and is configured to be able to grasp the position, width (the horizontal width of the straw row), length, etc. of the waste straw B1. For example, the waste straw B1 is discharged with a width narrower than the width of the machine body, based on the center of the combine 1 in the left-right direction.

As shown in FIG. 4C, the combine 1 makes two revolutions around the outer peripheral area F1. In this case, two straw rows are formed, and a certain gap (a worked area where no straw B1 exists) is formed between the straw rows of the first and second revolutions. Note that the number of revolutions around the outer peripheral area F1 is not limited to two, and may be one or three or more revolutions.

When the combine harvester 1 finishes the harvesting work in the outer peripheral area F1, it enters the inner peripheral area F2 and starts harvesting work in the inner peripheral area F2. In the inner peripheral area F2, as shown in FIG. 4D, the combine harvester 1 performs harvesting work while traveling straight up and down, and moves between the work paths by turning and traveling straight in the outer peripheral area F1 (worked area, headland area) without performing harvesting work in the left and right directions. The combine harvester 1 performs harvesting work in the inner peripheral area F2, and ends automatic traveling and harvesting work when it reaches the end position G.

When the combine harvester 1 is harvesting the inner peripheral area F2, it must pass through (cross) the waste straw B1 discharged during harvesting in the outer peripheral area F1 each time it enters the inner peripheral area F2 from the outer peripheral area F1 and each time it exits the inner peripheral area F2 to the outer peripheral area F1.

In conventional technology, for example, the combine harvester 1 travels through the outer peripheral area F1 with the cutting unit raised to a non-working height (non-working position) so that the cutting unit does not entangle the discarded straw B1, and when entering the inner peripheral area F2, the cutting unit is lowered to the working height (working position), and when exiting the inner peripheral area F2, the cutting unit is raised to the non-working height (non-working position). For this reason, for example, if the timing of raising and lowering the cutting unit is off, problems may occur such as insufficient cutting in some areas or the cutting unit entangling the discarded straw discharged from the combine harvester 1.

Also, for example, as shown in Figure 5, if the shape of the field F is inclined (not at a right angle) to the direction of travel (working direction) of the combine harvester 1, when the combine harvester 1 enters the inner peripheral area F2 and the harvesting unit descends to the working position, harvesting of stalks begins on one side of the harvesting unit (the right side in Figure 5), but the other side (the left side in Figure 5) comes into contact with the waste straw B1 and causes the waste straw B1 to become entangled (see Figure 9 described below).

As described above, in conventional technology, the raising and lowering action of the reaping unit causes a problem of reduced efficiency in reaping work by the reaping unit. In response to this, the automatic driving system 10 according to the present embodiment has a configuration that can improve the work efficiency of the working unit (such as the reaping unit) that performs a predetermined work (such as reaping work) on a work target (such as grain stalks) while discharging waste materials (such as straw B1) generated by the work into the travel trail, as described below. The specific configurations of the combine 1 and the operation terminal 3 for realizing the above configuration are described below.

[Operation Terminal 3]
1, the operation terminal 3 is an information processing device including an operation control unit 31, a storage unit 32, an operation display unit 33, and a communication unit 34. The operation terminal 3 is, for example, a tablet terminal.

The communication unit 34 is a communication interface that connects the operation terminal 3 to the communication network N1 by wire or wirelessly and performs data communication in accordance with a predetermined communication protocol with one or more external devices such as a combine 1 via the communication network N1.

The operation display unit 33 is a user interface that includes a display unit such as a liquid crystal display or organic EL display that displays various information, and an operation unit such as a touch panel, mouse, or keyboard that accepts operations. The operator can operate the operation unit to register various setting information on the operation screen displayed on the display unit. The operator can also operate the operation unit to give automatic driving instructions to the combine harvester 1. Furthermore, the operator can grasp the driving status of the combine harvester 1 that is automatically driving within the field F from the driving trajectory displayed on the operation terminal 3 at a location away from the combine harvester 1.

The storage unit 32 is a non-volatile storage unit such as a HDD (Hard Disk Drive) or SSD (Solid State Drive) that stores various information. The storage unit 32 stores a control program for causing the operation control unit 31 to execute a predetermined control process. For example, the control program is non-temporarily recorded on a computer-readable recording medium such as a flash ROM, an EEPROM, a CD, or a DVD, and is read by a predetermined reading device (not shown) provided in the operation terminal 3 and stored in the storage unit 32. The control program may be downloaded from a server (not shown) to the operation terminal 3 via the communication network N1 and stored in the storage unit 32. The storage unit 32 may also store work information transmitted from the combine harvester 1.

In addition, a dedicated application for automatically driving the combine harvester 1 is installed in the memory unit 32. The operation control unit 31 starts up the dedicated application to perform setting processing for various setting information related to the combine harvester 1, and to issue instructions for automatic driving to the combine harvester 1.

The operation control unit 31 has control devices such as a CPU, a ROM, and a RAM. The CPU is a processor that executes various arithmetic processes. The ROM is a non-volatile storage unit in which control programs such as a BIOS and an OS for causing the CPU to execute various arithmetic processes are stored in advance. The RAM is a volatile or non-volatile storage unit that stores various information, and is used as a temporary storage memory for various processes executed by the CPU. The operation control unit 31 controls the operation terminal 3 by having the CPU execute various control programs that are stored in advance in the ROM or the storage unit 32.

As shown in FIG. 1, the operation control unit 31 includes various processing units such as a setting processing unit 311 and an output processing unit 312. The operation control unit 31 functions as the various processing units by executing various processes according to the control program with the CPU. Some or all of the processing units may be configured with electronic circuits. The control program may be a program for causing multiple processors to function as the processing units.

The setting processing unit 311 sets various setting information for the combine 1 to travel automatically. Specifically, the setting processing unit 311 sets field information related to the field. The field information includes, for example, the shape, size, and position information (such as coordinates) of the outermost periphery of the field, measurement point data constituting the outermost periphery of the field, and the shape, size, and position information (such as coordinates) of the work area within the field where work is performed. The field information also includes the address of the field, the registration name and registration date of the field information, the registration name and registration date of the work area within the field, and the like. The setting processing unit 311 accepts the registration operation of the field information by the operator and sets the field information.

The setting processing unit 311 also creates a target route including a work route and a turning route. For example, the worker selects a route pattern, a turning type, and the like on a setting screen (not shown). The route patterns include "reciprocating mowing," which involves multiple round trips, and "circular mowing," which involves repeating a circuit of a route along the inner circumference of a work area in a field while shifting toward the center, and the worker selects one of the route patterns. The worker can also correct the turning radius when turning during reciprocating mowing and circular mowing work on the setting screen.

The setting processing unit 311 also creates a work route based on information such as the field information, the route pattern, the turning type, and the turning radius. The setting processing unit 311 registers the created work route in association with the field.

The setting processing unit 311 also sets the running speed (vehicle speed) of the combine harvester 1. For example, the operator can set the straight-line vehicle speed, turning vehicle speed, and reverse vehicle speed during working and non-working on the setting screen.

In addition to the information described above, the setting processing unit 311 sets well-known information such as the type of combine 1 (maximum number of cutting rows), vehicle width, and vehicle length.

The output processing unit 312 outputs various setting information set by the setting processing unit 311 to the combine harvester 1. The output processing unit 312 also outputs work start instructions and work end instructions to the combine harvester 1 based on the operation of the operator.

When the operation control unit 31 receives the work start instruction operation from the operator, the output processing unit 312 outputs the work start instruction to the combine harvester 1. As a result, the control device 11 of the combine harvester 1 acquires the work start instruction from the operation terminal 3. Upon acquiring the work start instruction, the control device 11 starts the work and running of the combine harvester 1. Furthermore, when the operation control unit 31 receives the work stop instruction operation from the operator, the output processing unit 312 outputs the work stop instruction to the combine harvester 1. As a result, the control device 11 of the combine harvester 1 acquires the work stop instruction from the operation terminal 3. Upon acquiring the work stop instruction, the control device 11 stops the work and running of the combine harvester 1.

The operation terminal 3 may be able to access an agricultural support service website (agricultural support site) provided by a server (not shown) via the communication network N1. In this case, the operation terminal 3 can function as an operation terminal for the server by executing a browser program by the operation control unit 31. The server is provided with each of the processing units described above and executes each process.

[Combine 1]
FIG. 2 shows an external view of the combine harvester 1 seen from the side. As shown in FIG. 1 and FIG. 2, the combine harvester 1 includes a threshing section 4, a sorting section 5, a straw waste processing section 6, a power section 8, a steering section 9, a control device 11, a memory section 12, a positioning unit 13, a traveling section 14, a reaping section 15, a storage section 16, a communication section 17, and the like. The combine harvester 1 is a so-called head-feeding type combine harvester. The combine harvester 1 travels by the traveling section 14, threshes the stalks harvested by the reaping section 15 in the threshing section 4, and sorts the grains in the sorting section 5 and stores them in the storage section 16. The combine harvester 1 processes the straw waste after threshing in the straw waste processing section 6. The combine harvester 1 drives the traveling section 14, the reaping section 15, the storage section 16, the threshing section 4, the sorting section 5, and the straw waste processing section 6 by the power supplied by the power section 8.

The traveling unit 14 is provided below the machine frame 29 and includes a pair of left and right crawler-type traveling devices 2 and a transmission (not shown). The traveling unit 14 rotates the crawlers of the crawler-type traveling devices 2 using power (e.g., rotational power) transmitted from the engine 27 of the power unit 8, causing the combine 1 to travel in the forward/backward direction and turn in the left/right direction. The transmission transmits the power (rotational power) of the power unit 8 to the crawler-type traveling devices 2, and can also change the speed of the rotational power.

The reaping unit 15 is provided in front of the travel unit 14 and performs reaping work on rows within the number of rows that can be reaped. The reaping unit 15 includes a divider 28, a lifting device 20, a cutting device 23, a transport device 7, and a cutting height detection device 40.

As shown in FIG. 7, the cutting height detection device 40 includes a device body 41, a grounding body 42, a detection sensor (not shown), etc., and detects the height of the cutting unit 15 (working height H in FIG. 6). For example, as shown in FIG. 7C, the detection sensor detects the amount of rotation of the device body 41 when the cutting unit 15 descends and the grounding body 42 contacts the ground, and the cutting height detection device 40 detects the working height H based on the detection signal of the detection sensor. The control device 11 (operation processing unit 113) adjusts the working height H by operating the drive unit (hydraulic cylinder, etc.) of the cutting unit 15 so that the working height H detected by the cutting height detection device 40 is maintained at the set height (second working height H2). Note that FIG. 7A shows the height of the cutting unit 15 when the combine harvester 1 is not working (non-working height H0), and FIG. 7B shows the height of the cutting unit 15 when the combine harvester 1 is working (first working height H1) at which the entrainment of waste straw B1 can be avoided. In this way, the reaping unit 15 is configured to be able to change between a non-working height (non-working height H0) and two working heights (first working height H1, second working height H2).

The divider 28 divides the culms in the field into individual rows and guides a specified number of culms within the number of harvestable rows to the raising device 20. The raising device 20 raises the culms guided by the divider 28. The cutting device 23 cuts the culms raised by the raising device 20. The conveying device 7 conveys the culms cut by the cutting device 23 to the threshing section 4.

The threshing section 4 is provided behind the reaping section 15. The threshing section 4 includes a feed chain 18 and a threshing drum 19. The feed chain 18 transports the stalks transported from the transport device 7 of the reaping section 15 for threshing, and further transports the threshed stalks, i.e., waste straw, to the straw waste processing section 6. The threshing drum 19 threshes the stalks transported by the feed chain 18.

The sorting section 5 is provided below the threshing section 4. The sorting section 5 includes an oscillating sorting device 21, an air blowing sorting device 22, a grain conveying device (not shown), and a straw chip discharge device (not shown). The oscillating sorting device 21 sifts the threshing grains that have fallen from the threshing section 4 to separate them into grains, straw chips, etc. The air blowing sorting device 22 further separates the threshing grains sorted by the oscillating sorting device 21 into grains, straw chips, etc. by blowing air. The grain conveying device transports the grains sorted by the oscillating sorting device 21 and the air blowing sorting device 22 to the storage section 16. The straw chip discharge device discharges the straw chips, etc. sorted by the oscillating sorting device 21 and the air blowing sorting device 22 outside the machine.

The storage section 16 is provided to the right of the threshing section 4. The storage section 16 includes a storage tank (grain tank) 24 and a discharge device 25. The storage tank 24 stores the grains transported from the sorting section 5. The discharge device 25 is composed of an auger or the like, and discharges the grains stored in the storage tank 24 to a transport vehicle at a predetermined discharge position in the field F.

The straw waste processing section 6 is provided behind the threshing section 4. The straw waste processing section 6 is equipped with a straw waste conveying device (not shown) and a straw waste cutting device (not shown). The straw waste conveying device conveys the straw transported from the feed chain 18 of the threshing section 4 to the straw waste cutting device. The straw waste cutting device cuts the straw transported by the straw waste conveying device and discharges it outside the machine. The straw waste processing section 6 discharges the straw waste from the harvested stump to the position of the stump to be harvested. In this way, the combine harvester 1 harvests the stump while traveling and discharges the straw waste B1 to the rear outside the machine, so that the straw waste B1 is piled up in rows in the wake of the combine harvester 1 (see Figures 4 and 5).

The power unit 8 is provided above the running unit 14 and in front of the storage unit 16. The power unit 8 has an engine 27 that generates rotational power. The power unit 8 transmits the rotational power generated by the engine 27 to the running unit 14, the reaping unit 15, the storage unit 16, the threshing unit 4, the sorting unit 5, and the straw waste processing unit 6.

The control unit 9 is provided above the power unit 8. Around the driver's seat where the operator sits, the control unit 9 is provided with operating tools for controlling the travel of the combine harvester 1, such as a handle for instructing the rotation of the combine harvester 1 body, and a main speed change lever and a sub-speed change lever for instructing changes in the forward and reverse speed of the combine harvester 1. Manual travel of the combine harvester 1 is performed by the travel unit 14, which receives operation of the handle, main speed change lever, and sub-speed change lever of the control unit 9. The control unit 9 also has mechanisms for operating the harvesting work by the harvesting unit 15, the threshing work by the threshing unit 4, the discharge work by the discharge device 25 of the storage unit 16, etc.

The positioning unit 13 acquires the vehicle position of the combine harvester 1 using a satellite positioning system such as GPS. For example, the positioning unit 13 receives a positioning signal from a positioning satellite via a positioning antenna, and acquires the position information of the positioning unit 13, i.e., the vehicle position of the combine harvester 1 (measurement point data), based on the positioning signal. The positioning unit 13 may be configured with a quantum compass instead of a positioning antenna.

The communication unit 17 (see FIG. 1) is a communication interface that connects the combine 1 to the communication network N1 by wire or wirelessly and executes data communication with an external device such as the operation terminal 3 via the communication network N1 according to a predetermined communication protocol.

The storage unit 12 is a non-volatile storage unit such as an HDD or SSD that stores various information. The storage unit 12 stores control programs such as an automatic driving program for causing the control device 11 to execute the automatic driving process (see FIG. 13) described below. For example, the automatic driving program is non-temporarily recorded on a computer-readable recording medium such as a flash ROM, an EEPROM, a CD, or a DVD, and is read by a predetermined reading device (not shown) and stored in the storage unit 12. The automatic driving program may be downloaded from a server (not shown) to the combine 1 via the communication network N1 and stored in the storage unit 12. The storage unit 12 also stores various setting information acquired from the operation terminal 3.

The control device 11 has control devices such as a CPU, a ROM, and a RAM. The CPU is a processor that executes various arithmetic processes. The ROM is a non-volatile storage unit in which control programs such as a BIOS and an OS for causing the CPU to execute various arithmetic processes are stored in advance. The RAM is a volatile or non-volatile storage unit that stores various information, and is used as a temporary storage memory for various processes executed by the CPU. The control device 11 controls the combine harvester 1 by executing the various control programs stored in advance in the ROM or the storage unit 12 by the CPU.

Specifically, as shown in FIG. 1, the control device 11 includes various processing units such as a driving processing unit 111, an acquisition processing unit 112, and an operation processing unit 113. The control device 11 functions as the various processing units by executing various processes according to the automatic driving program with the CPU. Some or all of the processing units may be configured with electronic circuits. The automatic driving program may be a program for causing multiple processors to function as the processing units.

The driving processing unit 111 automatically drives the combine harvester 1 according to a target route R set for the field F. Specifically, the driving processing unit 111 drives the combine harvester 1 according to a plurality of work routes included in the target route R along which the combine harvester 1 performs a predetermined task (reap operation) and a turning route connecting the plurality of work routes. For example, the driving processing unit 111 acquires various setting information set for the field F from the operation terminal 3. In addition, the driving processing unit 111 acquires the vehicle position of the combine harvester 1 from the positioning unit 13 during the reap operation, and controls the power unit 8, the driving unit 14, and the reaper unit 15 based on the vehicle position and the work route included in the target route R so that the combine harvester 1 automatically drives and reaps along the work route.

For example, as shown in FIG. 5, the driving processing unit 111 causes the combine 1 to perform automatic driving and mowing operations along the outer periphery in the outer periphery area F1 from the start position S, and then performs automatic driving and mowing operations in the inner periphery area F2 to the end position G.

The acquisition processing unit 112 acquires the position of the discharged straw B1 and the position of the work object (grain stalk, unharvested area, etc.). For example, when the combine harvester 1 automatically travels along the target route R, the discharged straw B1 is discharged on the target route R that has already been traveled, so the acquisition processing unit 112 can acquire the position of the discharged straw B1 based on the route information of the target route R and the position information of the current position of the combine harvester 1. In addition, since the left-right position and width of the discharged straw B1 are determined based on the arrangement position and structure of the straw discharge processing unit 6 in the combine harvester 1, the acquisition processing unit 112 can also acquire the left-right position and width of the discharged straw B1. The acquisition processing unit 112 may acquire the position of the discharged straw B1 in real time while the combine harvester 1 starts working and is working and traveling, or may acquire the position of the discharged straw B1 based on the setting information acquired from the operation terminal 3 before the combine harvester 1 starts working.

The acquisition processing unit 112 also acquires the position of the stalks (uncut area (unworked area), cut area (worked area)) based on information (position, shape, etc.) of the field F (outer perimeter area F1, inner perimeter area F2). The acquisition processing unit 112 can acquire the position of the stalks (uncut area) in real time while the combine harvester 1 is traveling based on the route information of the target route R and the position information of the current position of the combine harvester 1.

In another embodiment, the acquisition processing unit 112 may acquire the positions of the discarded straw B1 and the stalks based on images captured by a camera mounted on the combine harvester 1.

The operation processing unit 113 gradually changes the posture of the reaping unit 15 when performing work based on the position of the discharged straw B1 and the position of the stalks acquired by the acquisition processing unit 112. Specifically, the operation processing unit 113 gradually changes (e.g., raises and lowers) the height of the reaping unit 15 based on the position of the discharged straw B1 and the position of the stalks.

For example, FIG. 8 shows the state of the reaping work in the inner peripheral area F2. W1 in FIG. 8 indicates the working width (total width in the left-right direction) of the reaping unit 15. When the reaping work in the inner peripheral area F2 is performed, the waste straw B1 discharged during the reaping work in the outer peripheral area F1 is present around the inner peripheral area F2 (see FIG. 5). Here, it is assumed that a straw row of waste straw B11, B12 is formed by performing two-round reaping work in the outer peripheral area F1. When the combine harvester 1 enters the work path R1 in the inner peripheral area F2, if the height of the reaping unit 15 is set to the non-working height H0 (see FIG. 7A) and the reaping unit 15 passes through the waste straw B11, B12, and then the height of the reaping unit 15 is set to the second working height H2 (see FIG. 7C) at the start of the work path R1, the timing of the start of the reaping work is delayed, and some stalks are left uncut. In contrast, if the height of the cutting unit 15 is set to the second working height H2 before the start of the working path R1, the discarded straw B1 will be entangled on the left side of the cutting unit 15 as shown in FIG. 9 (area E1 shown in FIG. 9).

Therefore, when the combine harvester 1 reaches a position a predetermined distance before the start position of the work on the stalk, the operation processing unit 113 sets the cutting unit 15 to a first working height H1 (see FIG. 7B) that is lower than the non-working height H0 and higher than the height of the discharged straw B1 (note that the first working height H1>the second working height H2). The position a predetermined distance before is, for example, the start end of the work row (stalk row) corresponding to the work path R1, that is, a position a predetermined distance before the start end A21 shown in FIG. When the combine harvester 1 (cutting unit 15) reaches the start end A21, it is sufficient that the cutting unit 15 is located at the first working height H1. For example, the operation processing unit 113 sets the cutting unit 15 to the non-working height H0 during turning travel, and sets the cutting unit 15 to the first working height H1 at the timing when the combine harvester 1 switches to straight travel after the end of the turn. Then, when the reaping unit 15 passes through the discarded straw B1 while the reaping unit 15 is set to the first working height H1, the operation processing unit 113 sets the reaping unit 15 to the second working height H2.

For example, as shown in FIG. 10, when the combine 1 reaches an intersection P1 between a straight line L1 passing through one end (the right end in FIG. 10) of the working width W1 of the cutting unit 15 and the discarded straw B11 (straw row), the operation processing unit 113 changes (lowers) the cutting unit 15 from the non-working height H0 to the first working height H1, and when the combine 1 reaches an intersection P2 between a straight line L2 passing through the other end (the left end in FIG. 10) of the working width W1 of the cutting unit 15 and the discarded straw B12 (straw row), the operation processing unit 113 changes (lowers) the cutting unit 15 from the first working height H1 to the second working height H2. Specifically, the operation processing unit 113 sets the reaping unit 15 to the second working height H2 when the reaping unit 15 reaches the farthest position in the traveling direction from the current position of the combine harvester 1 at the boundary of the straw discharge row (discharge area) of the discharged straw B12 (intersection P2 in FIG. 10). For example, when the traveling direction of the combine harvester 1 (arrow direction in FIG. 10) and the extension direction of the straw discharge row of the discharged straw B12 intersect obliquely, the operation processing unit 113 changes (lowers) the reaping unit 15 from the first working height H1 to the second working height H2 when one end (right end) of the left and right ends of the reaping unit 15 passes through the discharge row and the other end (left end) reaches the boundary (intersection P2) on the traveling direction side of the discharge row. In addition, the operation processing unit 113 may change (lower) the reaping unit 15 from the first working height H1 to the second working height H2 after the combine harvester 1 reaches the intersection P2. That is, the operation processing unit 113 may change (lower) the reaping unit 15 from the first working height H1 to the second working height H2 after both left and right ends of the reaping unit 15 pass the boundary on the traveling direction side in the discharge row. In this case, it is preferable that the operation processing unit 113 lowers the reaping unit 15 from the first working height H1 to the second working height H2 after the combine harvester 1 reaches the intersection P2 and before the divider 28 at the left end of the reaping unit 15 reaches the inner circumferential region F2. As a result, the reaping unit 15 is positioned above the straw B11, B12 in section K1, so it passes through without entangling the straw B11, B12, and in the area from the starting point A21 to the end of section K1, only one or more rows on the right side of the working width W1 of the reaping unit 15 at the first working height H1 cut the stumps. When the reaping unit 15 passes (exits) section K1, it cuts the stumps with all rows of the working width W1 at the second working height H2, following the working path R1.

In this way, the operation processing unit 113 sets the cutting unit 15 to the first working height H1 (see FIG. 7B) before at least a part of the left-right width (working width W1) of the cutting unit 15 overlaps with the position of the discharged straw B1, and sets the cutting unit 15 to the second working height H2 (see FIG. 7C) after the entire left-right width of the cutting unit 15 passes the position of the discharged straw B1 (section K1). The operation processing unit 113 may also set the cutting unit 15 to the first working height H1 after at least a part of the left-right width (working width W1) of the cutting unit 15 overlaps with the position of the discharged straw B1 and before a part of the working width W1 (one end of the cutting unit 15) enters the work area (before reaching the starting point A21 in FIG. 10). The operation processing unit 113 may also set the timing of changing the cutting unit 15 to the first working height H1 according to the current vehicle speed of the combine 1. For example, when the vehicle speed is fast, the operation processing unit 113 changes the working height to the first working height H1 at a position away from the starting point A21, and when the vehicle speed is slow, the operation processing unit 113 changes the working height to the first working height H1 at a position close to the starting point A21. That is, when the combine harvester 1 enters the working area, the operation processing unit 113 lowers the working height of the reaping unit 15 in two stages (first working height H1, second working height H2). In addition, when the reaping unit 15 is set to the first working height H1, if one side of the reaping unit 15 in the left-right direction overlaps with the position of the discarded straw B1 and the other side overlaps with the position of the stalk, the operation processing unit 113 causes the reaping unit 15 to perform reaping work only on the other side.

When the combine harvester 1 leaves the inner peripheral area F2 after completing work on the work path R1 and moves to the next work path, the operation processing unit 113 executes the same process as described above. Figure 11 shows the harvester 1 reeling in the discarded straw B1 when the combine harvester 1 leaves the inner peripheral area F2. For example, if the harvester 15 continues harvesting up to the stalk at the end A22 of the work path R1 while remaining at the second working height H2, the left side of the harvester 15 will come into contact with and reel in the discarded straw B1 (area E2 shown in Figure 11).

Therefore, when the combine harvester 1 reaches a position a predetermined distance before the end position of the work on the stalk with the harvester 15 set to the second working height H2, the operation processing unit 113 sets the harvester 15 to the first working height H1. The position a predetermined distance before is, for example, a position before at least a part of the width (working width W1) of the harvester 15 in the left-right direction overlaps with the discharged straw B13 (discharged straw row). In the example shown in FIG. 12, the position a predetermined distance before is a position a predetermined distance before the intersection P3 between the straight line L2 passing through one end (the left end in FIG. 12) of the working width W1 of the harvester 15 and the discharged straw B13 (discharged straw row). In addition, the operation processing unit 113 may change (raise) the harvester 15 from the second working height H2 to the first working height H1 when the combine harvester 1 reaches the intersection P3. When the combine harvester 1 (the reaping unit 15) reaches the intersection P3, the reaping unit 15 should be located at the first working height H1. It is preferable that the reaping unit 15 is set to the first working height H1 just before the intersection P3 and when at least a portion (the left end in FIG. 12) of the left-right width (working width W1) of the reaping unit 15 reaches the worked area (outside the inner peripheral area F2). The operation processing unit 113 may also set the timing for changing the reaping unit 15 to the first working height H1 depending on the current vehicle speed of the combine harvester 1.

For example, as shown in FIG. 12, when the combine harvester 1 reaches just before the intersection point P3, the operation processing unit 113 changes (raises) the cutting unit 15 from the second working height H2 to the first working height H1, and when the combine harvester 1 reaches the intersection point P4 (terminal end A22) between the straight line L1 passing through the other end (the right end in FIG. 12) of the working width W1 of the cutting unit 15 and the inner peripheral area F2, the operation processing unit 113 changes (raises) the cutting unit 15 from the first working height H1 to the non-working height H0.

As a result, in the section K2, the reaping unit 15 passes through the left side of the working width W1 of the reaping unit 15 without entangling the discharged straw B13, and cuts the stalks at the first working height H1 in one or more rows on the right side of the working width W1 of the reaping unit 15. When the reaping unit 15 passes through the section K2, it passes through the discharged straw B13, B14 at the non-working height H0. The operation processing unit 113 may maintain the height of the reaping unit 15 at the first working height H1 even after passing through the section K2. The operation processing unit 113 may also change the height of the reaping unit 15 from the first working height H1 to the non-working height H0 when passing through the section K2 and switching from straight running to turning running. That is, the operation processing unit 113 may set the reaping unit 15 to the non-working height H0 after the entire width (working width W1) in the left-right direction of the reaping unit 15 has passed the position of the discharged straw B1. In this way, when the combine harvester 1 leaves the working area, the operation processing unit 113 raises the working height of the reaping unit 15 in two stages (first working height H1, second working height H2).

In the configurations shown in FIG. 10 and FIG. 12, the travel processing unit 111 may set the vehicle speed of the combine harvester 1 when the reaping unit 15 is set to the first working height H1 to a speed slower than the vehicle speed (set vehicle speed) when the reaping unit 15 is set to the second working height H2. The set vehicle speed is set in advance by the operator on the operation terminal 3. In addition, when changing the vehicle speed of the combine harvester 1, the travel processing unit 111 may temporarily stop the combine harvester 1 and then change the vehicle speed. In the example shown in FIG. 10, the travel processing unit 111 runs the combine harvester 1 at a speed slower than the set vehicle speed (e.g., straight vehicle speed) in the section K1, and when the section K1 is passed, the combine harvester 1 is returned to the set vehicle speed and runs. In the example shown in FIG. 12, the travel processing unit 111 runs the combine harvester 1 at a speed slower than the set vehicle speed (e.g., straight vehicle speed) in the section K2, and when the section K2 is passed, the combine harvester 1 is returned to the set vehicle speed (e.g., turning vehicle speed) and runs. This makes it possible to shorten the travel distance (sections K1 and K2) when the cutting unit 15 is set to the first working height H1.

In the above-described embodiment, the operation processing unit 113 gradually changes the posture of the cutting unit 15 based on the position of the discarded straw B1 and the position of the work object (here, the stalk, the uncut area). In another embodiment, the operation processing unit 113 may gradually change the posture of the cutting unit 15 based only on the position of the discarded straw B1. For example, in the example shown in FIG. 10, the operation processing unit 113 lowers the cutting unit 15 from the non-working height H0 to the first working height H1 at the position of the discarded straw B11 (intersection P1), and lowers the cutting unit 15 from the first working height H1 to the second working height H2 at the position of the discarded straw B12 (intersection P2). In the example shown in FIG. 12, the operation processing unit 113 raises the cutting unit 15 from the second working height H2 to the first working height H1 at the position of the discarded straw B13 (intersection point P3), and after passing the work target (inner peripheral area F2), raises the cutting unit 15 from the first working height H1 to the non-working height H0.

In another embodiment, the operation processing unit 113 may change the posture of the reaping unit 15 in stages based only on the position of the culm (uncut area). For example, in the example shown in FIG. 10, the operation processing unit 113 lowers the reaping unit 15 from the non-working height H0 to the first working height H1 at a predetermined distance before the start A21 of the work row (culm row), and lowers the reaping unit 15 from the first working height H1 to the second working height H2 at a position a predetermined distance behind the start A21 in the direction of travel. In the example shown in FIG. 12, the operation processing unit 113 raises the reaping unit 15 from the second working height H2 to the first working height H1 at a predetermined distance before the end A22 of the work row (culm row), and raises the reaping unit 15 from the first working height H1 to the non-working height H0 after passing the end A22.

In this way, the operation processing unit 113 gradually changes the posture of the working unit (harvesting unit 15) when performing work (harvesting work) based on at least one of the position of the discharged material (discarded straw B1) and the position of the work target (grain stalks).

In another embodiment, the first working height H1 may be set in advance or may be changeable by the operator. For example, the control device 11 may calculate the pile height of the waste straw B1 based on information such as the vehicle speed of the combine harvester 1 and the discharge amount of the waste straw B1, and automatically set and update the first working height H1 based on the calculation result. The control device 11 may also set and update the first working height H1 in response to an input operation by the operator on the operation screen of the operation terminal 3 (input operation of the first working height H1).

[Automatic driving processing]
Hereinafter, an example of the automatic driving process executed by the automatic driving system 10 will be described with reference to FIG.

The present invention can be understood as an invention of an automatic driving method that executes one or more steps included in the automatic driving process. One or more steps included in the automatic driving process described here may be omitted as appropriate. The steps in the automatic driving process may be executed in a different order as long as the same action and effect is achieved. Furthermore, although an example is described here in which the control device 11 executes each step in the automatic driving process, another embodiment can also be an automatic driving method in which one or more processors execute each step in the automatic driving process in a distributed manner. The operation control method of the present invention is included in the automatic driving method, and the operation control program of the present invention is included in the automatic driving program that executes the automatic driving process.

In step S1, the control device 11 determines whether or not a work start instruction has been acquired. When the control device 11 acquires the work start instruction from the operation terminal 3 (S1: Yes), the control device 11 transitions the process to step S2. The control device 11 waits until the work start instruction is acquired (S1: No).

In step S2, the control device 11 starts the automatic driving process. Specifically, the control device 11 causes the combine harvester 1 to automatically drive according to the target route R included in the setting information acquired from the operation terminal 3. For example, the control device 11 causes the combine harvester 1 to perform work (harvesting work) in a field F (see FIG. 5) while automatically driving according to the target route R. The control device 11 may also be capable of accepting operation of the main shift lever by an operator riding on the combine harvester 1. In this case, the control device 11 changes the vehicle speed of the automatically driving combine harvester 1 in response to the operator's operation.

The control device 11 also controls the height of the reaping unit 15 during the automatic driving process. Specifically, the control device 11 sets the reaping unit 15 to a second working height H2 (see FIG. 7C) in an area where reaping work is performed (working area), and sets the reaping unit 15 to a non-working height H0 (see FIG. 7A) in an area where reaping work is not performed (non-working area).

Next, in step S3, the control device 11 determines whether the combine harvester 1 has reached a position (working height change position) where it is necessary to change the height (working height) at which the harvester 15 of the combine harvester 1 performs work. For example, the working height change position is set according to the position of the discharged straw B1 when the combine harvester 1 crosses over the discharged straw B1, the position of the stalks in the work area, etc. When the control device 11 determines that the combine harvester 1 has reached the working height change position (S3: Yes), it transitions the process to step S4.

In response to this, when the control device 11 determines that the reaping unit 15 of the combine harvester 1 has not reached the working height change position (S3: No), it transitions the process to step S8. The control device 11 continues the automatic driving process while executing the determination process of step S3 until the combine harvester 1 reaches the end position G (S8: No). While the combine harvester 1 has not reached the working height change position, the control device 11 causes the reaping work to be performed while alternately switching the height of the reaping unit 15 between the second working height H2 and the non-working height H0.

When the combine harvester 1 reaches the working height change position (S3: Yes), in step S4, the control device 11 sets the height of the cutting unit 15 to the first working height H1. For example, when the cutting unit 15 of the combine harvester 1 reaches the position of the straw discharge B11 (intersection P1) (the working height change position) (see FIG. 10), the control device 11 sets the height of the cutting unit 15 to the first working height H1 and lowers the cutting unit 15 from the non-working height H0 to the first working height H1. As a result, the combine harvester 1 automatically travels through the section K1 with the cutting unit 15 maintained at the first working height H1 (see FIG. 10).

For example, when the harvester 15 of the combine harvester 1 reaches the position of the straw discharge B13 (intersection P3) (the working height change position) (see FIG. 12), the control device 11 sets the height of the harvester 15 to the first working height H1 and raises the harvester 15 from the second working height H2 to the first working height H1. As a result, the combine harvester 1 automatically travels through the section K2 with the harvester 15 maintained at the first working height H1 (see FIG. 12).

In step S5, the control device 11 determines whether the combine harvester 1 will enter the work area. When the control device 11 determines that the combine harvester 1 will enter the work area (S5: Yes), the control device 11 shifts the process to step S6. On the other hand, when the control device 11 determines that the combine harvester 1 will not enter the work area (will leave the work area) (S5: No), the control device 11 shifts the process to step S51. For example, as shown in FIG. 10, when the reaping unit 15 is at the first working height H1 and the direction of travel of the combine harvester 1 is a direction of entering the inner peripheral area F2, the control device 11 determines that the combine harvester 1 will enter the work area (S5: Yes). On the other hand, when the reaping unit 15 is at the first working height H1 and the direction of travel of the combine harvester 1 is a direction of leaving the inner peripheral area F2, as shown in FIG. 12, the control device 11 determines that the combine harvester 1 will not enter the work area (S5: No).

Next, in step S6, the control device 11 determines whether the combine harvester 1 has reached the working height change position. If the control device 11 determines that the combine harvester 1 has reached the working height change position (S6: Yes), the control device 11 transitions the process to step S7.

For example, the control device 11 maintains the height of the reaping unit 15 at the first working height H1 until the combine harvester 1 reaches the working height change position (S6: No). For example, as shown in FIG. 10, the control device 11 automatically drives the reaping unit 15 while maintaining it at the first working height H1 until the combine harvester 1 reaches the intersection P2 (working height change position) between the straight line L2 passing through the other end (left end) of the working width W1 of the reaping unit 15 and the discharged straw B12 (discharged straw row). As a result, the reaping unit 15 passes through the section K1 without entangling the discharged straw B11, B12, and the right side of the reaping unit 15 cuts the stalks at the first working height H1 in the area from the starting point A21 to the end of the section K1. When the combine harvester 1 reaches the intersection P2 (working height change position) (S6: Yes), the control device 11 shifts the process to step S7.

In step S7, the control device 11 sets the height of the cutting unit 15 to the second working height H2. For example, when the cutting unit 15 of the combine harvester 1 reaches the position of the straw discharge B12 (intersection P2) (the working height change position) (see FIG. 10), the control device 11 sets the height of the cutting unit 15 to the second working height H2 and lowers the cutting unit 15 from the first working height H1 to the second working height H2. As a result, the combine harvester 1 performs cutting work while automatically traveling along the working path R1 in the inner peripheral area F2 with the cutting unit 15 maintained at the second working height H2 (see FIG. 10). After step S7, the control device 11 transitions the process to step S8.

In contrast, when the combine harvester 1 exits the working area (inner peripheral area F2) (S5: No), in step S51, the control device 11 determines whether the combine harvester 1 has reached the working height change position. When the control device 11 determines that the combine harvester 1 has reached the working height change position (S51: Yes), it transitions the process to step S52.

For example, the control device 11 maintains the height of the reaping unit 15 at the first working height H1 until the combine harvester 1 reaches the working height change position (S51: No). For example, as shown in FIG. 12, the control device 11 automatically drives the reaping unit 15 while maintaining it at the first working height H1 until the combine harvester 1 reaches the intersection P4 (terminal end A22) between the straight line L1 passing through the right end of the working width W1 of the reaping unit 15 and the inner peripheral area F2. As a result, the reaping unit 15 passes through the section K2 without entangling the waste straw B13, and the right side of the reaping unit 15 reaps the stalks at the first working height H1 in the area from the start to the terminal end A22 of the section K2. When the combine harvester 1 reaches the intersection P4 (working height change position) (S51: Yes), the control device 11 shifts the process to step S52.

In step S52, the control device 11 sets the height of the cutting unit 15 to the non-working height H0. For example, when the cutting unit 15 of the combine harvester 1 reaches the end A22 (intersection P4) (the working height change position) (see FIG. 12) of the inner peripheral area F2, the control device 11 sets the height of the cutting unit 15 to the non-working height H0 and raises the cutting unit 15 from the first working height H1 to the non-working height H0. As a result, the combine harvester 1 moves to the next working path while automatically traveling (turning, etc.) in the outer peripheral area F1 with the cutting unit 15 maintained at the non-working height H0 (see FIG. 12). After step S52, the control device 11 transitions the process to step S8.

In step S8, the control device 11 determines whether the combine harvester 1 has reached the end position G (see FIG. 5). If the control device 11 determines that the combine harvester 1 has reached the end position G (S8: Yes), the control device 11 ends the automatic driving process. If the control device 11 determines that the combine harvester 1 has not reached the end position G (S8: No), the control device 11 transitions the process to step S3. The control device 11 repeatedly executes the above-mentioned process until the combine harvester 1 reaches the end position G (S8: No).

In this way, the control device 11 repeatedly executes the above-mentioned process from the start position S to the end position G, automatically driving the combine 1 along the target route R, and performs the harvesting operation by gradually changing (raising and lowering, etc.) the height of the harvesting section 15 (non-working height H0, first working height H1, second working height H2) at the working height change position according to the position of the discarded straw B1 and the position of the stalk (uncut area).

As described above, the automatic driving system 10 according to this embodiment drives along the target route R while performing a predetermined operation (e.g., reaping operation) on a work object (e.g., stalks), and controls the operation of a working unit (e.g., reaping unit 15) provided on a work vehicle (e.g., combine harvester 1) that discharges waste materials (e.g., discarded straw) resulting from the operation into the travel path of the target route R. The automatic driving system 10 also gradually changes the attitude of the reaping unit 15 based on at least one of the positions of the discarded straw and the stalks (unharvested area). For example, the automatic driving system 10 gradually changes the working height of the reaping unit 15 based on at least one of the positions of the discarded straw and the stalks (unharvested area). Specifically, the automatic driving system 10 changes (raises and lowers) the working height of the reaping unit 15 during reaping operation in two stages (first working height H1, second working height H2).

According to the above configuration, for example, before the combine 1 enters the inner peripheral area F2 from the outer peripheral area F1, the working height of the reaping unit 15 can be lowered to a height (first working height H1) lower than the non-working height H0. This prevents the waste straw B1 from being entangled, and the reaping unit 15 can be quickly lowered to the second working height H2 (set height) after entering the inner peripheral area F2, improving work efficiency. In addition, for example, as shown in FIG. 5, when the shape of the field F is inclined (not perpendicular) to the traveling direction (working direction) of the combine 1, the working height of the reaping unit 15 can be lowered to a height (first working height H1) lower than the non-working height H0 and higher than the second working height H2 before the combine 1 enters the inner peripheral area F2 from the outer peripheral area F1, preventing the waste straw B1 from being entangled on one side of the reaping unit 15 and allowing reaping work to be performed on the other side of the reaping unit 15 (see FIG. 10). This makes it possible to improve the work efficiency of the working section (such as the reaping section) that performs a specified task (such as reaping) on the work target (such as grain stalks) while discharging waste generated by the task (such as straw B1) into the travel trail.

[Other embodiments]
The present invention is not limited to the above-described embodiment, and other embodiments of the present invention will be described below.

In the above-described embodiment, the control device 11 (operation processing unit 113) suppresses the entrainment of waste straw by changing the height of the harvesting unit 15. In another embodiment of the present invention, the control device 11 may suppress the entrainment of waste straw by controlling the horizontal state of the combine harvester 1 in the left-right direction (horizontal control).

Specifically, the control device 11 tilts the reaping unit 15 in the left-right direction based on at least one of the position of the discharged straw and the position of the stalk (uncut area). The control device 11 may tilt the body of the combine harvester 1 to tilt the reaping unit 15 relative to the ground, or may tilt only the reaping unit 15 relative to the ground while keeping the body of the combine harvester 1 horizontal. For example, as shown in FIG. 14A, when the reaping unit 15 is set to the non-working height H0, the control device 11 tilts (changes the posture) the reaping unit 15 to the first inclined state by lowering the right side of the body of the combine harvester 1 in the traveling direction (left side in the figure) to a first working height H1. The control device 11 may tilt the reaping unit 15 by raising one side of the combine harvester 1 (right side in the figure).

Here, when one side of the width of the cutting unit 15 in the left-right direction overlaps with the position of the discarded straw B1 and the other side overlaps with the position of the stalk (when the starting point A21 shown in FIG. 10 is reached), the control device 11 tilts the cutting unit 15 so that the one side (left side) is lower than the non-working height H0 and higher than the height of the discarded straw B12, and the other side (right side) is lower than the one side (left side). This causes the cutting unit 15 to perform cutting work only on the other side (right side). In addition, the control device 11 returns the cutting unit 15 to a horizontal state after the entire width of the cutting unit 15 in the left-right direction has passed the position of the discarded straw B12 (intersection P2).

For example, in the example shown in FIG. 10, the control device 11 tilts the combine 1 so that the right side of the reaping unit 15 is at the first working height H1 at the position of the discharged straw B11 (intersection P1) to change to a first inclined state (see FIG. 14A). Next, the control device 11 lowers the combine 1 in the first inclined state (evenly on the left and right) in front of the start A21 of the inner circumferential area F2 (for example, the position after the right side of the reaping unit 15 has passed the discharged straw B12) to change to a second inclined state (see FIG. 14B). For example, the control device 11 lowers the combine 1 or the reaping unit 15 as a whole to a position where the right side of the reaping unit 15 is at the second working height H2 (see FIG. 14B). Note that in FIG. 14B, the height of the left side of the reaping unit 15 (third working height H3) may be higher than the height of the discharged straw. In the second inclination state, the reaping unit 15 passes the straw B11, B12 on the left side without rolling them in, and on the right side, reaps the stalks from the starting point A21 to the end of the section K1. Next, when the combine harvester 1 reaches the position of the straw B12 (intersection P2) (see FIG. 10), the control device 11 lowers the combine harvester 1 or the left side of the reaping unit 15 so that the left side of the reaping unit 15 is at the second working height H2, changing it to a horizontal state (see FIG. 14C). As a result, the height of the reaping unit 15 is set to the second working height H2 on both the left and right sides. The first inclination state and the second inclination state may have the same or different inclination angles. The control device 11 may change the combine harvester 1 to a horizontal state after it reaches the intersection P2, and set the height of the reaping unit 15 to the second working height H2 on both the left and right sides. The control device 11 may set the first inclination state before at least a portion of the width (working width W1) of the reaping unit 15 in the left-right direction overlaps with the position of the straw B1, and may set the horizontal state after the entire width of the reaping unit 15 in the left-right direction has passed the position of the straw B1 (section K1). The control device 11 may set the second inclination state after at least a portion of the width (working width W1) of the reaping unit 15 in the left-right direction overlaps with the position of the straw B1 and before a portion of the working width W1 (one end of the reaping unit 15) enters the work area (before reaching the starting point A21 in FIG. 10). The control device 11 may set the timing of changing to the first inclination state according to the current vehicle speed of the combine harvester 1. The control device 11 may also temporarily stop (stop) the combine harvester 1 and then tilt the vehicle body (reaping unit 15) of the combine harvester 1.

In the example shown in FIG. 12, when the combine harvester 1 reaches the position of the straw discharged B13 (intersection P3), the control device 11 tilts the combine harvester 1 or the harvesting unit 15 so that the left side of the harvesting unit 15 is higher than the height of the straw discharged B13 (the third working height H3 or the first working height H1) while maintaining the right side of the harvesting unit 15 at the second working height H2, changing it to a second tilted state (see FIG. 14B). Next, when the combine harvester 1 reaches the end A22 (intersection P4) of the inner circumferential area F2, or after passing the end A22 and before reaching the straw discharged B13, the control device 11 raises the right side of the combine harvester 1 or the harvesting unit 15 to a horizontal state. The control device 11 may set the harvesting unit 15 to a non-working height H0 to return it to a horizontal state. The control device 11 may set the combine harvester 1 to the second tilted state when the combine harvester 1 reaches the intersection P3. It is preferable that the second tilt state is set just before the intersection point P3 and when at least a portion (the left end in FIG. 12) of the left-right width (working width W1) of the reaping unit 15 reaches the worked area (outside the inner peripheral area F2). The control device 11 may set the timing of changing to the second tilt state according to the current vehicle speed of the combine harvester 1. The control device 11 may also temporarily stop (park) the combine harvester 1 before tilting the vehicle body (reaping unit 15) of the combine harvester 1.

In the above configuration, as in the embodiment in which the height of the reaping unit 15 is changed, it is possible to improve the work efficiency of the working unit (such as the reaping unit) that performs a specified task (such as reaping work) on the work target (such as grain stalks) while discharging waste material generated by the task (such as straw B1) into the travel trail.

The control device 11 may tilt the cutting unit 15 by lowering one side of the vehicle body of the combine harvester 1, or may tilt the cutting unit 15 by first lowering the cutting unit 15 to the lowest position (e.g., the second working height H2) and then raising one side of the vehicle body of the combine harvester 1.

In the above configuration, the control device 11 may set the vehicle speed of the combine harvester 1 when the cutting unit 15 is tilted to a speed slower than the vehicle speed when the cutting unit 15 is not tilted. This makes it possible to shorten the travel distance when the cutting unit 15 is tilted.

In another embodiment of the present invention, the control device 11 may change the posture of the reaping unit 15 while the combine harvester 1 is traveling automatically, or may change the posture of the reaping unit 15 while the combine harvester 1 is stopped.

In another embodiment of the present invention, the control device 11 may change the position of the cutting unit 15 in response to the operation of the operator. For example, when the operator presses an operation lever provided on the combine harvester 1 or a predetermined operation button (not shown) on the operation terminal 3, the control device 11 changes the cutting unit 15 to a preset first working height H1 or second working height H2 (or a first inclined state or a second inclined state).

In each of the above-described embodiments, a combine harvester 1 is given as an example of a work vehicle, but the work vehicle of the present invention is not limited to the combine harvester 1 and may be various work vehicles such as a tractor, a rice transplanter, or a construction machine. In addition, the work vehicle of the present invention may be a work vehicle that automatically travels (automatically steers) on a work path (for example, a straight path) and manually travels (manually steers) on a turning path, or a work vehicle that manually travels (manually steers) on a work path and automatically travels (automatically steers) on a turning path.

[Notes on the invention]
The following will provide an overview of the invention extracted from each of the above-described embodiments. Note that the configurations and processing functions described in the following supplementary notes can be selected and combined as desired.

<Appendix 1>
1. A motion control method for controlling the operation of a working unit provided in a work vehicle that travels along a target route while performing a predetermined task on a work object and discharges waste generated by the task into a trail along the target route, comprising:
A motion control method for gradually changing the posture of the working unit based on at least one of a position of the waste material and a position of the work target.

<Appendix 2>
changing a working height of the working unit in a stepwise manner based on at least one of a position of the discharged object and a position of the work target;
2. The operational control method according to claim 1.

<Appendix 3>
When the work vehicle reaches a position a predetermined distance before a work start position of the work object, the working unit is set to a first working height that is lower than a non-working height and higher than a height of the discharged material;
When the working unit passes through the waste material in a state where the working unit is set to the first working height, the working unit is set to a second working height that is lower than the first working height.
3. The operation control method according to claim 1 or 2.

<Appendix 4>
setting the working unit to the first working height before at least a portion of the left-right width of the working unit overlaps with the position of the work target;
the working unit is set to the second working height after the entire width in the left-right direction of the working unit has passed the position of the waste, or when the working unit has reached a position on the boundary of the waste discharge area that is the furthest in the traveling direction from the current position of the work vehicle.
4. The operational control method according to claim 3.

<Appendix 5>
When the work vehicle reaches a position a predetermined distance before a work end position of the work target with the working unit set to a second working height lower than the non-working height, the working unit is set to a first working height which is lower than the non-working height, higher than the height of the discharged material, and higher than the second working height.
5. An operation control method according to any one of claims 1 to 4.

<Appendix 6>
and setting the working unit to a non-working height that is higher than the first working height after the entire width of the working unit in the left-right direction has passed the position of the work target.
6. The operation control method according to claim 5.

<Appendix 7>
When the working unit is set to the first working height, when one side in the left-right direction of the width of the working unit overlaps with the position of the waste material and the other side overlaps with the position of the work target, the working unit is caused to perform the work only on the other side.
7. An operation control method according to any one of appendix 3 to 6.

<Appendix 8>
setting a vehicle speed of the work vehicle when the working unit is set to the first working height slower than a vehicle speed when the working unit is set to the second working height;
An operation control method according to any one of appendix 3 to 7.

<Appendix 9>
tilting the working unit in a left-right direction based on at least one of a position of the discharged object and a position of the work target;
An operation control method according to any one of appendix 1 to 8.

<Appendix 10>
When one side of the working unit in the left-right direction of the width overlaps the position of the waste material and the other side overlaps the position of the work target, the working unit is inclined so that the one side is lower than the non-work height and higher than the height of the waste material, and the other side is lower than the one side.
10. The operation control method of claim 9.

<Appendix 11>
causing the working unit on only the other side to perform the work;
11. The operation control method according to claim 10.

<Appendix 12>
After the entire width of the working unit in the left-right direction has passed the position of the discharged object, the working unit is returned to a horizontal state.
12. An operation control method according to any one of claims 9 to 11.

<Appendix 13>
setting a vehicle speed of the work vehicle when the working unit is inclined to a speed slower than a vehicle speed when the working unit is not inclined;
13. The operation control method according to any one of appendixes 9 to 12.

10: Autonomous driving system 1: Combine (work vehicle)
3: Operation terminal 11: Control device 15: Harvesting unit (working unit)
40: Cutting height detection device 41: Device body 42: Grounding body 111: Travel processing unit 112: Acquisition processing unit 113: Operation processing unit A21: Starting end A22: End B1: Discarded straw (ejected material)
F: Field (work area)
F1: Outer region F2: Inner region R: Target route R1: Work route W1: Work width H: Work height H0: Non-work height H1: First work height H2: Second work height H3: Third work height K1: Section K2: Section P1: Intersection P2: Intersection P3: Intersection P4: Intersection

Claims (15)

1. A motion control method for controlling the operation of a working unit provided in a work vehicle that travels along a target route while performing a predetermined task on a work object and discharges waste generated by the task into a trail along the target route, comprising:
A motion control method for gradually changing the posture of the working unit based on at least one of a position of the waste material and a position of the work target. changing a working height of the working unit in a stepwise manner based on at least one of a position of the discharged object and a position of the work target;
The motion control method according to claim 1 . When the work vehicle reaches a position a predetermined distance before a work start position of the work object, the working unit is set to a first working height that is lower than a non-working height and higher than a height of the discharged material;
When the working unit passes through the waste material in a state where the working unit is set to the first working height, the working unit is set to a second working height that is lower than the first working height.
The motion control method according to claim 2 . setting the working unit to the first working height before at least a portion of the left-right width of the working unit overlaps with the position of the work target;
the working unit is set to the second working height after the entire width in the left-right direction of the working unit has passed the position of the waste, or when the working unit has reached a position on the boundary of the waste discharge area that is the furthest in the traveling direction from the current position of the work vehicle.
The motion control method according to claim 3 . When the work vehicle reaches a position a predetermined distance before a work end position of the work target with the working unit set to a second working height lower than the non-working height, the working unit is set to a first working height which is lower than the non-working height, higher than the height of the discharged material, and higher than the second working height.
The motion control method according to claim 1 . and setting the working unit to a non-working height that is higher than the first working height after the entire width of the working unit in the left-right direction has passed the position of the work target.
The motion control method according to claim 5. When the working unit is set to the first working height, when one side in the left-right direction of the width of the working unit overlaps with the position of the waste material and the other side overlaps with the position of the work target, the working unit is caused to perform the work only on the other side.
The motion control method according to claim 3 or 5. setting a vehicle speed of the work vehicle when the working unit is set to the first working height slower than a vehicle speed when the working unit is set to the second working height;
The motion control method according to claim 3 or 5. tilting the working unit in a left-right direction based on at least one of a position of the discharged object and a position of the work target;
The motion control method according to claim 1 . When one side of the working unit in the left-right direction of the width overlaps the position of the waste material and the other side overlaps the position of the work target, the working unit is inclined so that the one side is lower than the non-work height and higher than the height of the waste material, and the other side is lower than the one side.
The motion control method according to claim 9. causing the working unit on only the other side to perform the work;
The motion control method according to claim 10. After the entire width of the working unit in the left-right direction has passed the position of the discharged object, the working unit is returned to a horizontal state.
The motion control method according to any one of claims 9 to 11. setting a vehicle speed of the work vehicle when the working unit is inclined to a speed slower than a vehicle speed when the working unit is not inclined;
The motion control method according to any one of claims 9 to 11. A motion control system for controlling the operation of a working unit provided in a work vehicle that travels along a target route while performing a predetermined task on a work object and discharges waste generated by the task into a trail along the target route, comprising:
A motion control system comprising a motion processing unit that changes the posture of the working unit in a stepwise manner based on at least one of a position of the discharged object and a position of the work target. 1. An operation control program for controlling an operation of a working unit provided in a work vehicle that travels along a target route while performing a predetermined operation on a work object and discharges waste generated by the operation into a trail along the target route, the program comprising:
An operation control program for causing one or more processors to gradually change the posture of the working unit based on at least one of the position of the discharged material and the position of the work object.

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