JP7542596B2 - Autonomous Driving System - Google Patents

Description

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

Patent Document 1 describes an invention for a combine harvester that is capable of automatic driving. In harvesting work using this harvester, an operator manually operates the combine harvester at the beginning of the harvesting work, and the combine harvester drives around the outer perimeter of the field to harvest.

When traveling around this outer perimeter, the direction in which the combine should travel is recorded. Then, the combine automatically travels based on the recorded direction to harvest in the uncut areas of the field.

Japanese Utility Model Application Publication No. 2-107911

Patent Document 1 does not provide a detailed description of the calculation of a target driving path for automatic driving. Here, it is conceivable that the combine described in Patent Document 1 calculates a target driving path for automatic driving along the row direction.

When this combine harvester automatically travels along a target travel path in the row direction, the efficiency of the harvesting work tends to be improved. For example, a head-throttling combine harvester is generally designed to have good grain recovery efficiency when it travels for harvesting in the row direction. Therefore, when the above combine harvester is a head-throttling combine harvester, the efficiency of the harvesting work is improved by automatically traveling along multiple target travel paths that extend in the row direction.

Here, a head-feeding combine harvester generally has multiple dividers that separate the planted culms in the field, and a harvesting unit that harvests the planted culms in the field.

In a configuration in which a self-feeding combine harvester automatically travels along multiple target travel paths extending in the row direction, a configuration is considered in which multiple target travel paths are calculated that are arranged in parallel at a predetermined interval corresponding to the width of the cutting unit. In this configuration, when all the target travel paths have been traveled, the entire field is considered to have been mowed.

However, with this configuration, when the combine harvester performs cutting travel along the target travel path, it is expected that part of the passing range of the cutting unit will overlap with the already-cut area. Here, the combine harvester generally drops straw while performing cutting travel. Therefore, straw may fall in the already-cut area.

Therefore, if the overlapping range between the passing range of the cutting unit and the already-cut area is relatively wide, straw that has fallen in the already-cut area is likely to get into the cutting unit. And if straw gets into the cutting unit, the efficiency of the threshing process in the combine is likely to decrease.

The object of the present invention is to provide an automatic driving system that can easily avoid a situation in which the overlapping range between the passing range of the cutting unit and the already cut area becomes relatively wide.

A feature of the present invention is an automatic driving system that manages the automatic driving of a combine harvester having a cutting unit that cuts planted stalks in a field , and is equipped with a path calculation unit that calculates a target driving path for automatic driving along the row direction, and the path calculation unit is configured to calculate the target driving path so that when the combine harvester travels along the target driving path, the width of the overlapping range between the passing range of the cutting unit and the already-cut area is always less than a specified number of rows .

Furthermore, in the present invention, when the combine performs intermediate division running to divide an unmowed area into a plurality of divided areas, it is preferable that the path calculation unit is configured to calculate the target running path so that when the combine runs along the target running path from the start of mowing running in one of the divided areas to its completion, the width of the overlapping area between the passing range of the mowing unit and the already-mowed area is always less than the specified number of rows.

Furthermore, in the present invention, the combine has a plurality of dividers that comb the planted stalks in the field, and the path calculation unit is configured to calculate the target running path so that a specified condition is always satisfied when the combine runs along the target running path from the start to the completion of harvesting running in one of the divided areas, and it is preferable that the specified condition is that a specified number of dividers from the left end of the plurality of dividers is located to the right of the row located at the left end of one of the divided areas, and that the specified number of dividers from the right end of the plurality of dividers is located to the left of the row located at the right end of one of the divided areas.

Furthermore, in the present invention, a post-division row number calculation unit is provided which calculates the number of rows in the post-division area, and it is preferable that the path calculation unit calculates the target driving path based on the calculation result of the post-division row number calculation unit and the number of cutting rows of the combine.

Furthermore, in the present invention, it is preferable that the predetermined number is three.

With this configuration, the width of the overlapping range between the passing range of the mowing unit and the already-mowed area is likely to be narrower than when the specified number is four or more. Therefore, it is easy to reliably avoid a situation where the width of the overlapping range between the passing range of the mowing unit and the already-mowed area becomes relatively wide.

Furthermore, in the present invention, it is preferable to include a row number calculation unit that calculates the number of rows in the uncut area, and the path calculation unit calculates the target travel path based on the calculation result of the row number calculation unit and the number of cut rows of the combine.

The position of the target travel path at which a specified condition is met when the combine travels along the target travel path varies depending on the number of rows in the uncut area and the number of cutting rows of the combine.

Here, according to the above configuration, the target travel path is calculated based on the number of rows in the uncut area and the number of cut rows of the combine. Therefore, the position of the target travel path is more likely to be appropriate than in a configuration in which the target travel path is calculated regardless of the number of rows in the uncut area and the number of cut rows of the combine.

FIG. FIG. 13 is a diagram showing the positional relationship between a passing reference position and a stripe direction path. FIG. 13 is a diagram showing a spiral travel along a mowing travel path. FIG. 2 is a diagram showing round trip travel along a mowing travel route. FIG. 2 is a block diagram showing a configuration relating to a control unit. FIG. FIG. 13 is a diagram showing a state before the position of the stripe direction path in the north region is recalculated by the shift calculation unit. FIG. 13 is a diagram showing a state after the position of the row direction path in the north region is recalculated by the shift calculation unit. FIG. 13 is a diagram showing a state before the position of the stripe direction path in the south region is recalculated by the shift calculation unit. FIG. 13 is a diagram showing a state after the position of the stripe direction path in the south region is recalculated by the shift calculation unit. 13 is a diagram showing a state before the position of the row direction path in the working area is recalculated by the shift calculation unit. FIG. 13 is a diagram showing a state after the position of the row direction path in the working area is recalculated by the shift calculation unit. FIG. 11 is a diagram showing a mowing travel route calculated by a route calculation unit. FIG. FIG. 2 is a diagram showing a display screen of a touch panel. FIG. 2 is a diagram showing a display screen of a touch panel. FIG. 13 is a diagram showing a spiral travel along a mowing travel path. 13 is a diagram showing an example in which the combine harvester transitions to reciprocating travel at the time when the reaping travel along a first path in spiral travel is completed. FIG. 13 is a diagram showing an example in which the combine harvester transitions to reciprocating travel when the reaping travel along the third route in spiral travel is completed. FIG.

The embodiment of the present invention will be described with reference to the drawings. In the following description, unless otherwise specified, the forward and backward directions are described as follows. That is, the forward direction of the machine when traveling for work is "forward", and the backward direction is "rear". Furthermore, the direction corresponding to the right side of the forward posture in the forward and backward directions is "right", and the direction corresponding to the left side is "left".

In addition, in the explanation of Figure 1, the direction of arrow F is "front" and the direction of arrow B is "rear."

In addition, the direction of arrow N shown in Figures 2 to 4, 6 to 13, and 16 to 18 is defined as "north", the direction of arrow S is defined as "south", the direction of arrow E is defined as "east", and the direction of arrow W is defined as "west".

[Overall configuration of the combine]
As shown in Figure 1, the head-feeding combine 1 is equipped with multiple dividers 5, a crawler-type running device 11, a driving unit 12, a threshing device 13, a grain tank 14, a harvesting unit H, a straw discharge device 17, a grain discharge device 18, and a satellite positioning module 80.

The traveling device 11 is provided at the bottom of the combine harvester 1. The traveling device 11 is driven by power from an engine (not shown). The combine harvester 1 can be self-propelled by the traveling device 11.

The driving section 12, threshing device 13, and grain tank 14 are provided above the traveling device 11. An operator can ride in the driving section 12 to monitor the operation of the combine harvester 1. The operator may also monitor the operation of the combine harvester 1 from outside the combine harvester 1.

The grain discharge device 18 is connected to the grain tank 14. The satellite positioning module 80 is mounted on the top surface of the driving section 12.

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

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

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

These dividers 5 then separate the planted stalks in the field.

That is, the combine harvester 1 has multiple dividers 5 that separate the planted stalks in the field.

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

The cutting device 15 cuts the base of the planted culms that have been separated by the multiple dividers 5. The transport device 16 then transports the culms cut by the cutting device 15 to the rear.

With this configuration, the reaping unit H reaps the planted stalks in the field. The combine harvester 1 is capable of reaping travel, traveling on the traveling device 11 while reaping the planted stalks in the field with the reaping unit H.

That is, the combine harvester 1 has a harvesting section H that harvests planted stalks in the field.

The stalks transported by the conveying device 16 are threshed in the threshing device 13. The grains obtained by the threshing process are stored in the grain tank 14. The grains stored in the grain tank 14 are discharged outside the machine by the grain discharge device 18 as necessary.

The straw discharge device 17 is also provided at the rear end of the combine harvester 1. The straw discharge device 17 discharges the straw from which the grains have been separated by the threshing process to the rear of the machine body.

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

The driving unit 12 is also provided with a communication terminal 4 (see FIG. 5). The communication terminal 4 is configured to be able to display various information. In this embodiment, the communication terminal 4 is fixed to the driving unit 12. However, the present invention is not limited to this, and the communication terminal 4 may be configured to be detachable from the driving unit 12, or the communication terminal 4 may be located outside the combine harvester 1.

The combine harvester 1 is configured to harvest grains in the field by first traveling in a circle while harvesting grains in the outer peripheral area of the field as shown in FIG. 2, and then performing a reaping run in the inner area of the field as shown in FIGS. 3 and 4.

In this embodiment, the circular driving shown in FIG. 2 is performed by manual driving. Also, the mowing driving in the inner area shown in FIG. 3 and FIG. 4 is performed by automatic driving.

However, the present invention is not limited to this, and the circular travel shown in Figure 2 may be performed by automatic travel. Also, the mowing travel in the inner area shown in Figures 3 and 4 may be performed by manual travel.

The operator can change the engine speed by operating the communication terminal 4.

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

During harvesting work in a farm field, the combine harvester 1 is controlled by an automatic driving system A (see FIG. 5). In other words, the automatic driving system A manages the automatic driving of the combine harvester 1. The configuration of the automatic driving system A is described below.

[Configuration of the automated driving system]
5, the automatic driving system A includes a control unit 20 and a satellite positioning module 80. The control unit 20 is provided in the combine harvester 1. As described above, the satellite positioning module 80 is also provided in the combine harvester 1.

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

The satellite positioning module 80 receives GPS signals from satellites used in the Global Positioning System (GPS). As shown in FIG. 5, the satellite positioning module 80 sends positioning data indicating the vehicle position of the combine harvester 1 to the vehicle position calculation unit 21 based on the received GPS signals.

The 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 position coordinates of the combine harvester 1 over time are sent to the area calculation unit 22 and the driving control unit 24.

The area calculation unit 22 calculates the outer perimeter area SA and the work target area CA based on the time-dependent position coordinates of the combine harvester 1 received from the vehicle position calculation unit 21, as shown in FIG. 3.

More specifically, the area calculation unit 22 calculates the travel trajectory of the combine harvester 1 during circular travel on the outer periphery of the field based on the time-dependent position coordinates of the combine harvester 1 received from the vehicle position calculation unit 21. Then, based on the calculated travel trajectory of the combine harvester 1, the area on the outer periphery of the field where the combine harvester 1 has traveled while harvesting grains is calculated as the outer periphery area SA. The area calculation unit 22 also calculates the area inside the field from the calculated outer periphery area SA as the work target area CA.

For example, in the upper part of FIG. 2, the travel path of the combine harvester 1 for traveling around the outer periphery of the field is indicated by an arrow. In the example shown in FIG. 2, the combine harvester 1 travels around the field three times. Then, when the harvesting travel along this travel path is completed, the field becomes as shown in FIG. 3.

As shown in FIG. 3, the area calculation unit 22 calculates the area on the outer periphery of the field where the combine harvester 1 has traveled while harvesting grain as the outer periphery area SA. The area calculation unit 22 also calculates the area inside the field from the calculated outer periphery 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 path calculation unit 23.

Based on the calculation results received from the area calculation unit 22, the route calculation unit 23 calculates the mowing travel route LN, which is a travel route for mowing travel in the work target area CA, as shown in FIG. 3. Note that, as shown in FIG. 3, in this embodiment, the mowing travel route LN is a plurality of mesh lines extending in the vertical and horizontal directions. Furthermore, the plurality of mesh lines do not have to be straight lines, and may be curved.

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

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

In other words, the combine 1 can run automatically.

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

In this embodiment, the combine 1 is configured to harvest grains from a field by a first harvesting run and a second harvesting run. The first harvesting run is a harvesting run that is performed manually in the outer peripheral area SA of the field. The second harvesting run is a harvesting run that is performed automatically in an area of the field that is closer to the inner side than the outer peripheral area SA after the first harvesting run.

First, the operator manually operates the combine harvester 1, and as shown in FIG. 2, the combine harvester 1 performs a circular run along the boundary line BD of the field in the outer periphery of the field to harvest crops. In the example shown in FIG. 2, the combine harvester 1 performs three circular runs. When this circular run is completed, the field is in the state shown in FIG. 3.

The area calculation unit 22 calculates the travel path of the combine harvester 1 during the circular travel shown in FIG. 2 based on the time-dependent position coordinates of the combine harvester 1 received from the vehicle position calculation unit 21. Then, as shown in FIG. 3, the area calculation unit 22 calculates the area on the outer periphery of the field where the combine harvester 1 has traveled while harvesting the planted stalks as the outer periphery area SA based on the calculated travel path of the combine harvester 1. The area calculation unit 22 also calculates the area inside the field from the calculated outer periphery area SA as the work target area CA.

Next, the route calculation unit 23 calculates the mowing travel route LN in the work target area CA, as shown in FIG. 3, based on the calculation results received from the area calculation unit 22.

Then, when the operator presses the automatic driving start button (not shown), automatic driving along the reaping driving path LN is started as shown in FIG. 3. At this time, the driving control unit 24 controls the driving of the combine 1 so that reaping driving is performed by automatic driving along the reaping driving path LN.

When automatic travel in the work area CA is started, as shown in FIG. 3, the combine harvester 1 first performs mowing travel in a circle along the outer shape of the work area CA in the outer periphery of the work area CA. At this time, the combine harvester 1 repeats traveling along the mowing travel path LN and changing direction by making an α turn. As a result, the combine harvester 1 performs mowing travel in a spiral shape in the outer periphery of the unmowed area of the work area CA.

In the following, this spiral cutting motion will be referred to as "spiral driving."

In FIG. 3, only three α-turn direction changes are performed, but α-turn direction changes may be performed four or more times. In other words, the spiral travel may be performed over a longer travel distance than in the case shown in FIG. 3. For example, the spiral travel may be performed until the combine 1 completes two revolutions.

When the spiral travel is completed, the combine harvester 1 repeats a cycle of forward travel along the harvesting travel path LN and a U-turn to change direction, thereby performing harvesting travel so as to cover the entire uncut area of the work area CA.

In the following, the act of mowing while moving forward and repeatedly changing direction by making U-turns will be referred to as "reciprocating driving."

In other words, the travel control unit 24 controls the travel of the combine 1 so that it transitions from spiral travel to reciprocating travel.

In this way, the automatic driving system A is equipped with a driving control unit 24 that controls the driving of the combine harvester 1 so that it can perform spiral driving, which cuts the outer periphery of the uncut area in a spiral shape, forward driving, and round trip driving that repeatedly changes direction by making U-turns.

The automatic driving system A also includes a route calculation unit 23 that calculates the mowing route LN for spiral driving and round trip driving.

In addition, the spiral travel and the round trip travel are included in the second harvesting travel described above. That is, the automatic driving system A is equipped with a route calculation unit 23 that calculates the harvesting travel route LN for the second harvesting travel.

As described above, while the combine harvester 1 is running, the harvested stalks cut by the cutting device 15 are transported to the threshing device 13 by the conveying device 16. Then, in the threshing device 13, the harvested stalks are threshed.

[Configuration for calculating the row direction path]
As shown in Figures 3 and 4, the reaping travel path LN includes a plurality of row direction paths LA (corresponding to the "target travel path" of the present invention) and a plurality of lateral directions paths LB. Each row direction path LA is a reaping travel path LN in the row direction for the second harvesting travel described above. Also, each lateral direction 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 multiple stripe direction routes LA for automatic driving along the stripe direction. The route calculation unit 23 also calculates multiple lateral routes LB for automatic driving in a direction intersecting the stripe direction.

That is, the automatic driving system A is equipped with a route calculation unit 23 that calculates a line direction route LA for automatic driving along the line direction.

The lateral path LB may or may not be perpendicular to the strip path LA.

As shown in FIG. 5, the control unit 20 also has a passing reference position calculation unit 25. The satellite positioning module 80 sends positioning data indicating the vehicle position of the combine harvester 1 to the passing reference position calculation unit 25 based on the received GPS signal.

The passing reference position calculation unit 25 calculates the passing reference position based on the positioning data output by the satellite positioning module 80. The passing reference position is the position where a specific part of the combine 1 passes during the harvesting run in the row direction in the first harvesting run described above.

In this embodiment, the specified portion is the first divider 51. Therefore, in this embodiment, the passing reference position calculation unit 25 calculates the position where the first divider 51 passed during the harvesting run in the row direction in the first harvesting run described above, based on the positioning data output by the satellite positioning module 80.

However, the present invention is not limited to this, and the specified portion may be the seventh divider 57.

In other words, the specified portion is the divider 5 located at the left end or the right end of the multiple dividers 5.

For example, the lower part of FIG. 2 shows the combine harvester 1 performing a harvesting run in the row direction during the first harvesting run. Here, the combine harvester 1 is traveling in the northern part of the field, completing the final lap of the first harvesting run. In the field shown in FIG. 2, the row direction is east-west.

The passing line P is shown at the bottom of FIG. 2. 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 calculation unit 25.

As shown in FIG. 5, the passing reference position calculated by the passing reference position calculation unit 25 is sent to the path calculation unit 23.

The path calculation unit 23 calculates the line direction path LA based on the passing reference position calculated by the passing reference position calculation unit 25.

In more detail, as shown in FIG. 2, the path calculation unit 23 determines the position of the northernmost line direction path LA in the work area CA to be a position that is a first distance DF away from the passing reference position. In other words, of the multiple line direction paths LA, the northernmost line direction path LA is located at a position that is a first distance DF away to the south of the passing line P.

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

The first distance DF and the first interval D1 are described in detail below. As shown in FIG. 5, the control unit 20 has a model information storage unit 26 and a row-to-row spacing acquisition unit 27. The path calculation unit 23 also has a distance calculation unit 23a.

The model information storage unit 26 stores various information related to the specifications of the combine harvester 1. Here, the information stored in the model information storage unit 26 includes the number of reaping rows of the combine harvester 1. The path calculation unit 23 then obtains the number of reaping rows of the combine harvester 1 from the model information storage unit 26. In this embodiment, the number of reaping rows of the combine harvester 1 is 6.

The row spacing acquisition unit 27 acquires row spacing information from a management server 6 provided outside the combine harvester 1. The row spacing information is information indicating the row spacing in the field. The row spacing in the field shown in Figures 2 to 4 is G1, as shown in the lower part of Figure 2. That is, in this field, multiple rows are lined up in the north-south direction with a spacing of G1 between them.

That is, the automated driving system A is equipped with a row-spacing acquisition unit 27 that acquires row-spacing information, which is information indicating the row-spacing in the field.

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

The distance calculation unit 23a then calculates an appropriate first distance DF based on the number of reaping rows of the combine harvester 1 acquired from the model information storage unit 26 and the row-spacing information received from the row-spacing acquisition unit 27. As a result, the path 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 harvesting rows of the combine harvester 1. The path calculation unit 23 also determines the distance between the passing reference position and the row direction path LA based on the row spacing information.

The distance calculation unit 23a calculates the first distance DF so that the greater the number of cutting rows of the combine harvester 1, the longer the first distance DF. The distance calculation unit 23a also calculates the first distance DF so that the greater the row spacing indicated by the row spacing information, the longer the first distance DF.

As shown in FIG. 5, the control unit 20 also has a first interval calculation unit 23b. The first interval calculation unit 23b calculates an appropriate first interval D1 based on the number of harvesting rows of the combine harvester 1 acquired from the model information storage unit 26 and the row-spacing information received from the row-spacing acquisition unit 27. As a result, 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 cutting rows of the combine harvester 1. The path calculation unit 23 also determines the first interval D1 based on row-to-row information.

The first interval calculation unit 23b calculates the first interval D1 so that the greater the number of cutting rows of the combine harvester 1, the wider the first interval D1. The first interval calculation unit 23b also calculates the first interval D1 so that the wider the row spacing indicated by the row spacing information, the wider the first interval D1.

[Configuration for calculating lateral path]
3, the path calculation unit 23 calculates a plurality of lateral paths LB arranged in parallel such that the interval between the lateral paths LB is a predetermined second interval D2. That is, the path calculation unit 23 is configured to calculate a plurality of lateral paths LB arranged in parallel at the predetermined second interval D2.

The second interval D2 will be described in detail below. As shown in FIG. 5, the path calculation unit 23 has a second interval calculation unit 23c.

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

The second interval calculation unit 23c calculates an appropriate second interval D2 based on the mowing width of the combine harvester 1 obtained from the model information storage unit 26. As a result, the path calculation unit 23 determines the second interval D2.

In other words, the path calculation unit 23 determines the second distance D2 based on the mowing width of the combine harvester 1.

The second interval calculation unit 23c calculates the second interval D2 so that the wider the mowing width of the combine 1, the wider the second interval D2.

[Configuration regarding shifting of stripe direction path]
5, the path calculation unit 23 includes a shift calculation unit 23d. The function of the shift calculation unit 23d will be described below.

5, the control unit 20 has a row number calculation unit 28 (corresponding to the “post-division row number calculation unit” of the present invention) . The row number calculation unit 28 is configured to calculate the number of rows in an uncut area in the field.

The row number calculation unit 28 will now be described in detail. While the combine harvester 1 is performing harvesting driving by manual driving or automatic driving, the 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 position coordinates of the combine harvester 1 over time are sent to the row number calculation unit 28.

In addition, 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 row number calculation unit 28 calculates the range of the uncut area in the field over time based on the position coordinates of the combine harvester 1 over time received from the vehicle position calculation unit 21. Furthermore, the row number calculation unit 28 calculates the number of rows of the uncut area over time based on the calculated range of the uncut area and the row spacing information received from the row spacing acquisition unit 27.

That is, the automated driving system A is equipped with a row number calculation unit 28 that calculates the number of rows in the uncut area.

The calculation result by the row number calculation unit 28 is sent to the shift calculation unit 23d. The shift calculation unit 23d then calculates the row direction path LA based on the calculation result received from the row number calculation unit 28 and the number of reaping 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 harvesting rows of the combine harvester 1.

At this time, the shift calculation unit 23d calculates the row direction path LA so that a predetermined condition is satisfied when the combine harvester 1 travels along the row direction path LA.

The specified condition is that "among the multiple dividers 5, the divider 5 that is a specified number from the left end is located to the right of the row that is located at the left end of the uncut area, and the divider 5 that is a specified number from the right end is located to the left of the row that is located at the right end of the uncut area."

In addition, in this embodiment, the predetermined number is three. That is, in this embodiment, the predetermined condition is that "the third divider 53 is located to the right of the row located at the left end of the uncut area, and the fifth divider 55 is located to the left of the row located at the right end of the uncut area."

More specifically, after multiple row direction paths LA arranged in parallel with the first interval D1 are calculated as described above, the shift calculation unit 23d judges whether or not a predetermined condition is always satisfied when the combine harvester 1 travels along the row direction path LA. This judgment is made based on the calculation result of the row number calculation unit 28 and the number of reaping rows of the combine harvester 1. This judgment is also made immediately after multiple row direction paths LA arranged in parallel with the first interval D1 are calculated, and when the combine harvester 1 is traveling along the row direction path LA.

If it is determined that the specified condition is not always satisfied when the combine harvester 1 travels along the row direction path LA, the shift calculation unit 23d recalculates the position of one or more of the row direction paths LA among the multiple row direction paths LA. At this time, the shift calculation unit 23d recalculates the position of the row direction path LA so that the specified condition is always satisfied when the combine harvester 1 travels along the row direction path LA. As a result, the position of one or more of the row direction paths LA among the multiple row direction paths LA is shifted.

In this way, the path calculation unit 23 is configured to calculate the row direction path LA so that a predetermined condition is satisfied when the combine 1 travels along the row direction path LA.

Below, as an example of how the position of the row direction path LA is recalculated by the shift calculation unit 23d, a flow is described for when the combine harvester 1 performs harvesting work in the field shown in Figure 6.

In the field shown in Fig. 6, the row direction is east-west. In this example, the combine harvester 1 has completed the spiral travel in the work target area CA and is about to transition to a round trip travel. At this time, as shown in Fig. 6, the combine harvester 1 passes from west to east while mowing the north-south middle part of the unmowed area. This mowing travel is so-called middle division travel. As a result, the unmowed area is divided into two unmowed areas, a northern area CA1 (corresponding to the "division area" of the present invention) and a southern area CA2 (corresponding to the "division area" of the present invention) .

At this time, as shown in FIG. 7, three line direction routes LA, the first line direction route LA1, the second line direction route LA2, and the third line direction route LA3, have already been calculated as line direction routes LA corresponding to the north area CA1.

In addition, from the north side, the first line direction route LA1, the second line direction route LA2, and the third line direction route LA3 are lined up. Furthermore, these three line direction routes LA are lined up with a first distance D1 between them.

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

Here, the shift calculation unit 23d determines whether the predetermined condition is always satisfied when the combine harvester 1 travels along the row direction path LA in the north area CA1. More specifically, the shift calculation unit 23d determines whether the predetermined condition is always satisfied when the combine harvester 1 travels for harvesting along the first row direction path LA1, the third row direction path LA3, and the second row direction path LA2 in that order, as shown in FIG. 7.

In addition, in this embodiment, the travel control unit 24 is configured to control the travel of the combine harvester 1 so that, when traveling back and forth, the combine harvester 1 travels along the row direction path LA that corresponds to the rightmost part of the uncut area.

Assuming that the combine harvester 1 cuts along the first row direction path LA1, the third row direction path LA3, and the second row direction path LA2 in this order, as shown in FIG. 7, the combine harvester 1 cuts along the first row direction path LA1 first. 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 in the first uncut area CA11 is 10.

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

Finally, the combine 1 performs mowing travel along the second direction path LA2. As a result, the entire northern area CA1 becomes a mowed area.

When the combine harvester 1 performs cutting travel along the first row direction path LA1, the row located at the right end of the uncut area is located at the first position Q1 shown in FIG. 7. 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. 7.

At this time, the third divider 53 is located to the right of the second position Q2. The fifth divider 55 is located to the left of the first position Q1. Therefore, while the combine 1 is performing harvesting travel along the first row direction path LA1, the above-mentioned specified conditions are satisfied.

Next, when the combine harvester 1 performs cutting travel along the third row direction path LA3, the row located at the right end of the uncut area is located at the second position Q2 shown in FIG. 7. Also, at this time, the row located at the left end of the uncut area is located at the third position Q3 shown in FIG. 7.

At this time, the third divider 53 is located to the right of the third position Q3. However, the fifth divider 55 is located to the right of the second position Q2. Therefore, while the combine 1 is performing harvesting travel along the third row direction path LA3, the above-mentioned predetermined condition is not satisfied.

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

As a result, the shift calculation unit 23d recalculates the position of the Article 3 direction route LA3 as shown in FIG. 8. In this example, the position of the Article 3 direction route LA3 shifts to the north. As a result, the distance between the Article 2 direction route LA2 and the Article 3 direction route LA3 becomes the first shift distance DS1.

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

In this example, the position of the third row direction path LA3 is shifted northward, so that the specified condition is always satisfied when the combine harvester 1 travels along the row direction path LA.

In more detail, as shown in FIG. 8, when the combine harvester 1 performs mowing travel along the first row direction path LA1, the row located at the right end of the uncut area is located at the first position Q1 shown in FIG. 8. At this time, the row located at the left end of the uncut area is located at the second position Q2 shown in FIG. 8.

At this time, the third divider 53 is located to the right of the second position Q2. The fifth divider 55 is located to the left of the first position Q1. Therefore, while the combine 1 is performing harvesting travel along the first row direction path LA1, the above-mentioned specified conditions are satisfied.

Next, when the combine harvester 1 performs mowing travel along the third row direction path LA3, the row located at the right end of the uncut area is located at the second position Q2 shown in FIG. 8. At this time, the row located at the left end of the uncut area is located at the third position Q3 shown in FIG. 8.

At this time, the third divider 53 is located to the right of the third position Q3. The fifth divider 55 is located to the left of the second position Q2. Therefore, while the combine 1 is performing harvesting travel along the third row direction path LA3, the above-mentioned specified conditions are satisfied.

Finally, when the combine harvester 1 performs mowing travel along the second row direction path LA2, the row located at the right end of the uncut area is located at the third position Q3 shown in FIG. 8. Also, at this time, the row located at the left end of the uncut area is located at the fourth position Q4 shown in FIG. 8.

At this time, the third divider 53 is located to the right of the fourth position Q4. The fifth divider 55 is located to the left of the third position Q3. Therefore, while the combine 1 is performing harvesting travel along the second row direction path LA2, the above-mentioned specified conditions are satisfied.

In this way, in the example shown in Figure 8, the specified conditions are always met when the combine 1 travels along the row direction path LA.

Then, after completing the reaping run in the northern area CA1, the combine harvester 1 starts reaping run in the southern area CA2. At this time, as shown in FIG. 9, three row direction paths LA, the fourth row direction path LA4, the fifth row direction path LA5, and the sixth row direction path LA6, have already been calculated as the row direction paths LA corresponding to the southern area CA2.

In addition, from the north side, the line 4 direction route LA4, the line 5 direction route LA5, and the line 6 direction route LA6 are lined up. Furthermore, these three line direction routes LA are lined up with a first distance D1 between them.

As shown in FIG. 9, the number of rows in the southern area CA2 is 15. At this time, the number of rows in the southern area CA2 is calculated by the row number calculation unit 28 and sent to the shift calculation unit 23d. At this time, the path calculation unit 23 has already acquired the number of reaping rows of the combine harvester 1 from the model information storage unit 26.

Here, the shift calculation unit 23d determines whether the predetermined condition is always satisfied when the combine harvester 1 travels along the row direction path LA in the southern area CA2. More specifically, as shown in FIG. 9, the shift calculation unit 23d determines whether the predetermined condition is always satisfied when the combine harvester 1 travels for harvesting along the row direction path LA4, row direction path LA6, and row direction path LA5 in that order.

Assuming that the combine harvester 1 cuts along the 4th row direction path LA4, the 6th row direction path LA6, and the 5th row direction path LA5 in this order, as shown in FIG. 9, the combine harvester 1 first cuts along the 4th row direction path LA4. As a result, as shown in FIG. 9, the uncut area in the south area CA2 becomes the first uncut area CA21. The number of rows in the first uncut area CA21 is 9.

Next, the combine 1 performs mowing travel along the six-row direction path LA6. As a result, as shown in FIG. 9, the unmowed area in the south area CA2 becomes the second unmowed area CA22. The number of rows in the second unmowed area CA22 is six.

Finally, the combine harvester 1 performs mowing travel along the fifth direction route LA5. As a result, the entire southern area CA2 becomes a mowed area.

When the combine harvester 1 performs cutting travel along the fourth row direction path LA4, the row located at the right end of the uncut area is located at the fifth position Q5 shown in FIG. 9. Also, at this time, the row located at the left end of the uncut area is located at the sixth position Q6 shown in FIG. 9.

At this time, the third divider 53 is located to the right of the sixth position Q6. The fifth divider 55 is located to the left of the fifth position Q5. Therefore, while the combine 1 is performing harvesting travel along the fourth-row direction path LA4, the above-mentioned predetermined conditions are satisfied.

Next, when the combine harvester 1 performs cutting travel along the sixth row direction path LA6, the row located at the right end of the uncut area is located at the sixth position Q6 shown in FIG. 9. Also, at this time, the row located at the left end of the uncut area is located at the seventh position Q7 shown in FIG. 9.

At this time, the third divider 53 is located to the right of the seventh position Q7. However, the fifth divider 55 is located to the right of the sixth position Q6. Therefore, while the combine 1 is performing harvesting travel along the sixth direction path LA6, the above-mentioned predetermined condition is not satisfied.

Therefore, when the combine harvester 1 travels along the 4th row direction path LA4, the 6th row direction path LA6, and the 5th row direction path LA5 in this order, the shift calculation unit 23d determines that the predetermined condition is not always satisfied. Note that this determination is made before the combine harvester 1 starts traveling along the 4th row direction path LA4.

As a result, the shift calculation unit 23d recalculates the positions of the Article 5 direction route LA5 and the Article 6 direction route LA6 as shown in FIG. 10. In this example, the positions of the Article 5 direction route LA5 and the Article 6 direction route LA6 are each shifted northward. As a result, the distance between the Article 4 direction route LA4 and the Article 5 direction route LA5 becomes the second shift distance DS2. Also, the distance between the Article 5 direction route LA5 and the Article 6 direction route LA6 becomes the third shift distance DS3.

The second shift interval DS2 and the third shift interval DS3 are both narrower than the first interval D1. In this example, the second shift interval DS2 and the third shift interval DS3 are the same width.

In this example, the positions of the row 5 direction path LA5 and row 6 direction path LA6 are shifted northward, so that the specified conditions are always satisfied when the combine harvester 1 travels along the row direction path LA.

In more detail, as shown in FIG. 10, when the combine harvester 1 performs mowing travel along the fourth row direction path LA4, the row located at the right end of the uncut area is located at the fifth position Q5 shown in FIG. 10. At this time, the row located at the left end of the uncut area is located at the sixth position Q6 shown in FIG. 10.

At this time, the third divider 53 is located to the right of the sixth position Q6. The fifth divider 55 is located to the left of the fifth position Q5. Therefore, while the combine 1 is performing harvesting travel along the fourth-row direction path LA4, the above-mentioned predetermined conditions are satisfied.

Next, when the combine harvester 1 performs mowing travel along the sixth row direction path LA6, the row located at the right end of the uncut area is located at the sixth position Q6 shown in FIG. 10. Also, at this time, the row located at the left end of the uncut area is located at the seventh position Q7 shown in FIG. 10.

At this time, the third divider 53 is located to the right of the seventh position Q7. The fifth divider 55 is located to the left of the sixth position Q6. Therefore, while the combine 1 is performing harvesting travel along the sixth direction path LA6, the above-mentioned predetermined conditions are satisfied.

Finally, when the combine harvester 1 performs mowing travel along the fifth row direction path LA5, the row located at the right end of the uncut area is located at the seventh position Q7 shown in FIG. 10. Also, at this time, the row located at the left end of the uncut area is located at the eighth position Q8 shown in FIG. 10.

At this time, the third divider 53 is located to the right of the eighth position Q8. The fifth divider 55 is located to the left of the seventh position Q7. Therefore, while the combine 1 is performing harvesting travel along the fifth directional path LA5, the above-mentioned predetermined conditions are satisfied.

In this way, in the example shown in Figure 10, the specified conditions are always met when the combine 1 travels along the row direction path LA.

Also, as shown in Figures 8 and 10, the way in which the position of the row direction path LA is shifted varies depending on the number of rows in the uncut area. That is, the shift calculation unit 23d shifts the position of the row direction path LA depending on the number of rows in the uncut area.

As described above, when the uncut area in the field is divided into multiple areas, the shift calculation unit 23d determines whether the specified condition is always satisfied and shifts the position of the row direction path LA only for the uncut area in which the combine harvester 1 is currently cutting or the uncut area in which the combine harvester 1 is scheduled to cut in the near future, out of the multiple uncut areas resulting from the division.

Next, as another example in which the position of the row direction path LA is recalculated by the shift calculation unit 23d, a case will be described in which a 5-row combine harvester 2 performs mowing travel in a specified work area CA3, as shown in FIG. 11. The work area CA3 is an unmowed area.

The combine harvester 2 has the same configuration as the combine harvester 1, except for the number of cutting rows. As shown in FIG. 11, the combine harvester 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.

In this example, the specified condition is that "the third divider 53 is located to the right of the row located at the left end of the uncut area, and the fourth divider 54 is located to the left of the row located at the right end of the uncut area."

The row direction in the working area CA3 is east-west. And before starting the harvesting run in the working area CA3, as shown in FIG. 11, four row direction routes LA corresponding to the working area CA3 have already been calculated: row 7 direction route LA7, row 8 direction route LA8, row 9 direction route LA9, and row 10 direction route LA10.

In addition, from the north side, the line 7 directional route LA7, the line 8 directional route LA8, the line 9 directional route LA9, and the line 10 directional route LA10 are lined up. Furthermore, these four line directional routes LA are lined up with a third distance D3 between them. The third distance D3 is narrower than the first distance D1.

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

Here, the shift calculation unit 23d determines whether or not the predetermined condition is always satisfied when the combine harvester 2 travels along the row direction path LA in the working area CA3. More specifically, as shown in FIG. 11, the shift calculation unit 23d determines whether or not the predetermined condition is always satisfied when the combine harvester 2 travels for harvesting along the row 7 direction path LA7, row 10 direction path LA10, row 8 direction path LA8, and row 9 direction path LA9 in that order.

Assuming that the combine harvester 2 cuts along the 7-row directional path LA7, the 10-row directional path LA10, the 8-row directional path LA8, and the 9-row directional path LA9 in this order, as shown in FIG. 11, the combine harvester 2 first cuts along the 7-row directional path LA7. As a result, as shown in FIG. 11, the uncut area in the working area CA3 becomes the first uncut area CA31. The number of rows in the first uncut area CA31 is 11.

Next, the combine harvester 2 performs mowing travel along the 10-row directional path LA10. As a result, as shown in FIG. 11, the unmowed area in the working area CA3 becomes the second unmowed area CA32. The number of rows in the second unmowed area CA32 is 10.

Next, the combine harvester 2 performs mowing travel along the eight-row direction path LA8. As a result, as shown in FIG. 11, the unmowed area in the working area CA3 becomes the third unmowed area CA33. The third unmowed area CA33 has five rows.

Finally, the combine 2 performs mowing travel along the 9th directional route LA9. As a result, the entire working area CA3 becomes the already-mowed area.

When the combine harvester 2 is traveling along the seventh row direction path LA7, the row located at the right end of the uncut area is located at the ninth position Q9 shown in FIG. 11. 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. 11.

At this time, the third divider 53 is located to the right of the tenth position Q10. The fourth divider 54 is located to the left of the ninth position Q9. Therefore, while the combine 2 is performing harvesting travel along the seventh direction path LA7, the above-mentioned specified conditions are satisfied.

Next, when the combine harvester 2 performs mowing travel along the 10th row direction path LA10, the row located at the right end of the uncut area is located at the 10th position Q10 shown in FIG. 11. Also, at this time, the row located at the left end of the uncut area is located at the 11th position Q11 shown in FIG. 11.

At this time, the third divider 53 is located to the right of the eleventh position Q11. However, the fourth divider 54 is located to the right of the tenth position Q10. Therefore, while the combine 2 is performing harvesting travel along the ten-way directional path LA10, the above-mentioned predetermined condition is not satisfied.

Therefore, when the combine harvester 2 travels along the 7th row direction path LA7, the 10th row direction path LA10, the 8th row direction path LA8, and the 9th row direction path LA9 in this order, the shift calculation unit 23d determines that the predetermined condition is not always satisfied. Note that this determination is made before the combine harvester 2 starts traveling along the 7th row direction path LA7.

As a result, the shift calculation unit 23d recalculates the positions of the Article 8 direction route LA8, the Article 9 direction route LA9, and the Article 10 direction route LA10, as shown in FIG. 12. In this example, the positions of the Article 8 direction route LA8, the Article 9 direction route LA9, and the Article 10 direction route LA10 are each shifted northward. As a result, the distance between the Article 7 direction route LA7 and the Article 8 direction route LA8 becomes the fourth shift distance DS4. Also, the distance between the Article 8 direction route LA8 and the Article 9 direction route LA9 becomes the fifth shift distance DS5. Also, the distance between the Article 9 direction route LA9 and the Article 10 direction route LA10 becomes the sixth shift distance 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. In this example, the fourth shift interval DS4, the fifth shift interval DS5, and the sixth shift interval DS6 are all the same width.

In this example, the positions of row 8 direction path LA8, row 9 direction path LA9, and row 10 direction path LA10 are shifted northward, so that the specified conditions are always satisfied when the combine harvester 2 travels along the row direction path LA.

In more detail, as shown in FIG. 12, when the combine harvester 2 performs mowing travel along the seventh row direction path LA7, the row located at the right end of the uncut area is located at the ninth position Q9 shown in FIG. 12. At this time, the row located at the left end of the uncut area is located at the tenth position Q10 shown in FIG. 12.

At this time, the third divider 53 is located to the right of the tenth position Q10. The fourth divider 54 is located to the left of the ninth position Q9. Therefore, while the combine 2 is performing harvesting travel along the seventh direction path LA7, the above-mentioned specified conditions are satisfied.

Next, when the combine harvester 2 performs mowing travel along the 10th row direction path LA10, the row located at the right end of the unmowed area is located at the 10th position Q10 shown in FIG. 12. Also, at this time, the row located at the left end of the unmowed area is located at the 11th position Q11 shown in FIG. 12.

At this time, the third divider 53 is located to the right of the eleventh position Q11. The fourth divider 54 is located to the left of the tenth position Q10. Therefore, while the combine 2 is performing harvesting travel along the ten-way directional path LA10, the above-mentioned predetermined conditions are satisfied.

Next, when the combine harvester 2 performs mowing travel along the row 8 direction path LA8, the row located at the right end of the uncut area is located at the 11th position Q11 shown in FIG. 12. Also, at this time, the row located at the left end of the uncut area is located at the 12th position Q12 shown in FIG. 12.

At this time, the third divider 53 is located to the right of the twelfth position Q12. The fourth divider 54 is located to the left of the eleventh position Q11. Therefore, while the combine 2 is performing harvesting travel along the eighth direction path LA8, the above-mentioned predetermined conditions are satisfied.

Finally, when the combine harvester 2 performs mowing travel along the row 9 direction path LA9, the row located at the right end of the uncut area is located at the 12th position Q12 shown in FIG. 12. Also, at this time, the row located at the left end of the uncut area is located at the 13th position Q13 shown in FIG. 12.

At this time, the third divider 53 is located to the right of the thirteenth position Q13. The fourth divider 54 is located to the left of the twelfth position Q12. Therefore, while the combine 2 is performing harvesting travel along the ninth direction path LA9, the above-mentioned specified conditions are satisfied.

In this way, in the example shown in Figure 12, the specified conditions are always met when the combine 2 travels along the row direction path LA.

As shown in Figures 8 and 12, the way in which the position of the row direction path LA is shifted varies depending on the number of reaping rows. That is, the shift calculation unit 23d shifts the position of the row direction path LA depending on the number of reaping rows.

[Configuration of the stripe direction determination unit]
5, the automatic driving system A includes a communication terminal 4. The communication terminal 4 includes a line direction determination unit 4c. The function of the line direction determination unit 4c will be described below.

As shown in FIG. 13, the combine harvester 1 can perform automatic driving to cut in uncut areas that are rectangular and not square. The automatic driving system A can manage such automatic driving.

In other words, the automatic driving system A manages the automatic driving of the combine harvester 1, which performs cutting driving in a rectangular uncut area in the field.

As shown in Figs. 5, 14, and 15, the communication terminal 4 has a touch panel 4a. The touch panel 4a selects one of the four sides that make up the contour of the unmowed area in response to a touch operation by the operator. In other words, the operator can select one of the four sides that make up the contour of the unmowed area by touching the touch panel 4a.

For example, in FIG. 14, the outer peripheral area SA and the work area CA are displayed on the touch panel 4a. In this case, the entire work area CA is an unmowed area. The four sides that make up the contour of the unmowed area are the first side S1, the second side S2, the third side S3, and the fourth side S4.

The first side S1 is located at the northern end of the unmowed area. The second side S2 is adjacent to the first side S1 on the contour line of the unmowed area and is located at the western end of the unmowed area. The third side S3 is opposite the first side S1 and is located at the southern end of the unmowed area. The fourth side S4 is opposite the second side S2 on the contour line of the unmowed area and is located at the eastern end of the unmowed 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. This allows the operator to select one side from the first side S1, the second side S2, the third side S3, and the fourth side S4.

That is, the automated driving system A is equipped with a touch panel 4a that selects one of the four sides that form the contour of the unmowed area.

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

As shown in FIG. 5, the communication terminal 4 also has a determination unit 4b. Information indicating the selected side is sent from the touch panel 4a to the determination unit 4b and the line direction determination unit 4c. The selected side is the side selected by the touch panel 4a.

Then, the determination unit 4b determines whether the inclination of the opposite side of the selected side with respect 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 the inclination of the third side S3 with respect to the first side S1 is equal to or less than a reference angle.

That is, the automated driving system A is equipped with a determination unit 4b that determines whether the inclination of the opposite side of the selected side relative to the selected side, which is the side selected by the touch panel 4a, is equal to or smaller than a predetermined reference angle.

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

When the combine harvester 1 transitions from spiral travel to reciprocating travel, the travel control unit 24 sends a predetermined signal to the row direction determination unit 4c. This signal indicates the transition from spiral travel to reciprocating travel.

Then, the row direction determination unit 4c determines the row direction in 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 1, and the above-mentioned signal received from the travel control unit 24.

More specifically, if the determination unit 4b determines that the inclination of the opposite side of the selected side with respect to the selected side is greater than the reference angle, the stripe direction determination unit 4c determines the direction in which the selected side extends as the stripe direction.

In addition, if the determination unit 4b determines that the inclination of the opposite side of the selected side with respect to the selected side is equal to or less than the reference angle, the line direction determination unit 4c determines the line direction to be either the extension direction of the selected side or the extension direction of the opposite side of the selected side, depending on the state of the aircraft.

The position coordinates of the combine harvester 1 and the transition from spiral travel to reciprocating travel both correspond to the "machine state" described above.

That is, the automated driving system A is equipped with a row direction determination unit 4c that determines the row direction in the unmowed area.

The information indicating the row direction determined by the row direction determination unit 4c is sent to the travel control unit 24. The travel control unit 24 then controls the travel of the combine 1 so that, during round trip travel, the harvesting travel is performed along the direction determined as the row direction by the row direction determination unit 4c.

The following describes how to determine the row direction when the determining unit 4b determines that the inclination of the opposite side of the selected side with respect to the selected side is equal to or less than the reference angle, using as an example a case in which the combine harvester 1 performs harvesting work in the fields shown in Figures 13, 16 to 18.

In this example, as shown in FIG. 13, the combine harvester 1 first performs mowing in the outer peripheral area of the field. When this mowing is completed, the area calculation unit 22 calculates the outer peripheral area SA and the work target area CA.

At this time, the uncut area in the field coincides with the work area CA. In this example, the work area CA is rectangular.

The four sides that make up the contour 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 is located on the west side of the work area CA. The third side S3 is the opposite side to the first side S1 and is located on the south side of the work area CA. The fourth side S4 is the opposite side to the second side S2 and is located on the east side of the work area CA.

In this example, as shown in Figures 14 and 15, it is assumed that the first side S1 is selected by the touch panel 4a. In other words, the first side S1 is the selected side.

In this example, as described above, the route calculation unit 23 calculates the harvesting driving 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 calculated the mowing travel route LN, which is a number of mesh lines extending vertically and horizontally, as shown in FIG. 3. However, the route calculation unit 23 is configured to be capable of calculating the mowing travel route LN as shown in FIG. 13.

The harvesting travel path LN shown in FIG. 13 is composed of a plurality of first paths L1 arranged parallel to each other at a predetermined interval, a plurality of second paths L2 arranged parallel to each other at a predetermined interval, a plurality of third paths L3 arranged parallel to each other at a predetermined interval, and a plurality of fourth paths L4 arranged parallel to each other at a predetermined interval.

The multiple first paths L1 are arranged parallel to the first side S1. The multiple second paths L2 are arranged parallel to the second side S2. The multiple third paths L3 are arranged parallel to the third side S3. The multiple fourth paths L4 are arranged parallel to the fourth side S4.

In other words, the path calculation unit 23 calculates the following as the mowing travel paths LN: a plurality of first paths L1 arranged at a predetermined interval parallel to the first side S1, which is the selected side; a plurality of second paths L2 arranged at a predetermined interval parallel to the second side S2 adjacent to the first side S1 on the contour line of the unmowed area; a plurality of third paths L3 arranged at a predetermined interval parallel to the third side S3, which is the opposite side of the selected side; and a plurality of fourth paths L4 arranged at a predetermined interval parallel to the fourth side S4, which is the opposite side of the second side S2 on the contour line of the unmowed area.

When the harvesting travel path LN is calculated by the path calculation unit 23, the combine harvester 1 starts spiral travel under the control of the travel control unit 24, as shown in FIG. 16.

In this example, in the spiral travel, the combine harvester 1 first performs harvesting travel along the north first travel path L11. The north first travel path L11 is the first path L1 that is closest to the first side S1 among the multiple first paths L1.

Next, the combine harvester 1 performs harvesting travel along the western first travel path L21. The western first travel path L21 is the second path L2 that is closest to the second side S2 among the multiple second paths L2.

Next, the combine harvester 1 performs harvesting travel along the south-side first travel path L31. The south-side first travel path L31 is the third path L3 that is closest to the third side S3 among the multiple third paths L3.

Next, the combine harvester 1 performs harvesting travel along the eastern first travel path L41. The eastern first travel path L41 is the fourth path L4 that is closest to the fourth side S4 among the multiple fourth paths L4.

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

Once the mowing operation along the north side second travel path L12 is completed, mowing operations will be performed sequentially along the west side second travel path L22, the south side second travel path L32, and the east side second travel path L42.

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

That is, the travel control unit 24 controls the travel of the combine 1 so that, in the spiral travel, after the cutting travel along the first path L1, the cutting travel along the second path L2 is performed, after the cutting travel along the second path L2, after the cutting travel along the third path L3, after the cutting travel along the third path L3, after the cutting travel along the fourth path L4, and after the cutting travel along the fourth path L4, the cutting travel along the first path L1 is performed.

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

The number of revolutions of the combine harvester 1 during spiral travel may be only one. In other words, during spiral travel, harvesting travel along the north side second travel path L12, the west side second travel path L22, the south side second travel path L32, and the east side second travel path L42 shown in FIG. 16 does not have to be performed. The number of revolutions of the combine harvester 1 during spiral travel may be any number of revolutions, including two or more revolutions.

In this example, the inclination of the third side S3 relative to the first side S1 is less than or equal to the reference angle. Therefore, the determination unit 4b determines that the inclination of the side opposite the selected side relative to the selected side is less than or equal to the reference angle.

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

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

For example, in the example shown in FIG. 17, as shown in the upper part of FIG. 17, in spiral running, after mowing running along the fourth path L4, mowing running along the first path L1 is performed. Then, at the point when mowing running along the first path L1 is completed, the spiral running is completed.

In other words, in the example shown in FIG. 17, when the harvesting run along the first path L1 in the spiral run is completed, the run of the combine harvester 1 transitions to reciprocating run.

In this case, the row direction determination unit 4c determines the direction in which the opposite side of the selected side extends as the row direction. In other words, 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 the travel of the combine 1 so that the harvesting travel is performed along the third path L3 during the round trip travel.

In this case, when the combine 1 transitions to reciprocating travel, it moves from the vicinity of the northwestern part of the uncut area to the vicinity of the southwestern part of the uncut area. The first mowing run in the reciprocating travel is performed along the third path L3 that is closest to the third side S3 among the third paths L3 on which no mowing run has yet been performed.

In the example shown in FIG. 18, as shown in the upper part of FIG. 18, in the spiral running, after the cutting run along the second path L2, cutting run along the third path L3 is performed. Then, when the cutting run along the third path L3 is completed, the spiral running is completed.

In other words, in the example shown in FIG. 18, when the harvesting run along the third path L3 in the spiral run is completed, the run of the combine harvester 1 transitions to reciprocating run.

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 the travel of the combine 1 so that the harvesting travel is performed along the first path L1 during the round trip travel.

In this case, when transitioning to round trip travel, 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. The first mowing run in the round trip is performed along the first path L1 that is closest to the first side S1 among the first paths L1 on which no mowing run has yet been performed.

With the configuration described above, by setting the predetermined number to a relatively small number, the width of the overlapping range between the passing range of the cutting unit H and the already-cut area tends to be relatively narrow when the combine 1 travels along the row direction path LA.

For example, if the combine harvester 1 is a six-row harvester with seven dividers 5 and the specified number is three, when the combine harvester 1 travels along the row direction path LA, the third divider 5 from the left end will be located to the right of the row located at the left end of the uncut area, and the third divider 5 from the right end will be located to the left of the row located at the right end of the uncut area. As a result, the harvesting travel will be performed with four rows of uncut stalks located between the second divider 5 from the left end and the second divider 5 from the right end.

At this time, when the portion between the leftmost divider 5 and the second divider 5 from the left passes through the unmowed area, the passing range of the mowing unit H does not overlap with the already-mowed area on the left side of the mowing unit H. Also, when the portion between the leftmost divider 5 and the second divider 5 from the left passes through the already-mowed area, the width of the overlapping range between the passing range of the mowing unit H and the already-mowed area on the left side of the mowing unit H is one row.

In other words, on the left side of the cutting unit H, the width of the overlapping area between the passing range of the cutting unit H and the already cut area is at most one row.

Similarly, on the right side of the cutting unit H, the width of the overlapping area between the passing range of the cutting unit H and the already cut area is at most one row.

Therefore, in this case, the width of the overlapping range between the passing range of the cutting unit H and the already-cut area is narrower on the left or right side of the cutting unit H than in a configuration in which the width of the overlapping range between the passing range of the cutting unit H and the already-cut area is the width of two or more rows.

In this way, with the configuration described above, when the combine harvester 1 travels along the row direction path LA, the width of the overlapping range between the passing range of the cutting unit H and the already-cut area tends to be relatively narrow. This makes it possible to realize an automatic driving system A that can easily avoid a situation in which the width of the overlapping range between the passing range of the cutting unit H and the already-cut area becomes relatively wide.

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 traveling device 11 may be of a wheel type or a semi-crawler type.

(2) In the example shown in FIG. 3, the mowing travel path LN calculated by the route calculation unit 23 is a plurality of mesh lines extending vertically and horizontally. However, the present invention is not limited to this, and the mowing travel path LN calculated by the route calculation unit 23 does not have to be a plurality of mesh lines extending vertically and horizontally. For example, the mowing travel path LN calculated by the route calculation unit 23 may be a spiral travel path. In addition, the mowing travel path LN does not have to be perpendicular to another mowing travel path LN. In addition, the mowing travel path LN calculated by the route calculation unit 23 may be a plurality of parallel lines that are parallel to each other.

(3) Some or all of the vehicle position calculation unit 21, area calculation unit 22, route calculation unit 23, driving control unit 24, passing reference position calculation unit 25, model information storage unit 26, row spacing acquisition unit 27, and row number calculation unit 28 may be provided outside the combine harvester 1, and may be provided in, for example, a management server 6 provided outside the combine harvester 1.

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

(5) In the above embodiment, the operator manually operates the combine harvester 1, and as shown in FIG. 2, the combine harvester 1 performs a mowing run in a circle along the boundary line BD of the field in the outer periphery of the field. However, the present invention is not limited to this, and the combine harvester 1 may be configured to automatically run and perform a mowing run in a circle along the boundary line BD of the field in the outer periphery of the field. Furthermore, the number of laps in this case may be a number other than three. For example, the number of laps in this case may be two.

(6) The "predetermined number" according to the present invention may be any number other than three. For example, the predetermined number may be two. In this case, in the automatic driving system A that manages the automatic driving of the six-row combine harvester 1, the predetermined condition is that "the second divider 52 is located to the right of the row located at the left end of the uncut area, and the sixth divider 56 is located to the left of the row located at the right end of the uncut area."

(7) The path calculation unit 23 may calculate the row direction path LA regardless of the calculation result of the row number calculation unit 28, or may calculate the row direction path LA regardless of the number of cutting rows of the combine harvester 1.

The present invention can be used in an automatic driving system that manages the automatic driving of a combine harvester.

1, 2 Combine harvester 5 Divider 23 Path calculation unit 28 Row number calculation unit (post-division row number calculation unit)
A. Automated Driving System
CA1 Northern area (area after division)
CA2 South area (area after division)
H Harvesting unit LA Row direction route (target travel route)

Claims (6)

An automatic driving system that manages automatic driving of a combine harvester having a harvesting unit that harvests planted stalks in a field ,
A route calculation unit that calculates a target driving route for automatic driving along the line direction,
The route calculation unit is an automatic driving system configured to calculate the target driving route so that when the combine travels along the target driving route, the width of the overlapping area between the passing range of the cutting unit and the already-cut area is always less than a specified number of rows. A row number calculation unit is provided for calculating the number of rows in an uncut area,
The automatic driving system according to claim 1 , wherein the route calculation unit calculates the target driving route based on a calculation result of the row number calculation unit and a number of reaping rows of the combine harvester. The automatic driving system described in claim 1 or 2, wherein when the combine performs intermediate division driving to divide an unmowed area into multiple divided areas, the path calculation unit is configured to calculate the target driving path so that when the combine drives along the target driving path from the start of mowing driving in one of the divided areas to the completion of mowing driving, the width of the overlapping area between the passing range of the mowing unit and the already-mowed area is always less than the specified number of rows. The combine has a plurality of dividers for combing planted stalks in a field,
The path calculation unit is configured to calculate the target travel path so that a predetermined condition is always satisfied when the combine travels along the target travel path from the start to the completion of the reaping travel in one of the divided areas,
The automatic driving system of claim 3, wherein the specified condition is that the divider that is a predetermined number from the left end of the plurality of dividers is located to the right of the row that is located at the left end of the one divided area, and the divider that is a predetermined number from the right end of the plurality of dividers is located to the left of the row that is located at the right end of the one divided area. The automatic driving system according to claim 4 , wherein the predetermined number is three. a post-division row number calculation unit for calculating the row number of the post-division region;
The automatic driving system according to claim 4 or 5, wherein the route calculation unit calculates the target driving route based on a calculation result of the post-division row number calculation unit and a number of reaping rows of the combine harvester.

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