JP7191001B2 - automatic driving system - Google Patents

Description

The present invention relates to an automatic traveling system that manages automatic traveling of a combine harvester.

Patent Literature 1 describes an invention of a combine harvester capable of automatically running. In the harvesting work using this combine harvester, the operator manually operates the combine harvester at the beginning of the harvesting work, and makes a reaping run so as to go around the outer peripheral portion in the field.

The direction in which the combine should travel is recorded during travel on this outer circumference. Then, automatic traveling based on the recorded orientation is performed to reap and travel in an uncut area in the field.

Japanese Utility Model Laid-Open No. 2-107911

Patent Literature 1 does not describe in detail how to calculate a target travel route for automatic travel. Here, in the harvester described in Patent Document 1, it is conceivable to calculate a target travel route in the row direction.

When this combine automatically travels along the target travel route in the row direction, the efficiency of the harvesting work tends to be good. For example, self-threshing combine harvesters are generally designed for good grain recovery efficiency when reaping runs in the row direction. Therefore, when the combine harvester is a self-throwing combine harvester, the efficiency of the harvesting work is improved by automatically running along the target running route in the row direction.

However, when the row direction in the field is determined in advance before the harvesting operation in the field is started, a situation is assumed in which the determined row direction differs from the actual row direction.

When the predetermined row direction is different from the actual row direction, automatic running along the predetermined row direction tends to reduce the grain recovery efficiency.

In addition, when the combine is controlled to reap the entire uncut area by repeating automatic travel along the row direction, the efficiency of travel is improved if the reaping travel is actually performed along the row direction. Cheap.

Here, as described above, in the configuration in which the row direction in the field is determined in advance before the harvesting operation in the field is started, a situation is assumed in which the determined row direction differs from the actual row direction.

If the row direction determined in advance differs from the actual row direction, the automatic running is performed along the row direction determined in advance, which tends to reduce the running efficiency.

An object of the present invention is to provide an automatic traveling system that tends to improve threshing efficiency and traveling efficiency.

A feature of the present invention is an automatic traveling system that manages automatic travel of a combine harvester that travels for reaping in a square uncut area in a field, wherein one of the four sides forming the outline of the uncut area is a determination unit for determining whether or not the inclination of the opposite side of the selected side to the selected side selected by the selecting unit is equal to or less than a predetermined reference angle; a row direction determination unit that determines a row direction, wherein when the determination unit determines that the inclination is larger than the reference angle, the row direction determination unit determines the direction in which the selected side extends as the row direction. If the determining unit determines that the inclination is equal to or less than the reference angle, the row direction determining unit determines the direction in which the selected side extends and the direction of the side opposite to the selected side according to the state of the aircraft. One of the extending direction and the row direction is determined as the row direction.

According to the present invention, it is possible to realize a configuration in which the operator visually confirms the actual row direction in the field and selects one side by the selection unit. Therefore, the direction in which the selected side extends tends to match the actual row direction. Then, when the inclination of the opposite side of the selected side to the selected side is larger than the reference angle, the direction in which the selected side extends is determined as the row direction. Therefore, when the inclination of the opposite side of the selected side with respect to the selected side is larger than the reference angle, the threshing efficiency and the running efficiency when automatically running along the determined row direction tend to be good.

Further, when it is determined that the inclination of the side opposite to the selected side is equal to or less than the reference angle, either the direction in which the selected side extends or the direction in which the side opposite to the selected side extends is determined as the row direction. be done. In this case, if the direction in which the selected side extends is determined as the row direction, the determined row direction tends to match the actual row direction. Also, if the direction in which the side opposite to the selected side extends is determined as the row direction, the difference between the determined row direction and the actual row direction tends to be relatively small. Therefore, even if the inclination of the opposite side of the selected side to the selected side is equal to or smaller than the reference angle, the threshing efficiency and the running efficiency when automatically running along the determined row direction tend to be good.

Moreover, if the inclination of the side opposite to the selected side is equal to or less than the reference angle, either the direction in which the selected side extends or the direction in which the side opposite to the selected side extends depends on the state of the fuselage. is determined as As a result, it is possible to realize a configuration in which the direction in which the running efficiency is likely to be improved is determined as the row direction from the direction in which the selected side extends and the direction in which the side opposite to the selected side extends.

Therefore, according to the present invention, it is possible to realize an automatic traveling system that tends to improve threshing efficiency and traveling efficiency.

Further, in the present invention, the combine is configured to perform spiral traveling for reaping in a spiral around the outer peripheral portion of the uncut area, and reciprocating traveling for reaping while moving forward and repetitively changing direction by U-turn. A travel control unit for controlling travel is provided, wherein the travel control unit controls the travel of the combine harvester so as to shift to the reciprocating travel after the eddy travel, and during the reciprocating travel, the row direction determining unit adjusts the row direction. Preferably, the travel of the combine is controlled such that the reaping travel takes place along the direction determined as the direction.

With this configuration, the travel of the combine shifts to reciprocating travel after the spiral travel. Then, in the reciprocating travel, reaping travel is performed along the determined row direction. As a result, the threshing efficiency and the running efficiency tend to be improved in the reciprocating travel, compared to the case where the reaping travel is performed along a direction other than the determined row direction.

Further, in the present invention, a route calculation unit for calculating a target travel route for the spiral travel and the round-trip travel is provided, and the route calculator includes a plurality of route calculators arranged parallel to the first side, which is the selected side, at a predetermined interval. a first path of, a plurality of second paths arranged at predetermined intervals parallel to a second side adjacent to the first side in the outline, and a third side opposite to the selected side at predetermined intervals A plurality of third routes lined up and a plurality of fourth routes lined up at predetermined intervals parallel to a fourth side opposite to the second side of the outline are calculated as the target travel routes, and the travel control unit In the spiral traveling, the reaping travel along the first route is followed by the reaping travel along the second route, and the reaping travel along the second route is followed by the reaping travel along the third route. The reaping travel along the third route is followed by the reaping travel along the fourth route, and the reaping travel along the fourth route is followed by the reaping travel along the first route. When the judgment unit determines that the inclination is equal to or less than the reference angle and the reaping travel along the first route or the second route in the spiral travel is completed, the When the combine travel shifts to the reciprocating travel, the row direction determination unit determines the direction in which the opposite side of the selected side extends as the row direction, and the travel control unit selects the third route during the reciprocating travel. and controlling the travel of the combine so that reaping travel is performed along the third route or the fourth route in the spiral travel, and the determination unit determines that the inclination is equal to or less than the reference angle When the travel of the combine harvester shifts to the reciprocating travel when the reaping travel is completed, the row direction determination unit determines the direction in which the selected side extends as the row direction, and the travel control unit determines the direction in which the selected side extends as the row direction. Preferably, the travel of the combine is controlled such that the reaping travel is along the first path.

When the reciprocating travel is performed along the first route, the first reaping travel in the reciprocating travel is performed along the first route closest to the first side of the first routes on which the reaping travel has not yet been performed. , when the reciprocating travel is performed along the third route, the first reaping travel in the reciprocating travel is along the third route closest to the third side of the third routes on which the reaping travel has not yet been performed. In this configuration, the running efficiency changes depending on which of the first route and the third route the round-trip travel is performed.

For example, in the case where the travel of the combine shifts to reciprocating travel at the time when the reaping travel along the first route or the second route in the eddy travel is completed, when the reciprocating travel is performed along the first route, the eddy travel is completed. The distance traveled from the point at which the first mowing trip is started to the point at which the first reaping trip in the round trip is started tends to be relatively long.

Here, according to the above configuration, when the combine travels to reciprocating travel at the time when the reaping travel along the first route or the second route in the spiral travel is completed, the reciprocating travel is performed along the third route. will be Further, when the combine travels to reciprocating travel at the time when the reaping travel along the third route or the fourth route in the spiral traveling is completed, the reciprocating traveling is performed along the first route.

As a result, it is possible to realize a configuration in which the traveling distance from the point where the spiral traveling is completed to the point where the first reaping traveling in the reciprocating traveling is started becomes relatively short.

It is a left view of a combine. FIG. 4 is a diagram showing the positional relationship between a passing reference position and a row direction path; FIG. 11 shows spiral travel along the reaping travel path; FIG. 10 is a diagram showing reciprocating travel along a reaping travel path; 4 is a block diagram showing the configuration of a control unit; FIG. It is a figure which shows intermediate|middle division driving|running|working. FIG. 10 is a diagram showing a state before the position of the row-direction path in the north area is calculated again by the shift calculation unit; FIG. 10 is a diagram showing a state after the position of the row-direction path in the north area is calculated again by the shift calculation unit; FIG. 10 is a diagram showing a state before the position of the row-direction path in the south area is calculated again by the shift calculation unit; FIG. 10 is a diagram showing a state after the position of the row-direction path in the south area is calculated again by the shift calculation unit; FIG. 10 is a diagram showing a state before the position of the row direction path in the work area is calculated again by the shift calculation unit; FIG. 10 is a diagram showing a state after the position of the row direction path in the work area is calculated again by the shift calculation unit; It is a figure which shows the reaping driving|running path|route calculated by the path|route calculation part. It is a figure which shows the display screen in a touch panel. It is a figure which shows the display screen in a touch panel. FIG. 11 shows spiral travel along the reaping travel path; FIG. 10 is a diagram showing an example of a case where the travel of the combine shifts to reciprocating travel when reaping travel along the first route in spiral travel is completed. FIG. 10 is a diagram showing an example of a case where the travel of the combine shifts to reciprocating travel when reaping travel along the third route in spiral travel is completed.

A mode for carrying out the present invention will be described based on the drawings. In the following description, the front and rear directions are described as follows unless otherwise specified. That is, when the machine body travels for work, the direction of travel on the forward side is "forward" and the direction of travel on the reverse side is "rear". The direction corresponding to the right side is "right" and the direction corresponding to the left side is "left" with reference to the front-back posture.

In addition, in the description of FIG. 1, the direction of arrow F is "forward" and the direction of arrow B is "back."

2 to 4, 6 to 13, and 16 to 18, the direction of arrow N is "north", the direction of arrow S is "south", and the direction of arrow E is "east". Let the direction of W be "West".

[Overall configuration of combine harvester]
As shown in FIG. 1, the self-throwing combine 1 includes a plurality of dividers 5, a crawler type traveling device 11, an operation section 12, a threshing device 13, a grain tank 14, a harvesting section H, a straw discharging device 17, a grain It is equipped with a grain discharger 18 and a satellite positioning module 80 .

The travel device 11 is provided in the lower portion of the combine harvester 1 . Further, the travel device 11 is driven by power from an engine (not shown). The combine 1 can be self-propelled by the travel device 11 .

The driving unit 12 , the threshing device 13 and the grain tank 14 are provided above the traveling device 11 . An operator who monitors the work of the combine harvester 1 can board the operation section 12 . Incidentally, the operator may monitor the work of the combine harvester 1 from outside the combine harvester 1 .

A grain discharger 18 is connected to the grain tank 14 . Also, the satellite positioning module 80 is attached to the upper surface of the operating section 12 .

A plurality of dividers 5 are provided at the front end of the combine 1 .

As shown in FIG. 2 , the combine 1 includes a first divider 51 , a second divider 52 , a third divider 53 , a fourth divider 54 , a fifth divider 55 , a sixth divider 56 and a seventh divider 57 . The first divider 51 , second divider 52 , third divider 53 , fourth divider 54 , fifth divider 55 , sixth divider 56 and seventh divider 57 are all dividers 5 .

These dividers 5 are arranged in the order of a first divider 51, a second divider 52, a third divider 53, a fourth divider 54, a fifth divider 55, a sixth divider 56, and a seventh divider 57 from the left side of the fuselage.

These dividers 5 then comb out planted stalks in the field.

That is, the combine 1 has a plurality of dividers 5 for combing out planted grain culms in a field.

As shown in FIG. 1, the reaping part H is provided at the front part of the combine harvester 1 . The reaping unit H has a clipper-type cutting device 15 and a conveying device 16 .

The cutting device 15 cuts the base of the planted grain culms that have been combed out by the plurality of dividers 5 . Then, the conveying device 16 conveys the culms cut by the cutting device 15 to the rear side.

With this configuration, the reaping unit H reaps planted grain culms in the field. The combine 1 is capable of reaping travel in which the travel device 11 travels while the reaping unit H reaps planted grain stalks in a field.

That is, the combine 1 has a reaping part H for reaping planted grain culms in a field.

The culms conveyed by the conveying device 16 are threshed in the threshing device 13 . Grains obtained by the threshing process are stored in the grain tank 14 . The grains stored in the grain tank 14 are discharged out of the machine by the grain discharging device 18 as required.

Moreover, the straw discharging device 17 is provided at the rear end portion of the combine harvester 1 . The straw discharging device 17 discharges the straw from which the grains are separated by the threshing process to the rear of the machine body.

In this embodiment, the straw discharging device 17 can discharge the straw after shredding it with a cutter (not shown). Moreover, the straw discharging device 17 can discharge the straw without shredding it.

A communication terminal 4 (see FIG. 5) is arranged in the operation section 12 . The communication terminal 4 is configured to be able to display various information. In this embodiment, the communication terminal 4 is fixed to the operating section 12 . However, the present invention is not limited to this, and the communication terminal 4 may be configured to be detachable from the operation unit 12, or the communication terminal 4 may be positioned outside the combine harvester 1. .

Here, as shown in FIG. 2, the combine harvester 1 travels in a circular motion while harvesting grains in the outer peripheral area of the field, and then travels for reaping in the inner area of the field as illustrated in FIGS. It is configured to harvest the grain in the field by doing.

In the present embodiment, the circular travel shown in FIG. 2 is performed manually. In addition, reaping travel in the inner region shown in FIGS. 3 and 4 is performed by automatic travel.

Note that the present invention is not limited to this, and the circuit running shown in FIG. 2 may be performed by automatic running. Also, the reaping travel in the inner region shown in FIGS. 3 and 4 may be carried out manually.

By operating the communication terminal 4, the operator can change the rotational speed of the engine.

Appropriate working speed varies depending on crop conditions. If the operator operates the communication terminal 4 to set the rotation speed of the engine to an appropriate rotation speed, the work can be performed at a working speed suitable for the condition of the crops.

In harvesting work in a field, the combine 1 is controlled by an automatic traveling system A (see FIG. 5). That is, the automatic traveling system A manages automatic traveling of the combine harvester 1 . The configuration of the automatic driving system A will be described below.

[Configuration of automatic driving system]
As shown in FIG. 5, the automatic driving system A includes a control section 20 and a satellite positioning module 80. As shown in FIG. Note that the control unit 20 is provided in the combine 1 . A satellite positioning module 80 is also provided in the combine 1 as described above.

The control unit 20 has a vehicle position calculation unit 21 , an area calculation unit 22 , a route calculation unit 23 and a travel control unit 24 .

The satellite positioning module 80 receives GPS signals from artificial satellites used in GPS (Global Positioning System). Then, as shown in FIG. 5, the satellite positioning module 80 sends positioning data indicating the position of the combine 1 to the position calculator 21 based on the received GPS signal.

The own vehicle position calculation unit 21 calculates the position coordinates of the combine harvester 1 over time based on the positioning data output from the satellite positioning module 80 . The calculated temporal positional coordinates of the combine harvester 1 are sent to the area calculation unit 22 and the travel control unit 24 .

Based on the temporal position coordinates of the combine harvester 1 received from the own vehicle position calculation unit 21, the area calculation unit 22 calculates the outer peripheral area SA and the work target area CA as shown in FIG.

More specifically, the area calculation unit 22 calculates the travel locus of the combine harvester 1 in the circular travel on the outer circumference side of the field based on the temporal position coordinates of the combine harvester 1 received from the own vehicle position calculation unit 21. . Then, based on the calculated travel locus of the combine 1, the area calculation unit 22 calculates an area on the outer peripheral side of the field where the combine 1 traveled around while harvesting the grain as an outer peripheral area SA. Further, the area calculation unit 22 calculates an area inside the agricultural field from the calculated outer peripheral area SA as the work target area CA.

For example, in the upper part of FIG. 2, arrows indicate the traveling route of the combine 1 for traveling around the outer circumference of the field. In the example shown in FIG. 2, the combine 1 travels three rounds. Then, when the reaping travel along this travel route is completed, the field is in the state shown in FIG.

As shown in FIG. 3 , the area calculation unit 22 calculates an area on the outer peripheral side of the field where the combine harvester 1 traveled around while harvesting grain as an outer peripheral area SA. Further, the area calculation unit 22 calculates an area inside the agricultural field from the calculated outer peripheral area SA as the work target area CA.

Then, as shown in FIG. 5 , the calculation result by the area calculation unit 22 is sent to the route calculation unit 23 .

Based on the calculation results received from the area calculation unit 22, the route calculation unit 23 calculates a reaping travel route LN (a " (equivalent to “target travel route”). As shown in FIG. 3, in the present embodiment, the reaping travel path LN is a plurality of mesh lines extending in the vertical and horizontal directions. Also, the plurality of mesh lines may not be straight, and may be curved.

As shown in FIG. 5 , the reaping travel route LN calculated by the route calculation unit 23 is sent to the travel control unit 24 .

The travel control unit 24 is configured to be able to control the travel device 11 . Then, the travel control unit 24 controls the automatic travel of the combine harvester 1 based on the position coordinates of the combine harvester 1 received from the own vehicle position calculation unit 21 and the reaping travel route LN received from the route calculation unit 23 . More specifically, as shown in FIGS. 3 and 4, the travel control unit 24 controls travel of the combine harvester 1 so that reaping travel is performed by automatic travel along the reaping travel route LN.

That is, the combine 1 can automatically travel.

[Flow of harvesting work using a combine]
Below, as an example of the harvesting work by the combine harvester 1, the flow when the combine harvester 1 performs the harvesting work in the field shown in FIG. 2 will be described.

In this embodiment, the combine 1 is configured to harvest grains in a field by a first harvesting run and a second harvesting run. Note that the first harvesting travel is a harvesting travel performed manually in the outer peripheral area SA of the field. Further, the second harvesting travel is a harvesting travel that is automatically performed in an area inside the field from the outer peripheral area SA after the first harvesting travel.

First, the operator manually operates the combine harvester 1, and as shown in FIG. 2, reaps and travels along the boundary line BD of the field in the outer peripheral portion of the field. In the example shown in FIG. 2, the combine 1 travels three rounds. When this round trip is completed, the field will be in the state shown in FIG.

Based on the temporal positional coordinates of the combine harvester 1 received from the own vehicle position calculation unit 21, the area calculation unit 22 calculates the running locus of the combine harvester 1 in the circuit running shown in FIG. Then, as shown in FIG. 3, based on the calculated running locus of the combine harvester 1, the area calculating unit 22 determines the area on the outer peripheral side of the farm field where the combine harvester 1 traveled around while reaping planted grain culms as an outer peripheral area SA. Calculate as Further, the area calculation unit 22 calculates an area inside the agricultural field from the calculated outer peripheral area SA as the work target area CA.

Next, based on the calculation results received from the area calculation unit 22, the route calculation unit 23 calculates a reaping travel route LN in the work target area CA, as shown in FIG.

When the operator presses an automatic travel start button (not shown), automatic travel along the reaping travel route LN is started as shown in FIG. At this time, the travel control unit 24 controls travel of the combine harvester 1 so that reaping travel is performed by automatic travel along the reaping travel route LN.

When the automatic traveling in the work area CA is started, as shown in FIG. 3, the combine harvester 1 first moves along the outline of the work area CA in the outer peripheral portion of the work area CA to reap. I do. At this time, the combine 1 repeats traveling along the reaping travel route LN and turning by an α-turn. As a result, the combine 1 reaps and travels in a spiral around the outer peripheral portion of the non-reaped area of the work target area CA.

In the following, this spiral reaping travel is referred to as "spiral travel".

In FIG. 3, the direction change by α-turn is performed only three times, but the direction change by α-turn may be performed four times or more. In other words, spiral running may be performed over a longer running distance than in the case shown in FIG. For example, spiral running may be performed until the combine 1 makes two turns.

When the spiral traveling is completed, the combine 1 repeats the reaping travel while moving forward along the reaping travel route LN and the direction change by a U-turn, thereby covering the entire unreaped area of the work target area CA. Make a reaping run as if

In addition, hereinafter, the reaping travel while moving forward and the travel that repeats the direction change by U-turn are referred to as “reciprocating travel”.

That is, the travel control unit 24 controls the travel of the combine harvester 1 so as to transition to reciprocating travel after the spiral travel.

In this way, the automatic driving system A performs spiral traveling for reaping the outer peripheral portion of the unreaped area in a spiral shape, and reciprocating traveling for reaping while moving forward and repetitively changing directions by U-turns. A travel control unit 24 for controlling travel of the combine harvester 1 is provided.

The automatic traveling system A also includes a route calculation unit 23 that calculates a reaping traveling route LN for spiral traveling and reciprocating traveling.

In addition, the vortex running and the reciprocating running are included in the second harvesting running described above. That is, the automatic traveling system A includes a route calculation unit 23 that calculates the reaping travel route LN for the second harvest travel.

While the combine 1 is traveling for reaping, the harvested grain culms harvested by the cutting device 15 are conveyed to the threshing device 13 by the conveying device 16 as described above. Then, the harvested culms are threshed in the threshing device 13 .

[Configuration related to calculation of row direction path]
As shown in FIGS. 3 and 4, the reaping travel path LN includes a plurality of row-direction paths LA and a plurality of lateral paths LB. Each row-wise path LA is the row-wise reaping travel path LN for the second harvesting travel described above. Also, each lateral path LB is a reaping travel path LN in a direction intersecting the row direction for the second harvesting travel.

That is, the route calculation unit 23 calculates a plurality of row-direction routes LA for automatic traveling along the row direction. The route calculation unit 23 also calculates a plurality of lateral routes LB for automatic traveling in a direction intersecting the row direction.

That is, the automatic traveling system A includes a route calculation unit 23 that calculates a row-direction route LA for automatic traveling along the row direction.

The horizontal path LB may or may not be orthogonal to the row path LA.

Further, as shown in FIG. 5 , the control section 20 has a passage reference position calculation section 25 . The satellite positioning module 80 sends positioning data indicating the position of the own vehicle of the combine harvester 1 to the passing reference position calculator 25 based on the received GPS signal.

The passage reference position calculator 25 calculates the passage reference position based on the positioning data output from the satellite positioning module 80 . The passing reference position is a position through which a predetermined portion of the combine 1 has passed during the harvesting travel in the row direction in the first harvesting travel described above.

Also, in this embodiment, the predetermined portion is the first divider 51 . Therefore, in the present embodiment, the passing reference position calculation unit 25 determines, based on the positioning data output from the satellite positioning module 80, that the first divider 51 has passed during the harvesting travel in the row direction in the first harvesting travel described above. Calculate the position.

Note that the present invention is not limited to this, and the predetermined portion may be the seventh divider 57 .

That is, the predetermined portion is the divider 5 positioned at the left end or the right end among the plurality of dividers 5 .

For example, the lower portion of FIG. 2 shows the combine 1 performing a harvesting run in the row direction on the first harvesting run. Here, the combine 1 is running the last lap in the first harvest run in the northern part of the field. Moreover, in the farm field shown in FIG. 2, the row direction is the east-west direction.

A passing line P is shown in the lower part of FIG. The passing line P is the passing position of the first divider 51 . That is, in this example, the position of the passing line P is the passing reference position calculated by the passing reference position calculator 25 .

As shown in FIG. 5 , the passage reference position calculated by the passage reference position calculator 25 is sent to the route calculator 23 .

The path calculator 23 calculates the row direction path LA based on the passing reference position calculated by the passing reference position calculator 25 .

More specifically, as shown in FIG. 2, the path calculation unit 23 determines the position of the row-direction path LA, which is located on the northernmost side of the work area CA, at a position separated by a first distance DF from the passage reference position. . That is, the northernmost row-direction route LA among the plurality of row-direction routes LA is located at a position away from the passing line P to the south side by the first distance DF.

Then, as shown in FIG. 3, the path calculation unit 23 calculates a plurality of row-direction paths LA arranged in parallel such that the interval between the row-direction paths LA is a predetermined first interval D1. That is, the path calculation unit 23 is configured to calculate a plurality of row-direction paths LA arranged in parallel at a predetermined first interval D1.

Below, the 1st distance DF and the 1st space|interval D1 are explained in full detail. As shown in FIG. 5 , the control unit 20 has a model information storage unit 26 and a row distance acquisition unit 27 . Further, the route calculation section 23 has a distance calculation section 23a.

The model information storage unit 26 stores various information about the specifications of the combine harvester 1 . Here, the information stored in the model information storage unit 26 includes the number of harvested rows of the combine harvester 1 . Then, the path calculation unit 23 acquires the number of harvested rows of the combine harvester 1 from the model information storage unit 26 . In addition, in this embodiment, the harvesting number of rows of the combine 1 is six rows.

The row-spacing acquisition unit 27 acquires row-spacing information from the management server 6 provided outside the combine harvester 1 . The row-to-row information is information indicating the row-to-row distance in a field. Note that the row spacing in the field shown in FIGS. 2 to 4 is G1 as shown in the lower part of FIG. That is, in this field, a plurality of rows are arranged in the north-south direction with an interval of G1 from each other.

That is, the automatic traveling system A includes a row interval acquisition unit 27 that acquires row interval information, which is information indicating the interval between rows in a field.

As shown in FIG. 5 , the row-spacing acquisition unit 27 sends the acquired row-spacing information to the route calculation unit 23 .

Then, the distance calculation unit 23a calculates an appropriate first distance DF based on the number of rows to be cut of the combine harvester 1 acquired from the model information storage unit 26 and the row-to-row information received from the row-to-row acquisition unit 27. . Accordingly, the route calculation unit 23 determines the first distance DF.

That is, the path calculation unit 23 determines the distance between the passing reference position and the row-direction path LA based on the number of rows to be harvested of the combine harvester 1 . Further, the route calculation unit 23 determines the distance between the passing reference position and the row-direction route LA based on the row-to-row information.

In addition, the distance calculation part 23a calculates the first distance DF so that the first distance DF increases as the number of harvested rows of the combine harvester 1 increases. Further, the distance calculator 23a calculates the first distance DF such that the wider the row-to-row distance indicated by the row-to-row information, the longer the first distance DF.

Further, as shown in FIG. 5, the control section 20 has a first interval calculation section 23b. The first interval calculation unit 23b calculates an appropriate first interval D1 based on the number of rows to be cut of the combine harvester 1 acquired from the model information storage unit 26 and the row interval information received from the row interval acquisition unit 27. . Thereby, the path calculation unit 23 determines the first interval D1.

That is, the path calculation unit 23 determines the first interval D1 based on the number of rows of the combine harvester 1 to be harvested. Further, the path calculation unit 23 determines the first interval D1 based on the row-to-row information.

In addition, the 1st space|interval calculation part 23b calculates the 1st space|interval D1 so that the 1st space|interval D1 may become wide, so that the number of cutting lines of the combine 1 is large. In addition, the first interval calculation unit 23b calculates the first interval D1 so that the first interval D1 becomes wider as the row interval indicated by the row interval information becomes wider.

[Configuration for Calculation of Lateral Route]
As shown in FIG. 3, the path calculation unit 23 calculates a plurality of horizontal paths LB arranged in parallel such that the distance between the horizontal paths LB is the predetermined second distance D2. That is, the path calculation unit 23 is configured to calculate a plurality of horizontal paths LB arranged in parallel at the predetermined second interval D2.

Below, the 2nd space|interval D2 is explained in full detail. As shown in FIG. 5, the route calculator 23 has a second interval calculator 23c.

The information stored in the model information storage unit 26 also includes the width of cut of the combine harvester 1 . Then, the path calculation unit 23 acquires the width of cut of the combine harvester 1 from the model information storage unit 26 . In this embodiment, the cutting width of the combine 1 is the distance between the first divider 51 and the seventh divider 57 in the lateral width direction of the machine body.

The second interval calculation unit 23c calculates an appropriate second interval D2 based on the swath width of the combine harvester 1 acquired from the model information storage unit 26. FIG. Thereby, the path calculation unit 23 determines the second interval D2.

That is, the path calculator 23 determines the second interval D2 based on the swath width of the combine harvester 1 .

The second interval calculator 23c calculates the second interval D2 so that the second interval D2 becomes wider as the width of cut of the combine harvester 1 is wider.

[Configuration for shift of row direction path]
As shown in FIG. 5, the route calculator 23 has a shift calculator 23d. The function of the shift calculator 23d will be described below.

As shown in FIG. 5 , the control section 20 has a thread number calculation section 28 . The row number calculation unit 28 is configured to calculate the number of rows in an uncut area in the field.

The thread number calculator 28 will be described in detail. While the combine harvester 1 is performing reaping travel by manual travel or automatic travel, the own vehicle position calculation unit 21 calculates the position coordinates of the combine harvester 1 over time based on the positioning data output by the satellite positioning module 80. . The calculated positional coordinates of the combine 1 over time are sent to the thread number calculation unit 28 .

Further, the row-spacing acquisition unit 27 sends the row-spacing information acquired from the management server 6 to the row number calculation unit 28 .

Then, the number-of-rows calculation unit 28 temporally calculates the range of the uncut area in the field based on the temporal position coordinates of the combine harvester 1 received from the own vehicle position calculation unit 21 . Further, the row number calculation unit 28 temporally calculates the number of rows in the uncut area based on the calculated range of the uncut area and the row distance information received from the row distance acquisition unit 27 .

That is, the automatic driving system A includes a thread number calculator 28 that calculates the thread number of the uncut area.

The calculation result by the thread number calculation unit 28 is sent to the shift calculation unit 23d. Then, the shift calculation unit 23 d calculates the row direction path LA based on the calculation result received from the row number calculation unit 28 and the number of harvested rows of the combine harvester 1 acquired from the model information storage unit 26 .

That is, the path calculation unit 23 calculates the row direction path LA based on the calculation result of the row number calculation unit 28 and the number of harvested rows of the combine harvester 1 .

At this time, the shift calculating section 23d calculates the row-direction route LA so that a predetermined condition is satisfied when the combine 1 travels along the row-direction route LA.

The predetermined condition is that "a predetermined number of dividers 5 from the left end of the plurality of dividers 5 are positioned to the right of the row positioned at the left end of the uncut area, and The predetermined number of dividers 5 from the right end are positioned to the left of the row positioned at the right end in the uncut area."

Moreover, in this embodiment, the predetermined number is three. That is, in the present embodiment, the predetermined condition is that "the third divider 53 is positioned to the right of the row positioned at the left end of the uncut area, and the fifth divider 55 is positioned at the right end of the uncut area." It must be located on the left side of the article.”

More specifically, after a plurality of row-direction paths LA arranged in parallel at the first interval D1 are calculated as described above, the shift calculator 23d calculates Determine whether a predetermined condition is always satisfied. This determination is made based on the calculation result of the number-of-rows calculation unit 28 and the number of reaped rows of the combine harvester 1 . This determination is made immediately after the calculation of a plurality of row-direction paths LA arranged in parallel at the first interval D1 and when the combine harvester 1 is running along the row-direction paths LA.

Then, when it is determined that the predetermined condition is not always satisfied when the combine 1 travels along the row-direction route LA, the shift calculation unit 23d calculates one or more row-direction routes among the plurality of row-direction routes LA. The position of the directional path LA is calculated again. At this time, the shift calculating section 23d calculates the position of the row-direction route LA again so that the predetermined condition is always satisfied when the combine 1 travels along the row-direction route LA. As a result, the position of one or a plurality of row-direction paths LA among the plurality of row-direction paths LA is shifted.

In this manner, the route calculation unit 23 is configured to calculate the row-direction route LA so that the predetermined conditions are satisfied when the combine 1 travels along the row-direction route LA.

In the following, as an example in which the position of the row-direction path LA is calculated again by the shift calculation unit 23d, the flow when the combine harvester 1 performs harvesting work in the field shown in FIG. 6 will be described.

In the field shown in FIG. 6, the row direction is the east-west direction. Moreover, in this example, the combine 1 is about to complete spiral traveling in the work target area CA and shift to reciprocating traveling. At this time, as shown in FIG. 6, it is assumed that the combine 1 passes from west to east while reaping and traveling in the middle portion in the north-south direction of the unreaped area. This reaping travel is a so-called intermediate travel. As a result, the uncut area is divided into two uncut areas, a north area CA1 and a south area CA2.

At this time, as shown in FIG. 7, there are three row-direction paths LA corresponding to the north area CA1: the first row-direction path LA1, the second row-direction path LA2, and the third row-direction path LA3. LA has already been calculated.

Note that the first row direction route LA1, the second row direction route LA2, and the third row direction route LA3 are arranged in order from the north side. In addition, these three row-direction paths LA are arranged side by side with a first interval D1 therebetween.

As shown in FIG. 7, the number of articles in the north area CA1 is 16 articles. At this time, the number of threads in the north area CA1 is calculated by the number-of-threads calculation unit 28 and sent to the shift calculation unit 23d. Further, at this time, the path calculation unit 23 has already acquired the number of rows to be cut of the combine harvester 1 from the model information storage unit 26 .

Here, the shift calculator 23d determines whether or not a predetermined condition is always satisfied when the combine 1 travels along the row-direction route LA in the north area CA1. More specifically, as shown in FIG. 7, the shift calculation unit 23d determines that when the combine harvester 1 reaps in the order of the first row directional route LA1, the third row directional route LA3, and the second row directional route LA2. , determines whether a predetermined condition is always satisfied.

In this embodiment, the travel control unit 24 controls travel of the combine harvester 1 so that reaping travel is performed along the row-direction route LA corresponding to the rightmost portion of the unreaped area when reciprocating travel is performed. is configured to

Assuming that the combine harvester 1 travels along the first row direction route LA1, the third row direction route LA3, and the second row direction route LA2 in this order as shown in FIG. Reaping travel is performed along the route LA1. As a result, as shown in FIG. 7, the uncut area in the north area CA1 becomes the first uncut area CA11. The number of rows of the first uncut area CA11 is ten.

Next, the combine 1 travels for reaping along the third row direction path LA3. As a result, as shown in FIG. 7, the uncut area in the north area CA1 becomes the second uncut area CA12. The number of rows of the second uncut area CA12 is six.

Finally, the combine 1 performs reaping travel along the second row direction path LA2. As a result, the entire north area CA1 becomes the already cut area.

Here, when the combine harvester 1 reaps along the first row direction path LA1, the row positioned at the right end of the uncut area is positioned at the first position Q1 shown in FIG. Also, at this time, the row located at the left end of the uncut area is located at the second position Q2 shown in FIG.

At this time, the third divider 53 is located on the right side of the second position Q2. Also, the fifth divider 55 is positioned to the left of the first position Q1. Therefore, the above-mentioned predetermined condition is satisfied while the combine harvester 1 travels for reaping along the first row directional path LA1.

Next, when the combine 1 reaps along the third row direction path LA3, the row positioned at the right end of the uncut area is positioned at the second position Q2 shown in FIG. Also, at this time, the leftmost row in the uncut area is positioned at the third position Q3 shown in FIG.

At this time, the third divider 53 is located on the right side of the third position Q3. However, the fifth divider 55 is positioned to the right of the second position Q2. Therefore, while the combine 1 is reaping along the third row LA3, the above-described predetermined condition is not satisfied.

Therefore, the shift calculation unit 23d determines that the predetermined condition is not always satisfied when the combine harvester 1 travels for reaping in the order of the first directional path LA1, the third directional path LA3, and the second directional path LA2. . This determination is made before the combine harvester 1 starts traveling along the first row directional route LA1.

As a result, the shift calculator 23d calculates the position of the third directional path LA3 again, as shown in FIG. In this example, the position of the third directional path LA3 shifts northward. As a result, the interval between the second directional path LA2 and the third directional path LA3 becomes the first shift interval DS1.

Note that the first shift interval DS1 is narrower than the first interval D1.

In this example, by shifting the position of the third row-direction route LA3 to the north side, the predetermined condition is always satisfied when the combine 1 travels along the row-direction route LA.

More specifically, as shown in FIG. 8, when the combine harvester 1 travels for reaping along the first row direction path LA1, the rightmost row in the uncut area is positioned at the first position Q1 shown in FIG. is doing. Also, at this time, the leftmost row in the uncut area is positioned at the second position Q2 shown in FIG.

At this time, the third divider 53 is located on the right side of the second position Q2. Also, the fifth divider 55 is positioned to the left of the first position Q1. Therefore, the above-mentioned predetermined condition is satisfied while the combine harvester 1 travels for reaping along the first row directional path LA1.

Next, when the combine harvester 1 reaps along the third row direction path LA3, the rightmost row in the uncut area is positioned at the second position Q2 shown in FIG. Also, at this time, the leftmost row in the uncut area is positioned at the third position Q3 shown in FIG.

At this time, the third divider 53 is located on the right side of the third position Q3. Also, the fifth divider 55 is positioned to the left of the second position Q2. Therefore, while the combine 1 is reaping along the 3rd row directional path LA3, the above-mentioned predetermined condition is satisfied.

Finally, when the combine harvester 1 reaps along the second row direction path LA2, the row positioned at the right end of the uncut area is positioned at the third position Q3 shown in FIG. Also, at this time, the leftmost row in the uncut area is positioned at the fourth position Q4 shown in FIG.

At this time, the third divider 53 is located on the right side of the fourth position Q4. Also, the fifth divider 55 is positioned to the left of the third position Q3. Therefore, while the combine 1 is reaping along the second row direction path LA2, the above-mentioned predetermined condition is satisfied.

Thus, in the example shown in FIG. 8, the predetermined condition is always satisfied when the combine 1 travels along the row-direction route LA.

After completing the reaping travel in the north area CA1, the combine harvester 1 starts reaping travel in the south area CA2. At this time, as shown in FIG. 9, as the row-direction paths LA corresponding to the south area CA2, there are three row-direction paths LA: a 4th-direction path LA4, a 5th-direction path LA5, and a 6th-direction path LA6. already calculated.

In addition, the 4th directional route LA4, the 5th directional route LA5, and the 6th directional route LA6 are arranged in order from the north side. In addition, these three row-direction paths LA are arranged side by side with a first interval D1 therebetween.

Further, as shown in FIG. 9, the number of articles in the south area CA2 is 15 articles. Also, at this time, the number of threads of the south area CA2 is calculated by the number of threads calculation unit 28 and sent to the shift calculation unit 23d. Further, at this time, the path calculation unit 23 has already acquired the number of rows to be cut of the combine harvester 1 from the model information storage unit 26 .

Here, the shift calculator 23d determines whether or not a predetermined condition is always satisfied when the combine 1 travels along the row-direction route LA in the south area CA2. More specifically, as shown in FIG. 9, the shift calculation unit 23d determines that when the combine harvester 1 reaps along the fourth directional route LA4, the sixth directional route LA6, and the fifth directional route LA5 in this order. , determines whether a predetermined condition is always satisfied.

Assuming that the combine harvester 1 reaps in the order of row 4 direction route LA4, row 6 direction route LA6, and row 5 direction route LA5 as shown in FIG. Reaping travel is performed along the route LA4. As a result, as shown in FIG. 9, the uncut area in the south side area CA2 becomes the first uncut area CA21. The number of rows of the first uncut area CA21 is nine.

Next, the combine harvester 1 travels for reaping along the No. 6 directional route LA6. As a result, as shown in FIG. 9, the uncut area in the south area CA2 becomes the second uncut area CA22. The number of rows of the second uncut area CA22 is six.

Finally, the combine 1 performs reaping travel along the fifth row directional path LA5. Thereby, the whole south side field CA2 turns into a cut field.

Here, when the combine harvester 1 reaps along the fourth row direction path LA4, the rightmost row in the uncut area is positioned at the fifth position Q5 shown in FIG. Also, at this time, the leftmost row in the uncut area is positioned at the sixth position Q6 shown in FIG.

At this time, the third divider 53 is located on the right side of the sixth position Q6. Also, the fifth divider 55 is positioned to the left of the fifth position Q5. Therefore, while the combine 1 is reaping along the fourth row LA4, the above-described predetermined condition is satisfied.

Next, when the combine harvester 1 reaps along the sixth row direction path LA6, the row positioned at the right end of the uncut area is positioned at the sixth position Q6 shown in FIG. Also, at this time, the leftmost row in the uncut area is positioned at the seventh position Q7 shown in FIG.

At this time, the third divider 53 is positioned to the right of the seventh position Q7. However, the fifth divider 55 is positioned to the right of the sixth position Q6. Therefore, while the combine 1 is reaping along the sixth directional path LA6, the above predetermined condition is not satisfied.

Therefore, the shift calculation unit 23d determines that the predetermined condition is not always satisfied when the combine harvester 1 travels for reaping in the order of the fourth directional route LA4, the sixth directional route LA6, and the fifth directional route LA5. . This determination is made before the combine harvester 1 starts running along the 4th directional route LA4.

As a result, as shown in FIG. 10, the shift calculator 23d again calculates the positions of the fifth directional path LA5 and the sixth directional path LA6. In this example, the positions of the 5th directional route LA5 and the 6th directional route LA6 are shifted northward. As a result, the interval between the fourth directional path LA4 and the fifth directional path LA5 becomes the second shift interval DS2. Further, the interval between the fifth directional path LA5 and the sixth directional path LA6 is the third shift interval DS3.

Both the second shift interval DS2 and the third shift interval DS3 are narrower than the first interval D1. Also, in this example, the second shift interval DS2 and the third shift interval DS3 are of the same width.

In this example, by shifting the positions of the fifth directional route LA5 and the sixth directional route LA6 to the north side, the predetermined conditions are always satisfied when the combine 1 travels along the row directional route LA. become.

More specifically, as shown in FIG. 10, when the combine harvester 1 reaps along the fourth row direction path LA4, the rightmost row in the uncut area is positioned at the fifth position Q5 shown in FIG. is doing. Also, at this time, the leftmost row in the uncut area is positioned at the sixth position Q6 shown in FIG.

At this time, the third divider 53 is located on the right side of the sixth position Q6. Also, the fifth divider 55 is positioned to the left of the fifth position Q5. Therefore, while the combine 1 is reaping along the fourth row LA4, the above-described predetermined condition is satisfied.

Next, when the combine harvester 1 reaps along the sixth row direction path LA6, the rightmost row in the uncut area is positioned at the sixth position Q6 shown in FIG. Also, at this time, the leftmost row in the uncut area is positioned at the seventh position Q7 shown in FIG.

At this time, the third divider 53 is positioned to the right of the seventh position Q7. Also, the fifth divider 55 is positioned to the left of the sixth position Q6. Therefore, while the combine 1 is reaping along the sixth directional path LA6, the above-described predetermined conditions are satisfied.

Finally, when the combine harvester 1 reaps along the fifth row direction path LA5, the rightmost row in the uncut area is positioned at the seventh position Q7 shown in FIG. Also, at this time, the row positioned at the left end of the uncut area is positioned at the eighth position Q8 shown in FIG.

At this time, the third divider 53 is located on the right side of the eighth position Q8. Also, the fifth divider 55 is positioned to the left of the seventh position Q7. Therefore, while the combine harvester 1 is reaping along the fifth row LA5, the above-described predetermined condition is satisfied.

Thus, in the example shown in FIG. 10, the predetermined condition is always satisfied when the combine 1 travels along the row-direction route LA.

Also, as shown in FIGS. 8 and 10, the manner in which the position of the row direction path LA is shifted differs according to the number of rows in the uncut area. That is, the shift calculator 23d shifts the position of the row direction path LA according to the number of rows in the uncut area.

As described above, when the uncut area in the field is divided into a plurality of areas, the shift calculation unit 23d determines which of the uncut areas generated by the division, the combine 1 is currently traveling for cutting. It is determined whether or not a predetermined condition is always satisfied, targeting only the uncut area where the combine 1 is currently running or the uncut area where the combine 1 is scheduled to travel for reaping in the near future, and the position of the row direction path LA is shifted. Let

Next, as another example in which the position of the row-direction path LA is calculated again by the shift calculation unit 23d, as shown in FIG. will be explained. The work area CA3 is an uncut area.

The combine 2 has the same configuration as the combine 1 except that the number of rows to be cut is different. The combine 2 has six dividers 5, a first divider 51, a second divider 52, a third divider 53, a fourth divider 54, a fifth divider 55 and a sixth divider 56, as shown in FIG.

In this example, the predetermined condition is that "the third divider 53 is positioned on the right side of the row positioned at the left end of the uncut area, and the fourth divider 54 is positioned at the right end of the uncut area. It is to be located to the left of the

The row direction in the work area CA3 is the east-west direction. Then, before starting the reaping travel in the work area CA3, as shown in FIG. Four row directional paths LA, a directional path LA9 and a tenth row directional path LA10, have already been calculated.

From the north side, the 7th directional route LA7, the 8th directional route LA8, the 9th directional route LA9, and the 10th directional route LA10 are lined up. Further, these four row-direction paths LA are arranged with a third interval D3 therebetween. The third spacing D3 is narrower than the first spacing D1.

Further, as shown in FIG. 11, the number of rows in the work area CA3 is 16 rows. At this time, the number of threads in the work area CA3 is calculated by the number-of-threads calculation unit 28 and sent to the shift calculation unit 23d. Further, at this time, the path calculation unit 23 has already acquired the number of rows to be cut of the combine harvester 1 from the model information storage unit 26 .

Here, the shift calculator 23d determines whether or not a predetermined condition is always satisfied when the combine 2 travels along the row-direction route LA in the work area CA3. More specifically, as shown in FIG. 11, the shift calculation unit 23d determines that the combine 2 is on the seventh directional path LA7, the tenth directional path LA10, the eighth directional path LA8, and the ninth directional path LA9. It is determined whether or not a predetermined condition is always satisfied when reaping travel is performed in the order of .

Assuming that the combine harvester 2 travels along the 7th directional route LA7, the 10th directional route LA10, the 8th directional route LA8, and the 9th directional route LA9 in this order as shown in FIG. 2 performs reaping travel along the 7th directional route LA7. As a result, as shown in FIG. 11, the uncut area in the work area CA3 becomes the first uncut area CA31. The number of rows of the first uncut area CA31 is eleven.

Next, the combine harvester 2 travels for reaping along the 10th row direction route LA10. As a result, as shown in FIG. 11, the uncut area in the work area CA3 becomes the second uncut area CA32. The number of rows of the second uncut area CA32 is ten.

Next, the combine harvester 2 travels for reaping along the eighth row direction path LA8. As a result, as shown in FIG. 11, the uncut area in the work area CA3 becomes the third uncut area CA33. The number of rows of the third uncut area CA33 is five.

Finally, the combine 2 performs reaping travel along the 9th row direction path LA9. As a result, the entire working area CA3 becomes a cut area.

Here, when the combine harvester 2 reaps along the seventh row direction path LA7, the rightmost row in the uncut area is positioned at the ninth position Q9 shown in FIG. Also, at this time, the row located at the left end of the uncut area is located at the tenth position Q10 shown in FIG.

At this time, the third divider 53 is located on the right side of the tenth position Q10. Also, the fourth divider 54 is positioned to the left of the ninth position Q9. Therefore, while the combine 2 is reaping along the 7th row LA7, the above-mentioned predetermined condition is satisfied.

Next, when the combine harvester 2 reaps along the tenth row direction path LA10, the rightmost row in the uncut area is positioned at the tenth position Q10 shown in FIG. Also, at this time, the leftmost row in the uncut area is positioned at the eleventh position Q11 shown in FIG.

At this time, the third divider 53 is positioned to the right of the eleventh position Q11. However, the fourth divider 54 is positioned to the right of the tenth position Q10. Therefore, while the combine 2 is reaping along the 10th row directional path LA10, the above predetermined condition is not satisfied.

Therefore, the shift calculation unit 23d determines that the predetermined condition is Determine that it is not always satisfied. This determination is made before the combine harvester 2 starts traveling along the 7th directional route LA7.

As a result, as shown in FIG. 12, the shift calculator 23d again calculates the positions of the 8th directional path LA8, the 9th directional path LA9, and the 10th directional path LA10. In this example, the positions of the 8th directional route LA8, the 9th directional route LA9, and the 10th directional route LA10 are shifted northward. As a result, the interval between the seventh directional path LA7 and the eighth directional path LA8 becomes the fourth shift interval DS4. Further, the interval between the eighth directional path LA8 and the ninth directional path LA9 is the fifth shift interval DS5. Further, the interval between the ninth directional route LA9 and the tenth directional route LA10 is the sixth shift interval DS6.

The fourth shift interval DS4, the fifth shift interval DS5, and the sixth shift interval DS6 are all narrower than the third interval D3. Also, in this example, the fourth shift interval DS4, the fifth shift interval DS5, and the sixth shift interval DS6 have the same width.

In this example, the positions of the eighth directional route LA8, the ninth directional route LA9, and the tenth directional route LA10 are shifted northward, so that when the combine 2 travels along the row directional route LA, Predetermined conditions are always met.

More specifically, as shown in FIG. 12, when the combine harvester 2 reaps along the seventh row direction path LA7, the rightmost row in the uncut area is positioned at the ninth position Q9 shown in FIG. is doing. Also, at this time, the row located at the left end of the uncut area is located at the tenth position Q10 shown in FIG.

At this time, the third divider 53 is located on the right side of the tenth position Q10. Also, the fourth divider 54 is positioned to the left of the ninth position Q9. Therefore, while the combine 2 is reaping along the 7th row LA7, the above-mentioned predetermined condition is satisfied.

Next, when the combine harvester 2 reaps along the tenth row direction path LA10, the rightmost row in the uncut area is positioned at the tenth position Q10 shown in FIG. Also, at this time, the leftmost row in the uncut area is positioned at the eleventh position Q11 shown in FIG.

At this time, the third divider 53 is positioned to the right of the eleventh position Q11. Also, the fourth divider 54 is positioned to the left of the tenth position Q10. Therefore, while the combine 2 is reaping along the 10th row directional path LA10, the above predetermined conditions are satisfied.

Next, when the combine harvester 2 reaps along the eighth row direction path LA8, the rightmost row in the uncut area is positioned at the eleventh position Q11 shown in FIG. Also, at this time, the leftmost row in the uncut area is positioned at the twelfth position Q12 shown in FIG.

At this time, the third divider 53 is positioned to the right of the twelfth position Q12. Also, the fourth divider 54 is positioned to the left of the eleventh position Q11. Therefore, while the combine 2 is reaping along the eighth directional path LA8, the above-described predetermined conditions are satisfied.

Finally, when the combine harvester 2 reaps along the 9th row direction path LA9, the row positioned at the right end of the uncut area is positioned at the 12th position Q12 shown in FIG. Also, at this time, the leftmost row in the uncut area is positioned at the thirteenth position Q13 shown in FIG.

At this time, the third divider 53 is positioned to the right of the thirteenth position Q13. Also, the fourth divider 54 is positioned to the left of the twelfth position Q12. Therefore, while the combine 2 is reaping along the 9th directional path LA9, the above predetermined conditions are satisfied.

Thus, in the example shown in FIG. 12, the predetermined condition is always satisfied when the combine 2 travels along the row-direction route LA.

Also, as shown in FIGS. 8 and 12, the manner in which the position of the row-direction path LA is shifted differs depending on the number of rows to be cut. That is, the shift calculator 23d shifts the position of the row direction path LA according to the number of rows to be cut.

[Configuration related to the row direction determination unit]
As shown in FIG. 5, the automatic driving system A has a communication terminal 4. As shown in FIG. The communication terminal 4 has a row direction determining section 4c. The function of the row direction determination unit 4c will be described below.

As shown in FIG. 13, the combine 1 is capable of reaping by automatic travel in a rectangular unreaped region that is not square or rectangular. And the automatic driving system A can manage such automatic driving.

That is, the automatic traveling system A manages the automatic traveling of the combine harvester 1 that reaps and travels in a rectangular unreaped area in a field.

As shown in FIGS. 5, 14, and 15, the communication terminal 4 has a touch panel 4a (corresponding to the "selection section" according to the present invention). The touch panel 4a selects one of the four sides forming the outline of the uncut area according to the operator's touch operation. That is, the operator can select one of the four sides forming the outline of the uncut area by performing a touch operation on the touch panel 4a.

For example, in FIG. 14, the outer peripheral area SA and the work target area CA are displayed on the touch panel 4a. At this time, it is assumed that the entire work area CA is an uncut area. The four sides forming the outline of the uncut area are the first side S1, the second side S2, the third side S3, and the fourth side S4, respectively.

The first side S1 is located at the north end of the uncut area. The second side S2 is adjacent to the first side S1 on the contour line of the uncut area and is located at the west end of the uncut area. The third side S3 is the opposite side of the first side S1 and is located at the southern end of the uncut area. The fourth side S4 is the opposite side of the second side S2 on the contour line of the uncut area, and is located at the east end of the uncut area.

Then, as shown in FIG. 14, the operator touches any one of the first side S1, the second side S2, the third side S3, and the fourth side S4 displayed on the touch panel 4a. Thereby, the operator can select one side from the first side S1, the second side S2, the third side S3, and the fourth side S4.

That is, the automatic driving system A includes a touch panel 4a for selecting one side out of four sides forming the outline of the uncut area.

In the example shown in FIG. 14, the operator touches the first side S1. Thereby, the first side S1 is selected. Then, as shown in FIG. 15, the selected one side is highlighted on the touch panel 4a. In this example, since the first side S1 is selected, the first side S1 is highlighted as shown in FIG.

Moreover, as shown in FIG. 5, the communication terminal 4 has the determination part 4b. Information indicating the selected side is sent from the touch panel 4a to the determination section 4b and the row direction determination section 4c. The selected side is the side selected by the touch panel 4a.

Then, the determination unit 4b determines whether or not the inclination of the opposite side of the selected side to the selected side is equal to or less than a predetermined reference angle. For example, in the case shown in FIG. 15, the determination unit 4b determines whether or not the inclination of the third side S3 with respect to the first side S1 is equal to or less than the reference angle.

That is, the automatic driving system A includes a determination unit 4b that determines whether or not the inclination of the side opposite to the selected side, which is the side selected by the touch panel 4a, is equal to or less than a predetermined reference angle.

As shown in FIG. 5, the determination result by the determining section 4b is sent to the row direction determining section 4c. In addition, the position coordinates of the combine harvester 1 calculated by the own vehicle position calculator 21 are sent to the communication terminal 4 .

Further, when the running of the combine harvester 1 shifts from spiral running to reciprocating running, the running control section 24 sends a predetermined signal to the row direction determining section 4c. This signal is a signal indicating transition from spiral running to reciprocating running.

Then, the row direction determination unit 4c determines the uncut area based on the information indicating the selected side, the determination result by the determination unit 4b, the position coordinates of the combine harvester 1, and the above-described signal received from the travel control unit 24. Determine the row direction in

More specifically, when the judging section 4b judges that the inclination of the opposite side of the selected side to the selected side is greater than the reference angle, the row direction determination section 4c determines the direction in which the selected side extends as the row direction.

Further, when the judging unit 4b judges that the inclination of the opposite side of the selected side to the selected side is equal to or less than the reference angle, the row direction determining unit 4c determines the direction in which the selected side extends and and the direction in which the opposite side of the line extends is determined as the row direction.

Note that the position coordinates of the combine harvester 1 and the transition from spiral traveling to reciprocating travel all correspond to the above-described "state of the machine body".

That is, the automatic driving system A includes a row direction determining section 4c that determines the row direction in the uncut area.

Information indicating the row direction determined by the row direction determination unit 4 c is sent to the travel control unit 24 . Then, the travel control unit 24 controls travel of the combine harvester 1 so that the reaping travel is performed along the direction determined as the row direction by the row direction determination unit 4c during reciprocating travel.

Below, the determination of the row direction when the determining unit 4b determines that the inclination of the opposite side of the selected side to the selected side is equal to or less than the reference angle will be described. A case of performing work will be described as an example.

In this example, as shown in FIG. 13, the combine harvester 1 first travels for reaping in an area on the outer peripheral side of the field. When this reaping travel is completed, the area calculator 22 calculates the outer peripheral area SA and the work target area CA.

At this time, the uncut area in the field matches the work target area CA. In this example, the work area CA has a rectangular shape.

The four sides forming the outline of the work area CA are the first side S1, the second side S2, the third side S3, and the fourth side S4. The first side S1 is located on the north side of the work area CA. The second side S2 is adjacent to the first side S1 and located on the west side of the work area CA. The third side S3 is the opposite side of the first side S1 and is located on the south side of the work area CA. The fourth side S4 is the opposite side of the second side S2 and is located on the east side of the work area CA.

Also, in this example, as shown in FIGS. 14 and 15, the first side S1 is selected by the touch panel 4a. That is, the first side S1 is the selected side.

Also in this example, as described above, the route calculation unit 23 calculates the reaping travel route LN in the work target area CA based on the calculation results received from the area calculation unit 22 .

In the above description, the route calculation unit 23 calculates the reaping travel route LN, which is a plurality of mesh lines extending in the vertical and horizontal directions, as shown in FIG. However, the route calculator 23 is configured to be able to calculate a reaping travel route LN as shown in FIG. 13 .

The reaping travel routes LN shown in FIG. 13 include a plurality of first routes L1 arranged parallel to each other at predetermined intervals, a plurality of second routes L2 arranged parallel to each other at predetermined intervals, and a plurality of second routes L2 arranged parallel to each other at predetermined intervals. It is composed of three paths L3 and a plurality of fourth paths L4 arranged parallel to each other at predetermined intervals.

The plurality of first paths L1 are arranged parallel to the first side S1. Also, the plurality of second paths L2 are arranged in parallel with the second side S2. Also, the plurality of third paths L3 are arranged in parallel with the third side S3. Also, the plurality of fourth paths L4 are arranged in parallel with the fourth side S4.

That is, the path calculation unit 23 calculates a plurality of first paths L1 arranged parallel to the selected first side S1 at predetermined intervals and a second side S2 adjacent to the first side S1 on the outline of the uncut area. A plurality of second paths L2 arranged in parallel at predetermined intervals, a plurality of third paths L3 arranged at predetermined intervals in parallel with the third side S3 opposite to the selected side, and the second side S2 on the contour line of the uncut area. A plurality of fourth paths L4 arranged at predetermined intervals in parallel with the fourth side S4, which is the opposite side of , are calculated as the reaping travel path LN.

When the reaping travel route LN is calculated by the route calculation unit 23, the combine 1 starts spiral travel under the control of the travel control unit 24, as shown in FIG.

In this example, in spiral traveling, the combine harvester 1 first performs reaping travel along the first north travel route L11. The first north travel route L11 is the first route L1 closest to the first side S1 among the plurality of first routes L1.

Next, the combine harvester 1 performs reaping travel along the west first travel route L21. The west first travel route L21 is the second route L2 closest to the second side S2 among the plurality of second routes L2.

Next, the combine harvester 1 performs reaping travel along the first south travel route L31. The first south travel route L31 is the third route L3 closest to the third side S3 among the plurality of third routes L3.

Next, the combine harvester 1 performs reaping travel along the east side first travel route L41. The east side first travel route L41 is the fourth route L4 closest to the fourth side S4 among the plurality of fourth routes L4.

Next, the combine harvester 1 performs reaping travel along the second north travel route L12. The second north travel route L12 is the first route L1 closest to the first side S1 among the first routes L1 on which the reaping travel has not yet been performed.

After the reaping travel along the second north travel route L12 is completed, reaping travel along the second west travel route L22, the second south travel route L32, and the second east travel route L42 is performed in sequence.

The west second travel route L22 is the second route L2 closest to the second side S2 among the second routes L2 on which the reaping travel has not yet been performed. In addition, the south side second travel route L32 is the third route L3 that is closest to the third side S3 among the third routes L3 on which reaping travel has not yet been performed. In addition, the east side second travel route L42 is the fourth route L4 closest to the fourth side S4 among the fourth routes L4 on which the reaping travel has not yet been performed.

That is, in the spiral traveling, the travel control unit 24 performs reaping travel along the first route L1, then reaping travel along the second route L2, and then performs reaping travel along the second route L2, followed by the third route L3. reaping travel along the third route L3, followed by reaping travel along the fourth route L4, reaping travel along the fourth route L4, and then reaping travel along the first route L1 The running of the combine 1 is controlled so that

In this example, the travel control unit 24 first controls the travel of the combine harvester 1 so that the reaping travel along the first route L1 is performed in the spiral travel. However, the present invention is not limited to this, and the travel control unit 24 first causes the combine travel to be performed along any one of the second route L2, the third route L3, and the fourth route L4 in the spiral travel. 1 may be configured to control running.

In addition, the number of turns of the combine 1 during spiral running may be only one turn. That is, in spiral running, reaping running along the second north running route L12, the second west running route L22, the second south running route L32, and the second east running route L42 shown in FIG. 16 may not be performed. Moreover, the number of turns of the combine 1 during spiral running may be any number of turns of two or more.

Here, in this example, it is assumed that the inclination of the third side S3 with respect to the first side S1 is equal to or less than the reference angle. Therefore, the determining unit 4b determines that the inclination of the opposite side of the selected side to the selected side is equal to or less than the reference angle.

Then, when it is determined by the determination unit 4b that the inclination of the opposite side of the selected side to the selected side is equal to or less than the reference angle, and when the reaping travel along the first route L1 or the second route L2 in the spiral traveling is completed, the combine harvester 1 When the running of 1 shifts to reciprocating running, the row direction determination unit 4c determines the direction in which the side opposite to the selected side extends as the row direction. Further, in this case, the travel control unit 24 controls travel of the combine harvester 1 so that reaping travel along the third route L3 is performed in the reciprocating travel.

Further, when the determining unit 4b determines that the inclination of the opposite side of the selected side to the selected side is equal to or less than the reference angle, and when the reaping travel along the third route L3 or the fourth route L4 in the spiral traveling is completed, the combine harvester 1 When the running of 1 shifts to reciprocating running, the row direction determination unit 4c determines the direction in which the selected side extends as the row direction. Further, in this case, the travel control unit 24 controls travel of the combine harvester 1 so that reaping travel along the first route L1 is performed in the reciprocating travel.

For example, in the example shown in FIG. 17, as shown in the upper part of FIG. 17, in the spiral traveling, reaping traveling along the fourth route L4 is followed by reaping traveling along the first route L1. Then, when the reaping travel along the first route L1 is completed, the spiral travel is completed.

That is, in the example shown in FIG. 17, the traveling of the combine harvester 1 shifts to the reciprocating traveling at the time when the reaping traveling along the first route L1 in the spiral traveling is completed.

In this case, the row direction determination unit 4c determines the direction in which the side opposite to the selected side extends as the row direction. That is, the row direction determination unit 4c determines the direction in which the third side S3 extends as the row direction. Then, as shown in the lower part of FIG. 17, the travel control unit 24 controls travel of the combine harvester 1 so that reaping travel is performed along the third route L3 in the reciprocating travel.

In this case, the combine 1 moves from the vicinity of the northwestern part of the uncut area to the vicinity of the southwestern part of the uncut area when shifting to reciprocating travel. Then, the first reaping travel in the reciprocating travel is performed along the third route L3 closest to the third side S3 among the third routes L3 on which the reaping travel has not yet been performed.

In the example shown in FIG. 18, as shown in the upper part of FIG. 18, in the spiral traveling, the reaping traveling along the second route L2 is followed by the reaping traveling along the third route L3. Then, when the reaping travel along the third route L3 is completed, the spiral travel is completed.

That is, in the example shown in FIG. 18, the travel of the combine harvester 1 shifts to reciprocating travel when the reaping travel along the third route L3 in the spiral travel is completed.

In this case, the row direction determination unit 4c determines the direction in which the selected side extends as the row direction. That is, the row direction determination unit 4c determines the direction in which the first side S1 extends as the row direction. Then, as shown in the lower part of FIG. 18 , the travel control unit 24 controls travel of the combine harvester 1 so that reaping travel along the first route L1 is performed in the reciprocating travel.

In this case, the combine 1 moves from the vicinity of the southeastern part of the uncut area to the vicinity of the northeastern part of the uncut area when shifting to reciprocating travel. Then, the first reaping travel in the reciprocating travel is performed along the first route L1 closest to the first side S1 among the first routes L1 on which the reaping travel has not yet been performed.

With the configuration described above, it is possible to realize a configuration in which the operator visually confirms the actual row direction in the field and selects one side using the touch panel 4a. Therefore, the direction in which the selected side extends tends to match the actual row direction. Then, when the inclination of the opposite side of the selected side to the selected side is larger than the reference angle, the direction in which the selected side extends is determined as the row direction. Therefore, when the inclination of the opposite side of the selected side with respect to the selected side is larger than the reference angle, the threshing efficiency and the running efficiency when automatically running along the determined row direction tend to be good.

Further, when it is determined that the inclination of the side opposite to the selected side is equal to or less than the reference angle, either the direction in which the selected side extends or the direction in which the side opposite to the selected side extends is determined as the row direction. be done. In this case, if the direction in which the selected side extends is determined as the row direction, the determined row direction tends to match the actual row direction. Also, if the direction in which the side opposite to the selected side extends is determined as the row direction, the difference between the determined row direction and the actual row direction tends to be relatively small. Therefore, even if the inclination of the opposite side of the selected side to the selected side is equal to or smaller than the reference angle, the threshing efficiency and the running efficiency during automatic running along the determined row direction tend to be good.

Moreover, if the inclination of the side opposite to the selected side is equal to or less than the reference angle, either the direction in which the selected side extends or the direction in which the side opposite to the selected side extends depends on the state of the fuselage. is determined as As a result, it is possible to realize a configuration in which the direction in which the running efficiency is likely to be improved is determined as the row direction from the direction in which the selected side extends and the direction in which the side opposite to the selected side extends.

Therefore, with the configuration described above, it is possible to realize an automatic traveling system that tends to improve the threshing efficiency and the traveling efficiency.

It should be noted that the embodiment described above is merely an example, and the present invention is not limited to this, and can be modified as appropriate.

[Other embodiments]
(1) The travel device 11 may be of a wheel type or a semi-crawler type.

(2) In the example shown in FIG. 3, the reaping travel path LN calculated by the path calculation unit 23 is a plurality of mesh lines extending in the vertical and horizontal directions. However, the present invention is not limited to this, and the reaping travel path LN calculated by the path calculation unit 23 may not be a plurality of mesh lines extending in the vertical and horizontal directions. For example, the reaping travel route LN calculated by the route calculator 23 may be a spiral travel route. Further, the reaping travel route LN does not have to be orthogonal to another reaping travel route LN. Also, the reaping travel path LN calculated by the path calculation unit 23 may be a plurality of parallel lines parallel to each other.

(3) Vehicle position calculation unit 21, area calculation unit 22, route calculation unit 23, travel control unit 24, passing reference position calculation unit 25, model information storage unit 26, row interval acquisition unit 27, number of rows calculation unit 28 A part or all of them may be provided outside the combine harvester 1, and may be provided in the management server 6 provided outside the combine harvester 1, for example.

(4) Either one or both of the determination unit 4b and the row direction determination unit 4c may be provided outside the communication terminal 4. For example, the management server 6 provided outside the combine harvester 1 may be prepared for

(5) In the above embodiment, the operator manually operates the combine harvester 1, and as shown in FIG. . However, the present invention is not limited to this, and the combine 1 may be configured to automatically travel and reap travel along the boundary line BD of the field in the outer peripheral portion of the field. . Also, the number of turns at this time may be a number other than three. For example, the number of rounds at this time may be two rounds.

(6) The travel control unit 24 may control the travel of the combine 1 so that the combine 1 reaps the entire uncut area only by spiral travel.

(7) The travel control unit 24 may control travel of the combine harvester 1 so that the combine harvester 1 reaps and travels the entire uncut area only by reciprocating travel.

(8) The travel control unit 24 may control travel of the combine harvester 1 so that reaping travel is performed in a direction different from the direction determined as the row direction by the row direction determining unit 4c during reciprocating travel. .

(9) In the example shown in FIG. 13, the first side S1, the second side S2, the third side S3, and the fourth side S4 are arranged counterclockwise in plan view. However, the present invention is not limited to this, and the first side S1, the second side S2, the third side S3, and the fourth side S4 may be arranged clockwise in plan view.

(10) The directions of north, south, east, and west are not limited to the above embodiment. For example, the first side S1 may be located at the southern end of the uncut area.

(11) When the determining unit 4b determines that the inclination of the opposite side of the selected side to the selected side is equal to or less than the reference angle, and when the reaping travel along the first route L1 or the second route L2 in the spiral traveling is completed, the combine harvester is operated. In the case where the first running shifts to reciprocating running, the row direction determination unit 4c may determine a direction other than the direction in which the opposite side of the selected side extends as the row direction.

(12) When the determining unit 4b determines that the inclination of the opposite side of the selected side to the selected side is equal to or less than the reference angle, and when the reaping travel along the first route L1 or the second route L2 in the spiral traveling is completed, the combine harvester is operated. 1 transitions to reciprocating travel, the travel control unit 24 may control travel of the combine harvester 1 so that reaping travel is performed along the reaping travel route LN other than the third route L3 in the reciprocating travel. .

(13) When the determining unit 4b determines that the inclination of the opposite side of the selected side to the selected side is equal to or less than the reference angle, and when the reaping travel along the third route L3 or the fourth route L4 in the spiral traveling is completed, the combine harvester is operated. When one run shifts to a reciprocating run, the row direction determination unit 4c may determine a direction other than the direction in which the selected side extends as the row direction.

(14) When it is determined by the determination unit 4b that the inclination of the opposite side of the selected side to the selected side is equal to or less than the reference angle, and when the reaping travel along the third route L3 or the fourth route L4 in the spiral traveling is completed, the combine harvester is operated. 1 shifts to reciprocating travel, the travel control unit 24 may control travel of the combine harvester 1 so that reaping travel is performed along the reaping travel route LN other than the first route L1 in the reciprocating travel. .

INDUSTRIAL APPLICABILITY The present invention can be used for an automatic traveling system that manages automatic traveling of a combine harvester.

1, 2 combine 4a touch panel (selection part)
4b determination unit 4c row direction determination unit 20 control unit 23 route calculation unit 24 travel control unit A automatic travel system L1 first route L2 second route L3 third route L4 fourth route LN reaping travel route (target travel route)
S1 1st side S2 2nd side S3 3rd side S4 4th side

Claims (3)

An automatic traveling system for managing automatic traveling of a combine harvester that reaps and travels in a square uncut area in a field,
a selection unit that selects one side from among four sides that form the outline of the uncut area;
a determination unit that determines whether or not the inclination of the side opposite to the selected side, which is the side selected by the selection unit, is equal to or less than a predetermined reference angle;
a row direction determination unit that determines the row direction in the uncut area;
When the determination unit determines that the inclination is greater than the reference angle, the row direction determination unit determines the direction in which the selected side extends as the row direction,
When the judging section judges that the inclination is equal to or less than the reference angle, the row direction determining section determines the direction in which the selected side extends and the direction in which the side opposite to the selected side extends, according to the state of the machine body. , as the row direction. Travel control for controlling travel of the combine harvester so as to perform spiral travel for reaping the outer peripheral portion of the unreaped area in a spiral shape, and reciprocating travel for repeating reaping travel while moving forward and changing direction by U-turn. having a department,
The travel control unit controls the travel of the combine harvester so that it shifts to the reciprocating travel after the eddy travel, and in the reciprocating travel, reaps along the direction determined as the row direction by the row direction determining unit. 2. The automatic traveling system according to claim 1, wherein the traveling of the combine is controlled so that traveling is performed. A route calculation unit that calculates a target travel route for the spiral travel and the reciprocating travel,
The path calculation unit includes a plurality of first paths arranged at predetermined intervals in parallel with the first side which is the selected side, and a plurality of paths arranged at predetermined intervals in parallel with a second side adjacent to the first side in the contour line. , a plurality of third paths arranged at predetermined intervals parallel to the third side opposite to the selected side, and a predetermined interval parallel to the fourth side opposite to the second side of the contour line and calculating a plurality of fourth routes lined up as the target travel route,
The travel control unit performs reaping travel along the first route and then reaping travel along the second route in the spiral travel, and then performs reaping travel along the second route and then reaps travel along the third route. reaping travel along the third route is followed by reaping travel along the fourth route; reaping travel along the fourth route is followed by reaping travel along the first route. controlling the running of the combine as is done;
When the judging unit determines that the inclination is equal to or less than the reference angle and the reaping travel along the first route or the second route in the spiral travel is completed, the travel of the combine is changed to the reciprocating travel. When shifting, the row direction determination unit determines the direction in which the opposite side of the selected side extends as the row direction, and the travel control unit controls the reaping travel along the third route during the reciprocating travel. controlling the running of the combine,
When the judging unit determines that the inclination is equal to or less than the reference angle and the reaping travel along the third route or the fourth route in the spiral travel is completed, the travel of the combine is changed to the reciprocating travel. When shifting, the row direction determination unit determines the direction in which the selected side extends as the row direction, and the travel control unit controls the combine harvester so that reaping travel is performed along the first route in the reciprocating travel. 3. The automatic driving system according to claim 2, which controls the driving of the.

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