KR20200096497A - Automatic driving system, automatic driving management program, recording medium recording the automatic driving management program, automatic driving management method, area determining system, area determining program, recording medium recording area determining program, area determining method, combine control system, combine control program , A recording medium recording the combine control program, and a combine control method - Google Patents

Abstract

The automatic travel system A includes an area setting unit 24 that sets the inside of a first area, which is an area that is harvested by the first harvesting run, as a second area, and an inner circumferential travel path calculation unit ( 25), a travel control unit 26 that controls the travel of the harvester 1 so that the second harvest travel is performed by automatic travel based on the inner circumferential travel route, and a data acquisition unit 21 that acquires pavement appearance data, A first travel information generation unit 27 that generates first travel information based on the pavement appearance data is provided, and the first travel information includes heavy driving information.

Description

Automatic driving system, automatic driving management program, recording medium recording the automatic driving management program, automatic driving management method, area determining system, area determining program, recording medium recording area determining program, area determining method, combine control system, combine control program , A recording medium recording the combine control program, and a combine control method

The present invention relates to an automatic traveling system that manages automatic traveling of a harvester for harvesting agricultural crops in the field.

Further, the present invention relates to an area determination system for calculating a work target area in packaging.

Further, the present invention relates to a combine control system for controlling a combine having a mowing device for mowing grain stems for planting in a package.

[1] As such an automatic traveling system, the one described in Patent Document 1, for example, is already known. In the harvesting operation using this automatic travel system, the operator manually operates the harvester ("combines" in Patent Document 1) at the beginning of the harvesting operation, and performs harvesting travel so as to travel around the outer periphery of the pavement.

In the running in this outer circumference part, the direction to be run of the harvester is recorded. Then, by the automatic running based on the recorded orientation, harvest running in the uncut area in the pavement is performed.

[2] In Patent Document 1, the invention of a harvester that runs automatically ("Combine" in Patent Document 1) is described. In the harvesting operation using this harvester, the operator manually operates the harvester at the beginning of the harvesting operation, and performs harvesting run so as to travel around the outer periphery of the pavement.

In the running in this outer circumference part, the direction to be run of the harvester is recorded. Then, by the automatic running based on the recorded orientation, harvest running in the uncut area in the pavement is performed.

[3] In Patent Document 2, the invention of a combine having a harvesting device for harvesting grain stems for planting in a package is described. This combine is configured to perform harvesting work on the pavement by automatic running.

Japanese Utility Model Application Publication Hei 2-107911 Japanese Patent Application Publication No. 2001-69836

[1] Background Art The subject corresponding to [1] is as follows.

In the automatic traveling system described in Patent Literature 1, it is conceivable to set the area where the harvest is completed as the first area by circumferring the outer circumferential portion in the pavement, and set the inner circumferential portion in the pavement as the second area. In this case, the second region is located inside the first region.

In this configuration, it is conceivable to calculate the outer shape of the second region based on the travel trajectory of the harvester during circumferential travel around the outer circumferential portion of the pavement. And, when the travel route in the second area is calculated based on the calculated outer shape of the second area, and the harvester is automatically driven based on the calculated travel route, the harvesting run in the second area is automatically driven. It becomes possible to do by.

However, when the outer shape of the pavement is relatively complicated, there is a tendency that the travel trajectory of the harvester between the circumferential travel of the outer circumferential portion in the pavement becomes complicated. In addition, when the travel trajectory of the harvester between the circumferential travel of the outer circumferential portion of the pavement is complicated, the accuracy of calculating the appearance of the second area tends to decrease.

When the calculation accuracy of the outer shape of the second region is low, it becomes difficult to appropriately calculate the travel route for automatic travel in the second region. As a result, it is assumed that the harvesting run in the second area becomes inefficient, and that a mowing may occur.

It is an object of the present invention to provide an automatic traveling system in which automatic traveling in an inner circumferential portion within a pavement can be appropriately performed.

[2] Background Art The subject corresponding to [2] is as follows.

In the automatic traveling system described in Patent Literature 1, the area in which the harvest is completed is set as the outer periphery area by running around the outer periphery of the pavement, the inner side of the outer periphery area is calculated as the work target area, and running in the work target area You can think of calculating the path.

Here, in the case of calculating the shape of the work target area based on the running trajectory of the harvester in the circumferential run on the outer periphery of the pavement, if the running trajectory is complicated, the calculated work target area shape tends to be complicated. .

And, when the shape of the calculated work target area is complicated, the processing for calculating the travel path in the work target area becomes complicated. Accordingly, a situation in which a lot of time is required to calculate the travel route is assumed.

An object of the present invention is to provide an area determination system capable of calculating the shape of a work target area as a relatively simple shape.

[3] The subject corresponding to background art [3] is as follows.

Patent Document 2 does not describe in detail the method of direction change when the combine performs direction change in order to mow the grain stem of the corner portion in the uncut area of the pavement.

Here, when the combine performs a change of direction in order to mow the grain stem of the corner in the uncut area of the pavement, a configuration can be conceived to control the combine so that the combine does not enter the uncut area. According to this configuration, at the time of direction change, it is possible to avoid the combine from stepping on the grain stem of the uncut area.

However, in this configuration, the space available for direction change tends to be relatively narrow. As a result, direction change cannot be performed smoothly, and work efficiency is liable to decrease.

It is an object of the present invention to provide a combine control system in which a combine can avoid stepping on a grain stem in an uncut area and smoothly change the direction of the combine.

[1] The solution means corresponding to the problem [1] is as follows.

A feature of the present invention is the automatic running of a harvester for harvesting agricultural crops on the pavement by a first harvest run including a harvest run at an outer periphery of the pavement, and a second harvest run performed after the first harvest run. An automatic travel system that manages, and an area setting unit that sets an inside of a first area that is an area that is harvested by the first harvesting run as a second area, and the second area set by the area setting unit An inner circumferential travel path calculation unit that calculates an inner circumferential travel path that is a travel path in the inner circumferential travel path; a travel control unit that controls the travel of the harvester so that the second harvesting travel is performed by automatic travel based on the inner circumferential travel path; and an appearance of the pavement A data acquisition unit that acquires pavement appearance data, which is data representing data, and a first travel that is information indicating a travel route or travel position for the first harvest travel based on the pavement appearance data acquired by the data acquisition unit. A first driving information generating unit for generating information, wherein the first driving information generated by the first driving information generating unit includes intermediate driving information, which is information indicating a driving route or a driving position for intermediate driving. It is in what is included.

In the present invention, first travel information is generated based on the pavement appearance data acquired by the data acquisition unit. In addition, the first driving information includes intermediate driving information, which is information indicating a driving route or a driving position for intermediate driving.

That is, according to the present invention, heavy driving information is generated according to the appearance of the pavement. Accordingly, even if the appearance of the pavement is relatively complicated, a configuration in which a travel path or travel position for heavy-duty travel is calculated can be realized so that the travel trajectory of the harvester in the first harvest run is simplified. Thereby, while calculating the external shape of the second area with high precision, it is possible to appropriately calculate the inner circumferential travel path. Then, based on the calculated inner circumferential travel route, automatic travel in the inner circumferential portion in the pavement can be appropriately performed.

Therefore, according to the present invention, it is easy to appropriately perform automatic running in the inner circumferential portion of the pavement.

In addition, in the present invention, it is preferable that the travel control unit controls the travel of the harvester based on the heavy travel information so that the medium travel is performed by automatic travel in the first harvest travel.

When heavy-duty travel is performed by manual driving, there is a possibility that the driving route or driving position for heavy-duty travel indicated by the heavy-duty travel information and the actual travel route or driving position may be shifted.

Here, according to the above configuration, heavy travel is performed by automatic travel. Therefore, it is easy to avoid a situation in which the driving route or the driving position for the heavy driving indicated by the heavy driving information and the actual driving path or driving position are shifted.

Further, in the present invention, it is preferable to provide a display device that displays a driving route or a driving position for the heavy-duty traveling on the basis of the heavy-duty traveling information.

According to this configuration, when the heavy-duty travel is performed by automatic travel, the operator can grasp the traveling route or travel position on which the heavy-duty travel is scheduled to be performed. Therefore, when heavy travel is being performed by automatic travel, it becomes possible to confirm whether or not the heavy duty travel is properly performed as scheduled.

In addition, when the heavy-duty travel is performed by manual travel, the operator can perform the appropriate heavy-duty travel by performing the heavy-duty travel according to the display on the display device.

Further, in the present invention, it is preferable that the data acquisition unit acquires the package appearance data from a work vehicle different from the harvester.

When a work vehicle different from the harvester has a function of calculating the appearance of the pavement, the work vehicle can generate pavement appearance data.

Here, according to the above configuration, the data acquisition unit can acquire the package appearance data generated by a work vehicle different from the harvester. Thereby, it becomes possible to usefully use the package appearance data generated by a work vehicle different from the harvester.

Further, in the present invention, it is preferable to include a management server for storing the package appearance data, and the data acquisition unit acquires the package appearance data from the management server.

According to this configuration, the package appearance data is stored in the management server. Accordingly, if the package appearance is calculated only once and the calculation result is stored in the management server as package appearance data, the package appearance data can be used repeatedly. That is, it is possible to avoid the need to calculate the appearance of the pavement for each harvesting operation.

In addition, in the present invention, based on the package appearance data acquired by the data acquisition unit, it is determined whether or not the outer shape of the package has a concave portion that is recessed from the outer circumferential side of the package toward the inner circumferential side. When it is determined that the outer shape of the pavement is a shape having the concave inlet portion, and the outer shape determining unit is provided, the first travel information generating unit is configured to provide a vertex of the concave inlet at a driving route or a driving position for the heavy driving. It is appropriate to generate the first driving information so that the part is included.

When the outer shape of the pavement is a shape having a concave inlet, when the harvester travels around the outer circumferential portion of the pavement, when traveling along the boundary line of the pavement over the entire length of the concave inlet, the travel trajectory of the harvester tends to be complicated.

Here, according to the above configuration, when the outer shape of the pavement has a concave inlet portion, the apex portion of the concave portion is included in the traveling route or the traveling position for heavy traveling. Therefore, when the harvester travels based on the first travel information generated in the above configuration, the harvester harvests and travels the outer circumference of the pavement along the boundary of the pavement, and when reaching the apex of the concave inlet, the middle from that point. The run to be performed is performed.

Accordingly, when the harvester travels around the outer circumferential portion of the pavement, it is possible to avoid a situation in which the travel trajectory of the harvester becomes complicated by traveling along the boundary line of the pavement over the entire length of the concave inlet.

In addition, another feature of the present invention is a harvester for harvesting agricultural crops in a field by a first harvest run including a harvest run at an outer periphery of the pavement, and a second harvest run performed after the first harvest run. It is an automatic travel management program that manages the automatic travel of, and an area setting function for setting the inside of the first area, which is an area that has been harvested by the first harvesting run, as a second area, and the area setting function set by the area setting function An inner circumferential travel path calculation function that calculates an inner circumferential travel path that is a travel path in the second region, and a travel control function that controls the travel of the harvester so that the second harvesting travel is performed by automatic travel based on the inner circumferential travel path. And, a data acquisition function for acquiring pavement appearance data, which is data representing the appearance of the pavement, and a travel path or travel position for the first harvesting run, based on the pavement appearance data acquired by the data acquisition function. It is configured to realize a first driving information generation function for generating first driving information, which is information, in a computer, and in the first driving information generated by the first driving information generating function, a driving route for heavy driving Or, it includes heavy driving information, which is information indicating the driving position.

In addition, another feature of the present invention is a harvester for harvesting agricultural crops in a field by a first harvest run including a harvest run at an outer periphery of the pavement, and a second harvest run performed after the first harvest run. A recording medium recording an automatic travel management program that manages the automatic travel of the vehicle, wherein the automatic travel management program sets an area inside the first area, which is an area that has been harvested by the first harvesting run, as a second area The second harvesting run is performed by a function, an inner circumferential travel path calculation function for calculating an inner circumferential travel path that is a travel path in the second region set by the region setting function, and automatic travel based on the inner circumferential travel path. The first, based on a travel control function for controlling the travel of the harvester, a data acquisition function for acquiring pavement appearance data that is data representing the appearance of the pavement, and the pavement appearance data acquired by the data acquisition function. The first driving information generating function for generating first driving information, which is information indicating a driving route or driving position for harvest driving, is realized in a computer, and is generated by the first driving information generating function. In the driving information, an automatic driving management program including intermediate driving information, which is information indicating a driving route or a driving position for intermediate driving, is recorded.

In addition, another feature of the present invention is a harvester for harvesting agricultural crops in a field by a first harvest run including a harvest run at an outer periphery of the pavement, and a second harvest run performed after the first harvest run. It is an automatic travel management method for managing automatic travel of, and an area setting step of setting an inside of a first area, which is an area that has been harvested by the first harvesting run, as a second area, and the area setting step set by the area setting step. An inner circumferential travel path calculation step for calculating an inner circumferential travel path that is a travel path in a second area, and a travel control step for controlling the travel of the harvester so that the second harvesting travel is performed by automatic travel based on the inner circumferential travel path. And, a data acquisition step for acquiring pavement appearance data, which is data representing the appearance of the pavement, and a travel path or travel position for the first harvesting run, based on the pavement appearance data acquired by the data acquisition step. Information indicating a driving route or a driving position for intermediate driving in the first driving information generated by the first driving information generating step, comprising a first driving information generating step for generating first driving information as information It is because it contains driving information to be recognized.

[2] The solution means corresponding to the problem [2] is as follows.

A feature of the present invention is a satellite positioning module that outputs positioning data indicating the position of an own vehicle of a harvester, and based on the positioning data output by the satellite positioning module, the outer circumference of the pavement in which the harvester is harvesting crops In addition to calculating the area on the side as an outer circumferential area, there is provided an area calculation unit that calculates the inner side of the outer circumferential area as a work target area, and the area calculation unit is configured to calculate the shape of the work target area as a polygon. In.

In the present invention, the shape of the work target area is calculated as a polygon. Therefore, the shape of the work target area can be calculated as a relatively simple shape.

Further, in the present invention, a notification unit for notifying the shape of the work target area calculated by the area calculation unit and an operation input unit for accepting an artificial operation input are provided, and the area calculation unit is input to the operation input unit. It is appropriate to change the number of sides of the polygon based on the artificial manipulation input.

A configuration in which a travel path in the work target area is calculated based on the shape of the work target area can be considered. In this configuration, when the calculated shape of the work target region does not match the actual shape, the calculated travel path tends to become inappropriate. As a result, it is assumed that harvesting travel in the work target area becomes inefficient, and that a mowing may occur.

Here, according to the above configuration, the shape of the work target area calculated by the area calculation unit is notified by the notification unit. Therefore, the operator can confirm whether or not the calculated shape of the work target area matches the actual shape.

And, when the calculated shape of the work target area does not match the actual shape, the operator can change the variable of the calculated work target area by operating the operation input unit. Thereby, it is possible to change the calculated shape of the work target area to match the actual shape.

Further, in the present invention, a distance calculation unit for calculating a distance between the boundary line on the outer circumference side in the outer circumferential region and the boundary line on the inner circumference side in the outer circumference region is provided, and the distance calculated by the distance calculation unit When is shorter than a predetermined distance, the area calculating unit is suitable if the number of sides of the polygon is increased.

The outer circumferential area can be used as a space for turning the harvester when performing harvesting in the work target area. In addition, the outer circumferential area can be used as a space for movement such as when moving to a place where harvesting is discharged or when moving to a place to replenish a fuel after the harvest run in the work target area is once finished.

However, when the distance between the boundary line on the outer circumferential side in the outer circumferential area calculated by the area calculation unit and the boundary line on the inner circumferential side in the outer circumferential region is relatively short, the outer circumferential region is narrowed as described above. It becomes difficult to use.

Here, according to the above configuration, when the distance between the boundary line on the outer circumferential side in the outer circumferential area and the boundary line on the inner circumferential side in the outer circumferential region is shorter than the predetermined distance, the area calculation unit includes the calculated number of sides of the work target area. Increase Thereby, in a location where the number of sides increases, the distance between the boundary line on the outer circumferential side in the outer circumferential region and the boundary line on the inner circumferential side in the outer circumferential region is increased. As a result, it becomes possible to enlarge the outer circumferential area.

Therefore, according to the above configuration, it becomes easy to secure a wide outer circumferential area.

Further, in the present invention, a distance calculation unit that calculates a distance between a boundary line on the outer circumferential side in the outer circumferential region and a boundary line on the inner circumference side in the outer circumferential region, and a distance calculated by the distance calculation unit are When it is shorter than the predetermined distance, it is preferable to provide a warning section for urging to further perform circumferential travel in the area on the outer circumference side of the pavement.

The outer circumferential area can be used as a space for turning the harvester when performing harvesting in the work target area. In addition, the outer circumferential area can be used as a space for movement such as when moving to a place where harvesting is discharged or when moving to a place to replenish a fuel after the harvest run in the work target area is once finished.

However, when the distance between the boundary line on the outer circumferential side in the outer circumferential region and the boundary line on the inner circumferential side in the outer circumferential region is relatively short, it becomes difficult to use the outer circumferential region as described above because the outer circumferential region is narrow.

Here, when the outer circumferential region is narrow, it is conceivable to expand the outer circumferential region by performing additional circumferential travel.

However, especially for an inexperienced worker, it is difficult to appropriately judge whether or not additional circumferential travel needs to be performed at the time when circumferential travel in the area on the outer circumference side of the pavement is completed.

Here, according to the above configuration, when the distance between the boundary line on the outer circumference side in the outer circumferential area and the boundary line on the inner circumference side in the outer circumference area is shorter than a predetermined distance, the warning unit applies to the area on the outer circumference side of the pavement. It is urged to further perform the circumferential running in this case. Therefore, the operator can reliably recognize that it is necessary to perform additional circumferential travel in order to enlarge the outer circumferential region when the outer circumferential region is narrow.

In addition, another feature of the present invention is an area determination program, based on the positioning data output by a satellite positioning module that outputs positioning data indicating the position of the vehicle of the harvester, the pavement in which the harvester is harvesting crops and traveling around. It is configured to realize in a computer an area calculation function that calculates an area on the outer circumference side of the outer circumference side as an outer circumference area and calculates the inside of the outer circumference area as a work target area, and the area calculation function comprises: It is in calculating the shape as a polygon.

In addition, another feature of the present invention is an area on the outer circumference side of the pavement in which the harvester has traveled while harvesting crops, based on the positioning data output by the satellite positioning module that outputs positioning data indicating the position of the own vehicle of the harvester. Is a recording medium recording an area determination program for realizing an area calculation function that calculates as an outer circumferential area and calculates the inner side of the outer circumferential area as a work target area in a computer, wherein the area calculation function includes the shape of the work target area It is recording an area determination program that calculates as a polygon.

In addition, another feature of the present invention is the area determination method, based on the positioning data output by the satellite positioning module that outputs positioning data indicating the position of the vehicle of the harvester, the pavement in which the harvester is harvesting crops and traveling around. And an area calculation step of calculating an area on the outer circumference side of the circumferential side as an outer circumferential area, and calculating the inside of the outer circumferential area as a work target area, and in the area calculation step, the shape of the work target area is calculated as a polygon In having to.

[3] The solution means corresponding to the problem [3] is as follows.

A feature of the present invention is a combine control system for controlling a combine having a mowing device for mowing grain stems for planting of a pavement, comprising a direction change control unit for controlling the direction change of the combine, and a corner in the uncut area of the pavement When the combine performs a direction change in order to mow negatively planted grains, the direction change control unit includes a direction conversion method including a mowing and turning operation of turning while mowing the planted grains, and the direction of the combine by a special direction change for a corner part. It is in controlling the combine so that the conversion takes place.

According to the present invention, when the combine performs a direction change in order to mow the grain stem of the corner portion in the uncut area of the pavement, the combine is controlled to perform the direction change by a special direction change for the corner portion. And this special direction change for the corner part includes a cutting and turning operation of turning while cutting the planted grain stem.

Therefore, according to the present invention, in the direction change, the combine enters the non-reaping area by the mowing and turning operation. That is, in the direction change, since the combine enters the uncut area while mowing the planted grain stem, it is possible to avoid the combine stepping on the planted grain stem in the uncut area.

In addition, compared to the case where the combine is controlled so that the combine does not enter the uncut area at the time of direction change, the space available for the direction change is widened. Thereby, it is easy to smoothly change the direction of the combine.

That is, according to the present invention, it is possible to avoid the combine from stepping on the grain stem in the uncut area, and it is easy to smoothly change the direction of the combine.

Further, in the present invention, the special direction change for the corner part is performed after a first reverse operation in which the combine moves backward to a position rearward than the corner part in the advance direction of the combine before the direction change, and after the first reverse operation. The loss is an operation performed after the mowing and turning operation and the mowing and turning operation, and a second reversing operation in which the combine moves backward to a position rearward than the corner in the moving direction of the combine after direction change, and the second reversing operation It is suitable if it includes a forward motion performed after

According to this configuration, prior to the mowing and turning operation, the first reverse operation is performed. Thereby, it is easy to avoid the situation in which the combine crosses the boundary line of the pavement by the mowing and turning operation.

In addition, according to this configuration, it is easy to complete the direction change while the combine moves to a position where it is easy to mow the planted grain stems of the corners by the second reverse operation and the forward operation.

Further, in the present invention, a determination unit for determining a direction change method of the combine is provided, and the direction change control unit is configured to control the direction change of the combine according to a determination made by the determination unit, and the determination When the distance between the corner part and the boundary line of the pavement is shorter than a predetermined distance, the unit determines that the direction change of the combine, which is performed to mow the planted grains of the corner part, is performed by the special direction change for the corner part, , The determination unit, when the distance between the corner portion and the boundary line of the pavement is greater than or equal to the predetermined distance, the direction change of the combine performed to mow the planted grains of the corner portion is different from the special direction change for the corner portion It is appropriate if it is determined what is to be done by the switching method.

According to this configuration, when the distance between the corner portion and the boundary line of the pavement is relatively short, by performing a special direction change for the corner portion, the direction can be reliably changed while securing a wide space for direction change.

Here, when the distance between the corner portion and the boundary line of the pavement is relatively long, it is easy to secure a wide space usable for the direction change even without performing special direction change for the corner portion. That is, in this case, even if it is a direction change method different from the special direction change for a corner part, direction change can be performed.

And according to the above configuration, when the distance between the corner portion and the boundary line of the pavement is relatively long, the direction of the combine is switched by a direction switching method different from that of the special direction switching for the corner portion. Therefore, when the distance between the corner portion and the boundary line of the pavement is relatively long, a configuration in which the direction change is performed by a method capable of changing the direction faster than that of the special direction change for the corner part can be realized.

Therefore, according to the above configuration, when the distance between the corner portion and the boundary line of the pavement is relatively short, the direction is reliably changed by special direction change for the corner portion, while the distance between the corner portion and the boundary line of the pavement is relatively long. In this case, it is possible to realize a configuration capable of rapidly changing direction by a direction switching method different from that of the special direction switching for corner portions.

In addition, another feature of the present invention is a combine control program that controls a combine having a mowing device for mowing grain stems for planting in a package, and is configured to realize a direction change control function for controlling the direction change of the combine in a computer. , When the combine performs a direction change in order to mow the planted grains of the corners in the uncut area of the pavement, the direction change control function is a direction change method including a mowing turning operation of turning while mowing the planted grains. It is to control the combine so that the direction change of the combine is performed by a special direction change for the corner part.

In addition, another feature of the present invention is a recording medium recording a combine control program for controlling a combine having a mowing device for mowing grain stems in a package, and the combine control program is a direction change control for controlling the direction change of the combine. It is configured to realize the function in a computer, and when the combine performs a direction change in order to mow the grain stem of the corner portion in the uncut area of the pavement, the direction change control function turns while mowing the grain stem. A combine control program for controlling the combine is recorded so that the direction change of the combine is performed by a special direction change for a corner part, which is a direction change method including a mowing and turning operation.

In addition, another feature of the present nickname is a combine control method for controlling a combine having a mowing device for mowing the space of the pavement, including a direction change control step for controlling the direction change of the combine, and in the uncut area of the pavement When the combine performs a direction change in order to mow the planted grains of the corners, in the direction change control step, in the special direction change for corners, which is a direction change method including a mowing and turning operation of turning while mowing the planted grains. Accordingly, it is to control the combine so that the direction change of the combine is performed.

Fig. 1 is a diagram showing a first embodiment (hereinafter, the same applies to Fig. 17), and is an overall view of an automatic traveling system.
2 is a left side view of the combine.
3 is a block diagram showing the configuration of an automatic traveling system.
4 is a diagram showing a first harvest run at the first time in the first grain packaging.
5 is a diagram showing a first grain package after a first harvest run at the first time.
6 is a diagram showing the first second harvest run in the first grain packaging.
Fig. 7 is a diagram showing the second first harvest run in the first grain packaging.
8 is a diagram showing a first grain package after a second harvest run.
9 is a diagram showing a second harvest run of the second time in the first grain packaging.
Fig. 10 is a diagram showing display contents of a communication terminal in a harvesting operation in a first grain packaging.
11 is a diagram showing a first harvest run in a second grain package.
12 is a diagram showing a second grain packaging after a first harvest run.
13 is a diagram showing display contents of a communication terminal in a harvesting operation in a second grain packaging.
Fig. 14 is a diagram showing display contents of a communication terminal in a harvesting operation in the first grain packaging according to the first other embodiment.
Fig. 15 is a diagram showing display contents of a communication terminal in a harvesting operation in a second grain packaging according to the first other embodiment.
Fig. 16 is a diagram showing display contents of a communication terminal in a harvesting operation in a first grain packaging according to another second embodiment.
Fig. 17 is a diagram showing display contents of a communication terminal in a harvesting operation in a second grain packaging according to another second embodiment.
Fig. 18 is a diagram showing a second embodiment (hereinafter, the same applies to Fig. 29), and is a left side view of the combine.
19 is a block diagram showing the configuration of an area determination system.
Fig. 20 is a diagram showing a circumferential run on a pavement.
Fig. 21 is a diagram showing an actual uncut area, a calculated outer circumferential area, and a work target area.
22 is a diagram showing a configuration of a display unit and an operation input unit.
23 is a diagram showing a configuration of a display unit and an operation input unit.
Fig. 24 is a diagram showing an actual uncut area, a recalculated outer periphery area, and a work target area.
Fig. 25 is a diagram showing an outer circumferential area and a work target area before the side increasing processing is executed.
Fig. 26 is a diagram showing an outer circumferential area and a work target area after a side increasing process is executed.
Fig. 27 is a diagram showing an outer circumferential area and a work target area before additional circumferential travel is performed.
28 is a diagram showing a warning message in the display unit.
29 is a diagram showing an outer circumferential area and a work target area after additional circumferential travel is performed.
Fig. 30 is a diagram showing a third embodiment (hereinafter, the same applies to Fig. 40), and is a left side view of the combine.
31 is a block diagram showing the configuration of a control unit.
Fig. 32 is a diagram showing a circumferential run on a pavement.
33 is a diagram showing mowing running along a mowing running route.
Fig. 34 is a diagram showing an example of a case in which direction change is performed by special direction change for a corner part.
Fig. 35 is a diagram showing an example in which direction switching is performed by a direction switching method different from the special direction switching for corner portions.
Fig. 36 is a diagram showing an example in which the direction change is performed by a special α turn for an acute angle portion.
Fig. 37 is a diagram illustrating an example of a case in which direction change is performed by special direction change for corner portions in the first other embodiment.
Fig. 38 is a diagram showing an example of a case in which direction switching is performed by a direction switching method different from the special direction switching for corner portions in the first other embodiment.
Fig. 39 is a diagram showing an example of a case in which direction change is performed by special direction change for corner portions in the second another embodiment.
Fig. 40 is a diagram illustrating an example of a case in which direction change is performed by special direction change for corner portions in the third other embodiment.

[First embodiment]

Hereinafter, a first embodiment will be described with reference to FIGS. 1 to 17. In addition, as for the description regarding the direction, unless otherwise specified, the direction of the arrow F shown in FIG. 2 is "front" and the direction of the arrow B is "back". In addition, the direction of arrow U shown in FIG. 2 is set to "up", and the direction of arrow D is set to "bottom".

〔Overall configuration of automatic driving system〕

As shown in FIG. 1, the automatic traveling system A is equipped with various work vehicles W and the management server 2. The various work vehicles W and the management server 2 are configured to be able to communicate with each other.

As shown in Fig. 1, various work vehicles W include a common type combine 1 (corresponding to the "harvester" according to the present invention), a tractor 5, and a rice transplanter 6.

〔Overall composition of combine〕

As shown in Fig. 2, the combine 1 is a crawler-type traveling device 11, a driving unit 12, a threshing device 13, a grain tank 14, a harvesting device H, and a conveying device 16. , A grain discharging device 18, and a satellite positioning module 80.

As shown in FIG. 2, the traveling device 11 is provided in the lower part of the combine 1. The combine 1 is often possible by the traveling device 11.

In addition, the driving unit 12, the threshing device 13, and the grain tank 14 are provided on the upper side of the traveling device 11. A worker who monitors the work of the combine 1 can be boarded in the driver 12. In addition, the operator may monitor the work of the combine 1 from outside the machine of the combine 1.

The grain discharging device 18 is provided above the grain tank 14. Further, the satellite positioning module 80 is installed on the upper surface of the driving unit 12.

The harvesting device H is provided in the front part of the combine 1. And the conveying device 16 is provided on the rear side of the harvesting device H. Moreover, the harvesting device H has a harvesting part 15 and a reel 17.

The harvesting part 15 mows the planting grain stem of a package. Further, the reel 17 scrapes the grain stem to be harvested while being driven to rotate. With this configuration, the harvesting device H harvests grains (equivalent to the "crop" according to the present invention) in the package. Then, the combine 1 is capable of harvesting running by the travel device 11 while harvesting grains in the package by the harvesting device H.

The harvested grain stem harvested by the harvesting unit 15 is conveyed to the threshing device 13 by the conveying device 16. In the threshing apparatus 13, the harvested grain stem is threshed. The grain obtained by the threshing treatment is stored in the grain tank 14. The grains stored in the grain tank 14 are discharged to the outside of the aircraft by the grain discharge device 18 as necessary.

In addition, as shown in Fig. 2, in the driver 12, a communication terminal 4 (corresponding to the "display device" according to the present invention) is disposed. The communication terminal 4 is configured to be able to display various types of information. In the present embodiment, the communication terminal 4 is fixed to the driver 12. However, the present invention is not limited to this, and the communication terminal 4 may be configured to be detachable from the driver 12, and the communication terminal 4 may be located outside the aircraft of the combine 1 .

[Configuration of the control unit]

As shown in FIG. 3, the combine 1 is equipped with the control part 20. The control unit 20 includes a data acquisition unit 21, an appearance determination unit 22, an own vehicle position calculation unit 23, an area setting unit 24, an inner circumferential travel path calculation unit 25, and a travel control unit 26. ), and a first travel information generation unit 27.

The combine 1 is configured to harvest grains in a field by a first harvesting run as shown in Fig. 4 and a second harvesting run as shown in Fig. 6. The first harvesting run includes the harvesting run in the outer peripheral part Q in the pavement. In addition, the second harvesting run is performed after the first harvesting run. In addition, in FIG. 4, the outer peripheral part Q of the 1st grain package G1 (corresponding to the "packaging" concerning this invention) is shown.

In this embodiment, the travel control unit 26 controls the travel of the combine 1 so that the first harvest travel and the second harvest travel are performed by automatic travel. Then, the automatic travel system A manages the automatic travel of the combine 1.

As described above, the automatic travel system A is a combine that harvests agricultural crops on the pavement by the first harvesting run including the harvesting run in the outer circumferential portion Q in the pavement and the second harvesting run performed after the first harvesting run. (1) to manage the automatic driving.

As shown in FIG. 3, the data acquisition part 21 is comprised so that communication with the management server 2, the tractor 5, and the rice transplanter 6 is mutually possible. In the management server 2, package appearance data is stored. The package appearance data is data indicating the appearance of the package. Further, the tractor 5 and the rice transplanter 6 are configured to be capable of generating package appearance data.

Then, the data acquisition unit 21 is configured to acquire the packaging appearance data from the management server 2, the tractor 5, and the rice transplanter 6.

In this way, the automatic travel system A is provided with the data acquisition unit 21 for acquiring the package appearance data, which is data indicating the appearance of the pavement. In addition, the automatic travel system A is provided with the management server 2 which stores the package appearance data. Then, the data acquisition unit 21 acquires the package appearance data from the work vehicle W different from the combine 1. Further, the data acquisition unit 21 acquires the package appearance data from the management server 2.

The package appearance data acquired by the data acquisition unit 21 is sent to the appearance determination unit 22 and the first travel information generation unit 27.

The appearance determination unit 22 determines whether or not the appearance of the package is a shape having a concave portion P, based on the package appearance data received from the data acquisition unit 21. In addition, in the outer shape of a package, the concave inlet part P is a part which enters from the outer peripheral side of a package toward an inner peripheral side concave. For example, the outer shape of the 1st grain package G1 shown in FIG. 4 is a shape which has a concave part P.

The determination result by the appearance determination unit 22 is sent to the first travel information generation unit 27.

In this way, the automatic driving system A, based on the pavement appearance data acquired by the data acquisition unit 21, is the shape of the pavement having a concave inlet P that enters from the outer circumference side to the inner circumference side of the pavement. It is provided with an appearance determination unit 22 that determines whether or not.

Further, as shown in Fig. 2, the satellite positioning module 80 receives a GPS signal from an artificial satellite GS used in a GPS (global positioning system). Then, as shown in FIG. 3, the satellite positioning module 80 sends positioning data to the own vehicle position calculating unit 23 based on the received GPS signal.

The host vehicle position calculation unit 23 calculates the position coordinates of the combine 1 over time based on the positioning data received from the satellite positioning module 80. As shown in FIG. 3, the position coordinates of the combine 1 calculated over time are sent to the area setting unit 24, the travel control unit 26, and the first travel information generation unit 27.

The area setting unit 24 is configured to set the inside of the first area R1 as the second area R2 based on the positional coordinates of the combine 1 received from the own vehicle position calculation unit 23 over time. The first area R1 is an area in which harvesting is completed by the first harvesting run.

More specifically, the area setting unit 24 is based on the time-lapse position coordinates of the combine 1 received from the own vehicle position calculation unit 23, and the travel trajectory of the combine 1 in the first harvest run Yields Further, the area setting unit 24 calculates the first area R1 based on the calculated travel trajectory of the combine 1. Then, the region setting unit 24 calculates the second region R2 based on the calculated first region R1. By this method, the area setting unit 24 sets the second area R2.

For example, in FIG. 4, the first travel path FL, which is the travel path of the combine 1 for the first harvest travel in the first grain package G1, is indicated by an arrow. When the first harvesting run along the first traveling route FL is completed, the first grain packaging G1 is brought into the state shown in FIG. 5. That is, the region where the harvest is completed by the first harvesting run becomes the first region R1. Then, by the area setting unit 24, the inside of the first area R1 is set as the second area R2.

In this way, the automatic travel system A is provided with the area setting unit 24 for setting the inside of the first area R1, which is an area that has been harvested by the first harvesting run, as the second area R2.

Contents set by the area setting unit 24 are sent to the inner circumferential travel route calculation unit 25.

The inner circumferential travel path calculation unit 25 calculates the inner circumferential travel path LIC based on the setting contents received from the area setting unit 24. The inner circumferential travel path LIC is a travel path in the second area R2.

More specifically, the area setting unit 24 calculates the outer shape of the second area R2 based on the travel trajectory of the combine 1 in the first harvesting run. That is, the content of setting by the area setting unit 24 includes the external shape of the second area R2. Then, the inner circumferential travel path calculation unit 25 calculates the inner circumferential travel path LIC based on the outer shape of the second area R2.

For example, when the second area R2 is set as shown in FIG. 5, the inner traveling route calculating unit 25 calculates the inner traveling route LIC as shown in FIG. 6. In addition, as shown in FIG. 6, in the present embodiment, the inner circumferential travel path LIC is a plurality of parallel lines parallel to each other.

The inner circumferential travel path LIC calculated by the inner circumferential travel path calculation unit 25 is sent to the travel control unit 26.

In this way, the automatic travel system A is provided with the inner circumferential travel path calculation unit 25 that calculates the inner circumferential travel path LIC which is the travel path in the second area R2 set by the area setting unit 24.

When the combine 1 performs the second harvesting run, the travel control unit 26 includes the position coordinates of the combine 1 received from the own vehicle position calculation unit 23 and the inner circumferential travel path calculation unit 25. Based on the inner circumferential travel path LIC, the automatic travel of the combine 1 is controlled. More specifically, the travel control unit 26 controls the travel of the combine 1 so that the combine 1 automatically travels along the inner circumferential travel path LIC.

As described above, the automatic travel system A is provided with the travel control unit 26 that controls the travel of the combine 1 so that the second harvest travel is performed by automatic travel based on the inner circumferential travel path LIC.

The first travel information generation unit 27 generates first travel information based on the package appearance data received from the data acquisition unit 21. The first travel information is information indicating a travel route or a travel position for the first harvest travel.

In addition, the first travel information generated by the first travel information generation unit 27 includes medium-rate travel information. The heavy-duty driving information is information indicating a driving route or a driving position for heavy-duty driving. The heavy-duty run is a harvest run performed so as to divide the uncut area on the pavement.

For example, in FIG. 4, the first travel path FL, which is the travel path of the combine 1 for the first harvest travel in the first grain package G1, is indicated by an arrow. In the harvesting operation in the first grain packaging G1, the first travel information generation unit 27 generates information indicating the first travel route FL. As shown in FIG. 4, the first travel route FL is a travel route that runs three counterclockwise from a point located at the lower right in FIG. 4. That is, in this embodiment, the first travel information generation unit 27 generates information indicating the first travel path FL that is a travel path for the first harvest travel.

And, as shown in FIG. 4, the 1st travel path FL includes three intermediate|middle-percentage paths LM which are travel paths for heavy-duty travel. In other words, in the first travel information generated by the first travel information generation unit 27 in the harvesting operation in the first grain packaging G1, information indicating the intermediate route LM is included. By harvesting and running the combine 1 along the heavy path LM, the uncut area in the first grain package G1 is divided into two.

In this way, the automatic travel system A generates first travel information, which is information indicating a travel route or travel position for the first harvest travel, based on the pavement appearance data acquired by the data acquisition unit 21. It is provided with a driving information generation unit 27. In addition, the first driving information generated by the first driving information generating unit 27 includes intermediate driving information, which is information indicating a driving route or a driving position for intermediate driving.

In addition, when it is determined by the appearance determination unit 22 that the outer shape of the pavement has a concave inlet P, the first travel information generation unit 27 is provided with a concave inlet P in the travel path or travel position for the heavy travel. First driving information is generated so that the vertex portion Pt of is included.

For example, as described above, the outer shape of the first grain package G1 shown in FIG. 4 is a shape having a concave portion P. Therefore, in the harvesting operation in the first grain package G1, the external shape determination unit 22 determines that the outer shape of the first grain package G1 has a concave portion P. Then, the determination result by the appearance determination unit 22 is sent to the first travel information generation unit 27.

The first travel information generation unit 27 receiving this determination result generates first travel information so that the vertex portion Pt of the concave inlet P is included in the travel path or travel position for the heavy travel. Actually, the middle path LM shown in Fig. 4 includes the vertex portion Pt of the concave portion P.

The first travel information generated by the first travel information generation unit 27 is sent to the travel control unit 26 and the communication terminal 4.

When the combine 1 performs the first harvest run, the travel control unit 26 receives the position coordinates of the combine 1 received from the own vehicle position calculation unit 23 and the first travel information generation unit 27 Based on the first travel information, automatic travel of the combine 1 is controlled. More specifically, the travel control unit 26 controls the travel of the combine 1 so that the combine 1 automatically travels through a travel path or travel position indicated by the first travel information.

At this time, in particular, the travel control unit 26 controls the travel of the combine 1 based on the heavy travel information so that the heavy travel is performed by automatic travel in the first harvest travel.

For example, when the combine 1 performs the first harvesting run in the first grain packaging G1 shown in FIG. 4, the travel control unit 26 automatically runs the combine 1 along the first travel path FL. Thus, the travel of the combine 1 is controlled.

At this time, in particular, the travel control unit 26 controls the travel of the combine 1 so that the harvest travel along the intermediate path LM is performed by automatic travel.

The communication terminal 4 is configured to display a travel route or a travel position for the first harvest travel based on the first travel information received from the first travel information generation unit 27. In this case, in particular, the communication terminal 4 displays a driving route or a driving position for the intermediate driving based on the intermediate driving information included in the first driving information.

For example, when the combine 1 performs the first harvesting run in the first grain packaging G1 shown in FIG. 4, the communication terminal 4, as shown in FIG. 10, the first travel information generating unit The first travel route FL indicated by the first travel information received from (27) is displayed. At this time, in particular, the communication terminal 4 displays the heavy-duty route LM based on the heavy-duty traveling information included in the first traveling information.

In this way, the automatic travel system A includes a communication terminal 4 that displays a travel route or a driving position for a medium-subject travel based on the mid-subject travel information.

〔Flow of harvesting work when the outer shape of the package has a concave part〕

Hereinafter, as an example of the harvesting operation using the automatic travel system A, a flow in the case where the combine 1 performs the harvesting operation in the first grain packaging G1 shown in FIG. 4 will be described.

First, the data acquisition unit 21 acquires the package appearance data from any of the management server 2, the tractor 5, and the rice transplanter 6. The package appearance data acquired by the data acquisition unit 21 is sent to the appearance determination unit 22 and the first travel information generation unit 27.

Next, the appearance determination unit 22 determines whether or not the appearance of the first grain package G1 is a shape having a concave portion P, based on the package appearance data received from the data acquisition unit 21. As shown in Fig. 4, the outer shape of the first grain package G1 is a shape having a concave portion P. Therefore, it is determined by the external shape determination unit 22 that the external shape of the first grain package G1 has a concave portion P. This determination result is sent to the first travel information generation unit 27.

The first travel information generation unit 27 receiving this determination result generates first travel information indicating the first travel route FL as shown in FIG. 4. The first travel path FL is a travel path that runs three rounds in the counterclockwise direction from a point located at the lower right in FIG. 4. In addition, as shown in Fig. 4, the first travel route FL includes three medium-subject routes LM, which are travel routes for heavy-subject travel. In addition, since the outer shape of the first grain package G1 has a concave portion P, the middle path LM includes the apex portion Pt of the concave portion P.

In addition, as shown in FIG. 4, in the first travel route FL indicated by the first travel information generated at this time, the portion other than the middle route LM passes through the outer peripheral portion Q in the first grain package G1. Are doing.

Subsequently, the first travel information generated by the first travel information generation unit 27 is sent to the travel control unit 26 and the communication terminal 4. Then, the communication terminal 4 displays the first travel route FL indicated by the first travel information received from the first travel information generator 27, as shown in FIG. 10.

Further, when the travel control unit 26 receives the first travel information, automatic travel of the combine 1 is started. The combine 1 is controlled by the travel control unit 26 so as to automatically travel along the first travel route FL. The first harvesting run is performed by this automatic running.

When the first harvesting run is completed, as shown in Fig. 5, the portion in which the first harvesting run has been performed becomes harvested. Further, the area inside the harvested area is left uncut. Further, as shown in Figs. 4 and 5, by harvesting and running the combine 1 along the heavy path LM, the uncut area in the first grain package G1 is divided into two.

The area setting unit 24 calculates the travel trajectory of the combine 1 in the first harvesting run, based on the position coordinates of the combine 1 in the first harvesting run over time. Further, the area setting unit 24 calculates, as the first area R1, an area that has been harvested by the first harvest run based on the calculated travel trajectory of the combine 1. Then, the area setting unit 24 calculates the inside of the calculated first area R1 as the second area R2. By this method, the area setting unit 24 sets the second area R2.

Then, the setting contents by the area setting unit 24 are sent to the inner circumferential travel route calculation unit 25. The content of setting by the area setting unit 24 includes the external shape of the second area R2. Then, the inner circumferential travel path calculation unit 25 calculates the inner circumferential travel path LIC as shown in FIG. 6 based on the outer shape of the second area R2. The inner circumferential travel path LIC calculated at this time is a plurality of parallel lines parallel to each other.

The inner circumferential travel path LIC calculated by the inner circumferential travel path calculation unit 25 is sent to the travel control unit 26. When the travel control unit 26 receives the inner circumferential travel path LIC, the combine 1 is controlled by the travel control unit 26 so as to automatically travel along the inner circumferential travel path LIC shown in FIG. 6. The second harvesting run is performed by this automatic running. Then, when this second harvesting run is completed, the first grain packaging G1 is brought into the state shown in FIG. 7.

The first travel information generation unit 27 is based on the temporal positional coordinates of the combine 1 in the first harvest run and the second harvest run shown in FIGS. 4 to 6, from FIGS. 4 to 6. The travel trajectory of the combine 1 in the first harvesting run and the second harvesting run shown above is calculated. In addition, the first travel information generation unit 27 calculates the harvested region at the time point in FIG. 7 based on the calculated travel trajectory of the combine 1.

Then, based on the thus-calculated harvested area and the pavement appearance data, the first travel information generation unit 27 calculates an unreaped area at the time point of FIG. 7. Further, the first travel information generation unit 27 generates first travel information indicating the first travel path FL indicated by an arrow in FIG. 7 based on the calculated unreaped area. As shown in FIG. 7, the first travel path FL generated at this time is a travel path that runs three rounds in a counterclockwise direction from a point located at the upper right of FIG. 7 in the uncut area.

In addition, as shown in FIG. 7, in the first travel route FL indicated by the first travel information generated at this time, the outer circumferential portion Q in the first grain packaging G1 is defined except for a portion in contact with the harvested region. It works.

Then, this first travel information is sent to the travel control unit 26 and the communication terminal 4. Then, the communication terminal 4 again displays the first travel route FL indicated by the first travel information received from the first travel information generator 27 (not shown).

Further, the combine 1 is controlled by the travel control unit 26 so as to automatically travel along the first travel path FL shown in FIG. 7. By this automatic running, the 2nd 1st harvest run is performed.

When the second harvesting run is completed, as shown in Fig. 8, the portion in which the second harvesting run has been performed becomes harvested. In addition, the inner region of the harvested region is left uncut.

Similar to the first harvest run of the first time, the region setting unit 24 sets the first region R1 and the second region R2 as shown in FIG. 8. Then, the inner circumferential travel path calculation unit 25 calculates the inner circumferential travel path LIC as shown in FIG. 9 based on the outer shape of the second area R2 shown in FIG. 8. The inner circumferential travel path LIC calculated at this time is a plurality of parallel lines parallel to each other.

Then, similar to the first second harvesting run, the combine 1 is controlled by the travel control unit 26 so as to automatically travel along the inner circumferential travel path LIC shown in FIG. 9. By this automatic running, the 2nd 2nd harvest run is performed. Then, when the second harvesting run is completed, the entire first grain package G1 is harvested.

〔Flow of harvesting work when the outer shape of the packaging is not in the shape of a concave part〕

Hereinafter, as an example of the harvesting operation using the automatic traveling system A, the flow when the combine 1 performs the harvesting operation in the second grain packaging G2 (equivalent to ``packaging'' according to the present invention) shown in FIG. It will be described.

First, the data acquisition unit 21 acquires the package appearance data from any of the management server 2, the tractor 5, and the rice transplanter 6. The package appearance data acquired by the data acquisition unit 21 is sent to the appearance determination unit 22 and the first travel information generation unit 27.

Next, the appearance determination unit 22 determines whether or not the appearance of the second grain package G2 has a concave portion P based on the package appearance data received from the data acquisition unit 21. As shown in Fig. 11, the outer shape of the second grain package G2 is not a shape having a concave portion P. Therefore, it is determined by the external shape determination unit 22 that the external shape of the second grain package G2 is not a shape having the concave portion P. This determination result is sent to the first travel information generation unit 27.

The first travel information generation unit 27 receiving this determination result generates first travel information indicating the first travel path FL indicated by an arrow in FIG. 11. As shown in FIG. 11, the first travel path FL is a travel path that runs three rounds in a counterclockwise direction along the outer shape of the second grain packaging G2 from a point located at the lower right in FIG. 11, and a medium path LM. It includes. As shown in FIG. 11, the medium path LM extends in the vertical direction in FIG. 11 in the center part of the 2nd grain package G2.

In addition, as shown in FIG. 11, in the first travel route FL indicated by the first travel information generated at this time, the portion other than the middle route LM passes through the outer peripheral portion Q in the second grain package G2. Are doing.

Subsequently, the first travel information generated by the first travel information generation unit 27 is sent to the travel control unit 26 and the communication terminal 4. Then, the communication terminal 4 displays the first travel route FL indicated by the first travel information received from the first travel information generator 27, as shown in FIG. 13.

Further, when the travel control unit 26 receives the first travel information, automatic travel of the combine 1 is started. The combine 1 is controlled by the travel control unit 26 so as to automatically travel along the first travel path FL shown in FIG. 11. The first harvesting run is performed by this automatic running.

When the first harvesting run is completed, as shown in Fig. 12, the portion on which the first harvesting run has been performed becomes harvested. In addition, the inner region of the harvested region is left uncut. In addition, as shown in Figs. 11 and 12, by harvesting and running the combine 1 along the heavy path LM, the uncut area in the second grain package G2 is divided into two.

The area setting unit 24 calculates the travel trajectory of the combine 1 in the first harvesting run, based on the position coordinates of the combine 1 in the first harvesting run over time. Further, the area setting unit 24 calculates, as the first area R1, an area that has been harvested by the first harvest run based on the calculated travel trajectory of the combine 1. Then, the area setting unit 24 calculates the inside of the calculated first area R1 as the second area R2. By this method, the area setting unit 24 sets the second area R2.

In addition, as shown in Fig. 12, in this example, there are two regions surrounded by the first region R1. Therefore, the area setting unit 24 sets two second areas R2.

Thereafter, in each of the two second regions R2, as described based on Figs. 6 and 9, the inner circumferential travel path LIC is calculated, and the second harvesting travel is performed by automatic travel. Then, when the second harvesting run is completed, the entire second grain packaging G2 is harvested.

Since the calculation of the inner circumferential travel path LIC and the second harvesting travel by automatic travel have already been described based on Figs. 6 and 9, the explanation is omitted here.

In addition, in FIG. 10 and FIG. 13, the outer peripheral part Q is shown. In the actual communication terminal 4, the outer peripheral part Q may or may not be displayed in this way.

In the configuration described above, the first travel information is generated based on the pavement appearance data acquired by the data acquisition unit 21. In addition, the first driving information includes intermediate driving information, which is information indicating a driving route or a driving position for intermediate driving.

That is, with the configuration described above, heavy travel information is generated according to the appearance of the pavement. Accordingly, even if the appearance of the pavement is relatively complicated, a configuration in which a travel path or a travel position for heavy-duty travel is calculated can be realized so that the travel trajectory of the combine 1 in the first harvest run is simplified. Thereby, while calculating the external shape of the second area R2 with high precision, it is possible to appropriately calculate the inner circumferential travel path LIC. Then, based on the calculated inner circumferential travel path LIC, automatic travel in the inner circumferential portion in the pavement can be appropriately performed.

Accordingly, with the configuration described above, it is easy to appropriately perform automatic running in the inner circumferential portion of the pavement.

[Other Embodiments of the First Embodiment]

Hereinafter, another embodiment modified from the above-described embodiment will be described. Except for the matters described in each of the following different embodiments, it is the same as the matters described in the above-described embodiments. The above-described embodiment and each of the following other embodiments may be appropriately combined within a range in which contradictions do not occur. In addition, the scope of the present invention is not limited to the above-described embodiment and each of the following other embodiments.

[First other embodiment]

In the above embodiment, the first travel information generation unit 27 generates, as the first travel information, information indicating the first travel path FL that is a travel path for the first harvest travel. In addition, the first travel route FL includes the intermediate route LM. That is, the first travel information generated by the first travel information generation unit 27 includes information indicating the intermediate route LM.

However, the present invention is not limited to this. Hereinafter, the first other embodiment of the first embodiment will be described focusing on differences from the above embodiment. Configurations other than the parts described below are the same as those in the above embodiment. In addition, the same code|symbol is attached|subjected to the structure similar to the said embodiment.

14 and 15 are diagrams showing a communication terminal 4 according to another first embodiment of the first embodiment. In this first other embodiment, the first travel information generation unit 27 generates information indicating the middle point PM based on the package appearance data received from the data acquisition unit 21.

The heavy-duty point PM is a travel position for heavy-duty travel. That is, the information indicating the heavy point PM corresponds to the "neutral weight driving information" according to the present invention.

In addition, in this first other embodiment, as the first travel information, only information indicating the weighted point PM is generated. That is, in this first other embodiment, the first travel information and the heavy travel information are the same. As described above, the "first travel information" according to the present invention may be the same as the "medium-percent travel information".

Then, as shown in FIGS. 14 and 15, the communication terminal 4 displays the travel position indicated by the first travel information received from the first travel information generation unit 27. More specifically, the communication terminal 4 displays the midpoint PM by a triangular symbol.

Further, the packaging shown in Fig. 14 is the first grain packaging G1 described above. Further, the packaging shown in Fig. 15 is the second grain packaging G2 described above.

As shown in Fig. 14, when the outer shape of the pavement has a shape having a concave inlet P, the first travel information generation unit 27 is configured such that the middle point PM is located at the vertex portion Pt of the concave inlet P. Generate driving information. In addition, as shown in Fig. 15, when the outer shape of the pavement is not a shape having a concave inlet P, the first travel information generation unit 27 is configured such that the midpoint PM is located in the center of the pavement. Generate driving information.

In this first other embodiment, the operator performs heavy-duty travel by manual running along the heavy-duty point PM displayed on the communication terminal 4, and harvesting travel in the outer peripheral portion Q in the pavement. If performed by manual travel, the first harvesting travel is completed, similarly to the above embodiment. Then, as described in the above embodiment, the inner circumferential travel path LIC is calculated, and the second harvesting travel is performed by automatic travel. Then, by performing the first harvesting run and the second harvesting run as many times as necessary, the whole of the pavement is harvested.

In addition, heavy-duty running and harvesting running at the outer circumferential portion Q in the pavement may be performed by automatic running.

In addition, in Figs. 14 and 15, the outer peripheral portion Q is shown. In the actual communication terminal 4, the outer peripheral part Q may or may not be displayed in this way.

(2nd other embodiment)

In the above embodiment, the first travel information generation unit 27 generates, as the first travel information, information indicating a travel route for the first harvest travel. In addition, the first travel information generated by the first travel information generation unit 27 includes information indicating the intermediate route LM.

However, the present invention is not limited to this. In the following, other second embodiments of the first embodiment will be described focusing on differences from the above embodiments. Configurations other than the parts described below are the same as those in the above embodiment. In addition, the same code|symbol is attached|subjected to the structure similar to the said embodiment.

16 and 17 are diagrams showing a communication terminal 4 according to another second embodiment of the first embodiment. In this second other embodiment, the first travel information generation unit 27 generates information indicating the first travel area FR in a strip shape based on the packaging appearance data received from the data acquisition unit 21.

In addition, the packaging shown in Fig. 16 is the first grain packaging G1 described above. In addition, the packaging shown in Fig. 17 is the second grain packaging G2 described above.

In Figs. 16 and 17, the first travel area FR is indicated by hatching of a diagonal line.

The first travel area FR is a travel position for the first harvest travel. That is, the information indicating the first travel area FR corresponds to the "first travel information" according to the present invention. As shown in FIG. 16, the 1st travel area|region FR overlaps with the outer peripheral part Q in 1st grain package G1. In addition, as shown in FIG. 17, the 1st travel area|region FR overlaps with the outer peripheral part Q in 2nd grain package G2.

In addition, as shown in Figs. 16 and 17, the first travel area FR includes a middle-percentage area RM, which is a travel position for heavy-duty travel. That is, in this second other embodiment, the first travel information generated by the first travel information generation unit 27 includes information indicating the middle region RM. In addition, the mid-percentage area RM corresponds to "heavy-percentage travel information" according to the present invention.

Then, as shown in FIGS. 16 and 17, the communication terminal 4 displays the travel position indicated by the first travel information received from the first travel information generation unit 27. More specifically, the communication terminal 4 displays the first travel area FR including the heavy area RM by a strip-shaped graphic.

As shown in Fig. 16, when the outer shape of the pavement is a shape having a concave inlet P, the first travel information generating unit 27 is configured to include the vertex Pt of the concave inlet P in the middle region RM. Generate driving information. In addition, as shown in Fig. 17, when the outer shape of the pavement is not a shape having a concave portion P, the first travel information generation unit 27 provides the first travel information generation unit 27 so that the middle region RM is located at the center of the Generate driving information.

In this second other embodiment, when an operator performs a harvesting operation by manual travel along the first travel area FR displayed on the communication terminal 4, as in the above embodiment, in the outer peripheral part Q in the pavement The first harvesting run including the harvesting run of is completed. Then, as described in the above embodiment, the inner circumferential travel path LIC is calculated, and the second harvesting travel is performed by automatic travel. Then, by performing the first harvesting run and the second harvesting run as many times as necessary, the whole of the pavement is harvested.

In addition, harvest travel in the first travel region FR may be performed by automatic travel.

In addition, in Figs. 16 and 17, the outer peripheral portion Q is shown. In the actual communication terminal 4, the outer peripheral part Q may or may not be displayed in this way.

[Other embodiments]

(1) The traveling device 11 may be of a wheel type or a semi-crawler type.

(2) Package appearance data may be configured to be generated inside the combine (1). In this case, the data acquisition unit 21 may be configured to acquire the package appearance data generated inside the combine 1.

(3) The first harvesting run by the combine 1 may be performed by manual running.

(4) In the above embodiment, the inner circumferential travel path LIC calculated by the inner circumferential travel path calculation unit 25 is a plurality of parallel lines parallel to each other, but the present invention is not limited thereto, and the inner circumferential travel path calculation unit ( The inner circumferential travel path LIC calculated by 25) does not need to be a plurality of parallel lines parallel to each other. For example, the inner circumferential travel path LIC calculated by the inner circumferential travel path calculation unit 25 may be a winding path.

(5) The appearance determination unit 22 does not need to be provided.

(6) When it is determined by the shape determination unit 22 that the outer shape of the pavement is a shape having a concave portion P, the first driving information generation unit 27 is a concave portion in the driving route or driving position for the heavy driving. The first travel information may be generated so that the vertex portion Pt of P is not included.

(7) The automatic travel system A does not need to be equipped with the management server 2.

(8) The communication terminal 4 need not be provided.

(9) Data acquisition unit 21, appearance determination unit 22, host vehicle position calculation unit 23, area setting unit 24, inner circumferential travel path calculation unit 25, travel control unit 26, first travel Some or all of the information generation unit 27 may be provided outside the combine 1, and may be provided, for example, in the management server 2.

(10) The first travel path FL may be a straight path or a curved path. In addition, the inner circumferential travel path LIC may be a straight path or a curved path.

(11) It may be configured as an automatic travel management program for realizing the functions of each member in the above embodiment in a computer. Further, it may be configured as a recording medium on which an automatic travel management program for realizing the functions of each member in the above embodiment to a computer is recorded. In addition, in the above embodiment, it may be configured as an automatic travel management method in which what is performed by each member is performed by one or a plurality of steps.

[Second Embodiment]

Hereinafter, a second embodiment of the present invention will be described with reference to FIGS. 18 to 29. In addition, as for the description regarding the direction, unless otherwise specified, the direction of the arrow F shown in FIG. 18 is "front" and the direction of the arrow B is "back". In addition, the direction of arrow U shown in FIG. 18 is set to "up", and the direction of arrow D is set to "bottom".

〔Overall composition of combine〕

As shown in Fig. 18, the normal type combine 101 (equivalent to the "harvester" according to the present invention) is a crawler type traveling device 111, a driving unit 112, a threshing device 113, and a grain A tank 114, a harvesting device H, a conveying device 116, a grain discharging device 118, and a satellite positioning module 180 are provided.

The traveling device 111 is provided in the lower part of the combine 101. The combine 101 is often possible by the traveling device 111.

In addition, the driving unit 112, the threshing device 113, and the grain tank 114 are provided on the upper side of the traveling device 111. A worker who monitors the work of the combine 101 can be boarded in the driver 112. In addition, the operator may monitor the work of the combine 101 from outside the unit of the combine 101.

The grain discharging device 118 is provided on the upper side of the grain tank 114. In addition, the satellite positioning module 180 is provided on the upper surface of the driving unit 112.

The harvesting device H is provided in the front part of the combine 101. And the conveying device 116 is provided on the rear side of the harvesting device H. In addition, the harvesting device H has a harvesting part 115 and a reel 117.

The harvesting part 115 mows the planting grain stem of a package. Further, the reel 117 scrapes the grain stem to be harvested while being rotated. With this configuration, the harvesting device H harvests grains (equivalent to the "crop" according to the present invention) in the package. In addition, the combine 101 is capable of harvesting running by the traveling device 111 while harvesting grains in the package by the harvesting device H.

The harvested grain stem harvested by the harvesting unit 115 is conveyed by the conveying device 116 to the threshing device 113. In the threshing apparatus 113, the harvested grain stem is threshed. The grain obtained by the threshing treatment is stored in the grain tank 114. The grain stored in the grain tank 114 is discharged to the outside of the aircraft by the grain discharge device 118 as necessary.

Moreover, as shown in FIG. 18, the communication terminal 104 is arrange|positioned in the driver 112. The communication terminal 104 is configured to be able to display various types of information. In the present embodiment, the communication terminal 104 is fixed to the driver 112. However, the present invention is not limited to this, and the communication terminal 104 may be configured to be detachable from the driver 112, and the communication terminal 104 may be located outside the aircraft of the combine 101. .

Here, the combine 101 is configured to harvest grain in the package by performing a circumference while harvesting grain in an area on the outer circumference side of the pavement, and then performing a harvest run in the inner area in the pavement. .

And, in this harvesting operation, the area on the outer circumference side of the pavement where the combine 101 has traveled is calculated as the outer circumferential area SA by the area determination system A1, and the inside of the outer circumferential area SA is calculated as the work target area CA. do.

Hereinafter, the configuration of the area determination system A1 will be described.

[Configuration of area determination system]

As shown in FIG. 19, the area determination system A1 includes a satellite positioning module 180, a control unit 120, and a communication terminal 104. In addition, the control unit 120 is provided in the combine 101. Further, as described above, the satellite positioning module 180 and the communication terminal 104 are also provided in the combine 101.

The control unit 120 includes an own vehicle position calculation unit 121, a travel route setting unit 122, a travel control unit 123, an area calculation unit 124, and a distance calculation unit 125. Further, the communication terminal 104 has a display unit 104a (corresponding to a "notification unit" and a "warning unit" according to the present invention) and an operation input unit 104b.

As shown in Fig. 18, the satellite positioning module 180 receives a GPS signal from an artificial satellite GS used in a GPS (global positioning system). Then, as shown in FIG. 19, the satellite positioning module 180 sends positioning data indicating the position of the own vehicle of the combine 101 to the own vehicle position calculating unit 121 based on the received GPS signal.

In this way, the area determination system A1 includes the satellite positioning module 180 that outputs positioning data indicating the position of the host vehicle of the combine 101.

The host vehicle position calculation unit 121 calculates the position coordinates of the combine 101 over time based on the positioning data output by the satellite positioning module 180. The calculated position coordinates of the combine 101 over time are sent to the travel control unit 123 and the area calculation unit 124.

The area calculation unit 124 calculates the outer circumferential area SA and the work target area CA based on the time-lapsed position coordinates of the combine 101 received from the own vehicle position calculation unit 121.

More specifically, the area calculation unit 124 is based on the time-lapsed position coordinates of the combine 101 received from the own vehicle position calculation unit 121, and the combine 101 in the circumferential run on the outer circumference side of the pavement. ) To calculate the traveling trajectory. Then, the area calculation unit 124 calculates an area on the outer circumference side of the pavement in which the combine 101 travels around while harvesting grain, as the outer circumference area SA, based on the calculated travel trajectory of the combine 101. Further, the area calculation unit 124 calculates the inside of the calculated outer circumferential area SA as the work target area CA.

Further, the area calculation unit 124 is configured to calculate the shape of the work target area CA as a polygon.

For example, in FIG. 20, the travel route of the combine 101 for circumferential travel on the outer circumferential side of the pavement is indicated by arrows. In the example shown in Fig. 20, the combine 101 performs a three-week round trip. Then, when harvesting travel along this travel route is completed, the pavement is in a state shown in FIG. 21.

As shown in Fig. 21, the area calculation unit 124 calculates an area on the outer circumference side of the pavement in which the combine 101 travels around while harvesting grains as the outer circumference area SA. Further, the area calculation unit 124 calculates the inside of the calculated outer circumferential area SA as the work target area CA.

In addition, in the example shown in FIG. 21, the shape of the calculated work target area CA is a square. However, the present invention is not limited to this, and the calculated shape of the work target area CA may be a polygon other than a square. For example, as shown in FIG. 24, the shape of the calculated work target area CA may be a triangle. In addition, the calculated shape of the work target area CA may be a pentagon or a hexagon.

As described above, the area determination system A1 calculates the area on the outer circumference side of the pavement, which the combine 101 travels around while harvesting grain, as the outer circumference area SA, based on the positioning data output by the satellite positioning module 180 In addition, an area calculation unit 124 that calculates the inside of the outer circumferential area SA as a work target area CA is provided.

As shown in Fig. 19, the calculation result by the area calculation unit 124 is sent to the travel route setting unit 122, the distance calculation unit 125, and the display unit 104a in the communication terminal 104. .

As shown in Fig. 22, the display unit 104a of the communication terminal 104 is configured to display the shapes of the outer circumferential area SA and the work target area CA calculated by the area calculation unit 124. Thereby, the display unit 104a notifies the operator of the shapes of the outer circumferential area SA and the work target area CA calculated by the area calculation unit 124.

In this way, the area determination system A1 is provided with the display unit 104a for notifying the shape of the work target area CA calculated by the area calculation unit 124.

Further, the operation input unit 104b in the communication terminal 104 is configured to accept an artificial operation input by an operator. As shown in FIG. 19, the operation input unit 104b sends a signal according to the artificial operation input to the area calculation unit 124.

The area calculation unit 124 changes the number of sides of the work target area CA based on the signal received from the operation input unit 104b. That is, as described above, the shape of the work target area CA is calculated as a polygon based on the travel trajectory of the combine 101 in the circumferential travel on the outer circumferential side of the pavement. Thereafter, the number of sides of this polygon is changed based on the artificial manipulation input input to the manipulation input unit 104b.

For example, in FIG. 22, the shape of the work target area CA calculated by the area calculation unit 124 is a square. The shape of this work target area CA is calculated based on the travel trajectory of the combine 101 in circumferential travel on the outer circumferential side of the pavement.

And in FIG. 22, on the display part 104a, "area shape: square" is displayed. This display shows the shape of the calculated work target area CA. And above and below this display, an up button b1 and a down button b2 are displayed. Further, the up button b1 and the down button b2 are included in the operation input unit 104b. Further, the display portion 104a is a touch panel, and the up button b1 and the down button b2 are touch buttons displayed on the display portion 104a.

When an operator makes an operation input to the operation input unit 104b, the number of sides of the work target area CA is changed. For example, in the state shown in Fig. 22, when the operator presses the upward button b1, the number of sides of the work target area CA increases. That is, the shape of the work target area CA is recalculated by the area calculation unit 124 as a pentagon. Accordingly, "area shape: pentagon" is displayed on the display portion 104a.

In the state shown in Fig. 22, when the operator presses the down button b2, as shown in Fig. 23, the number of sides of the work target area CA decreases. That is, the shape of the work target area CA is recalculated by the area calculation unit 124 as a triangle. Accordingly, "area shape: triangle" is displayed on the display portion 104a.

In this way, the area determination system A1 includes an operation input unit 104b that accepts an artificial operation input. In addition, the area calculation unit 124 changes the number of sides of the polygon based on the artificial manipulation input input to the manipulation input unit 104b.

And, according to this configuration, by making an operation input to the operation input unit 104b, the operator increases or decreases the number of sides of the work target area CA so that the shape of the work target area CA matches the shape of the actual uncut area UA. It becomes possible to let.

Based on the calculation result received from the area calculation unit 124, the travel path setting unit 122 sets a harvesting travel path LI, which is a travel path in the work target area CA, as shown in FIG. 24. In addition, as shown in FIG. 24, in this embodiment, the mowing travel path LI is a plurality of parallel lines parallel to each other.

As shown in FIG. 19, the mowing travel path LI calculated by the travel path setting unit 122 is sent to the travel control unit 123.

The travel control unit 123 automatically performs the combine 101 based on the position coordinates of the combine 101 received from the own vehicle position calculation unit 121 and the mowing travel path LI received from the travel route setting unit 122. Control the driving. More specifically, the travel control unit 123 controls the travel of the combine 101 so that the combine 101 automatically travels along the mowing travel path LI.

〔Flow of harvesting work using area determination system〕

Hereinafter, as an example of the harvesting operation using the area determination system A1, a flow in the case where the combine 101 performs the harvesting operation in the field shown in FIG. 20 will be described.

First, the operator manually operates the combine 101, and as shown in Fig. 20, harvesting travel is carried out so as to go around the boundary of the pavement at the outer circumferential portion within the pavement. In the example shown in Fig. 20, the combine 101 performs a three-week round trip. When this round trip is completed, the pavement is in a state shown in FIG. 21.

The area calculation unit 124 calculates the travel trajectory of the combine 101 in the round trip shown in FIG. 20 based on the time-lapsed position coordinates of the combine 101 received from the host vehicle position calculation unit 121 . And, as shown in FIG. 21, based on the calculated travel trajectory of the combine 101, the area calculation unit 124 determines the area on the outer circumference side of the pavement in which the combine 101 travels around while harvesting grain. It is calculated as the outer circumferential area SA. Further, the area calculation unit 124 calculates the inside of the calculated outer circumferential area SA as the work target area CA.

In Fig. 21, the outer circumferential area SA and the work target area CA calculated at this time, and the actual unsaved area UA are superimposed and shown. In addition, in FIG. 21, the actual packaging outer shape is shown with a dotted line. As shown in Fig. 21, the area calculation unit 124 is configured to calculate the work target area CA as a polygon. Thereby, the actual uncut area UA is approximated by the polygon. In addition, in the example shown in Fig. 21, the shape of the work target area CA is calculated as a square.

Next, the travel route setting unit 122 sets the harvesting travel route LI in the work target area CA, as shown in FIG. 21, based on the calculation result received from the area calculation unit 124. In addition, at this time, as shown in FIG. 22, the calculated shape of the work target area CA is displayed on the display portion 104a of the communication terminal 104.

The operator can instruct the start of automatic travel along the mowing travel path LI by pressing the automatic travel start button (not shown) at this point in time. However, in this description, it is assumed that the start of automatic travel is not instructed at this point in time.

When the operator determines that the shape of the work target area CA displayed on the display unit 104a is inappropriate, the shape of the work target area CA can be changed by operating the operation input unit 104b. In the state shown in Fig. 22, when the operator presses the down button b2 in the operation input unit 104b, as shown in Fig. 23, the number of sides of the work target area CA decreases. That is, the shape of the work target area CA is recalculated by the area calculation unit 124 as a triangle. Accordingly, "area shape: triangle" is displayed on the display portion 104a.

In Fig. 24, the outer circumferential area SA and the work target area CA recalculated at this time, and the actual unsaved area UA are superimposed and shown. In addition, in FIG. 24, the actual packaging outer shape is shown with a dotted line.

Next, the travel route setting unit 122 resets the mowing travel route LI in the work target area CA, as shown in FIG. 24, based on the recalculation result received by the area calculation unit 124. . Then, when the operator presses the automatic travel start button, automatic travel along the mowing travel path LI is started. When the automatic driving along the cutting path LI is completed, the entire pavement is harvested.

By the way, the outer circumferential area SA is used as a space for the combine 101 to change direction when harvesting travel is performed in the work target area CA. In addition, the outer circumferential area SA is also used as a space for movement, such as when moving to a grain discharge location or when moving to a fuel replenishment location after the harvesting run is once finished.

Therefore, it is necessary to secure the width of the outer circumferential area SA to some extent before the harvesting run in the work target area CA. Hereinafter, in the area determination system A1, two processes performed in order to secure the width of the outer circumferential area SA to a certain extent will be described.

[Configuration related to side increase processing]

One of the two processes performed in order to secure the width of the outer circumferential area SA to a certain extent is the side increasing process. Hereinafter, this processing will be described with reference mainly to FIGS. 25 and 26. In Figs. 25 and 26, the calculated outer circumferential area SA and the work target area CA and the actual unsaved area UA are superimposed and shown. In addition, in Figs. 25 and 26, the actual packaging appearance is indicated by a dotted line.

After the combine 101 performs circumferential travel in the outer circumferential portion of the pavement, the distance calculation unit 125 is based on the calculation result received from the area calculation unit 124, as shown in FIG. The distance between the boundary line OB on the outer circumferential side in the region SA and the boundary line IB on the inner circumferential side in the outer circumferential region SA is calculated. As shown in FIG. 19, the distance calculated by the distance calculating unit 125 is sent to the area calculating unit 124.

Further, after specifying the narrowest portion of the outer peripheral region SA, the distance calculating unit 125 determines the width of the outer peripheral region SA in the region as the distance between the outer boundary line OB and the inner boundary line IB. It may be configured to calculate.

Further, the distance calculation unit 125 may be configured to select a plurality of sites in the outer circumferential region SA, and calculate the distance between the boundary line OB on the outer circumference side and the boundary line IB on the inner circumference side at each selected site. do. In this case, the shortest distance among the distances calculated at each portion may be output as a final calculation result by the distance calculation unit 125. In addition, the average value of the distances calculated at each site may be output as a final calculation result by the distance calculation unit 125.

And, when the distance calculated by the distance calculating part 125 is shorter than the predetermined distance, the area calculating part 124 is the boundary line OB on the outer circumference side of the outer circumferential area SA, and the inner circumferential side of the outer circumferential area SA. The number of sides of the work target area CA is increased so that the distance between the boundary lines IB becomes longer.

In addition, this predetermined distance may be a fixed value determined according to the model of the combine 101 or may be arbitrarily set by an operator.

For example, in the region P1 of the outer circumferential region SA shown in Fig. 25, it is assumed that the distance between the boundary line OB on the outer circumference side and the boundary line IB on the inner circumference side is shorter than the predetermined distance. In this case, as shown in Fig. 26, the area calculation unit 124 increases the number of sides of the work target area CA. In addition, in the example shown in FIG. 25, the shape of the work target area|region CA is a triangle. As the number of sides of the work target area CA increases, as shown in Fig. 26, the shape of the work target area CA becomes square.

That is, as described above, the shape of the work target area CA is calculated as a polygon based on the travel trajectory of the combine 101 in the circumferential travel on the outer circumferential side of the pavement. Thereafter, when the distance calculated by the distance calculation unit 125 is shorter than the predetermined distance, the number of sides of this polygon increases.

And, as shown in Fig. 26, as the number of sides of the work target area CA increases, the distance between the border line OB on the outer circumference side and the border line IB on the inner circumference side increases in the portion P1 of the outer circumferential area SA. Thereby, the width of the outer circumferential area SA can be secured to some extent.

As described above, the area determination system A1 includes a distance calculation unit 125 that calculates the distance between the boundary line OB on the outer circumferential side in the outer circumferential area SA and the boundary line IB on the inner circumferential side in the outer circumferential area SA. Further, when the distance calculated by the distance calculating unit 125 is shorter than the predetermined distance, the area calculating unit 124 increases the number of sides of the polygon.

As described above, the width of the outer circumferential region SA can be secured to some extent by the side increasing processing.

[Configuration related to warning processing]

Another of the two processes performed in order to secure the width of the outer circumferential area SA to a certain extent is the warning process. Hereinafter, this processing will be described with reference mainly to FIGS. 27 to 29. In Figs. 27 and 29, the calculated outer circumferential area SA and the work target area CA, and the actual unsaved area UA are superimposed and shown. In addition, in Figs. 27 and 29, the actual packaging appearance is indicated by a dotted line.

After the combine 101 performs circumferential travel in the outer circumferential portion of the pavement, the distance calculation unit 125 is based on the calculation result received from the area calculation unit 124, as shown in FIG. The distance between the boundary line OB on the outer circumferential side in the region SA and the boundary line IB on the inner circumferential side in the outer circumferential region SA is calculated. As shown in Fig. 19, the distance calculated by the distance calculating unit 125 is sent to the display unit 104a.

Further, after specifying the narrowest portion of the outer peripheral region SA, the distance calculating unit 125 determines the width of the outer peripheral region SA in the region as the distance between the outer boundary line OB and the inner boundary line IB. It may be configured to calculate.

Further, the distance calculation unit 125 may be configured to select a plurality of sites in the outer circumferential region SA, and calculate the distance between the boundary line OB on the outer circumference side and the boundary line IB on the inner circumference side at each selected site. do. In this case, the shortest distance among the distances calculated at each portion may be output as a final calculation result by the distance calculation unit 125. In addition, the average value of the distances calculated at each site may be output as a final calculation result by the distance calculation unit 125.

Then, when the distance calculated by the distance calculation unit 125 is shorter than the predetermined distance, the display unit 104a displays a warning urging to further perform circumferential travel in the area on the outer circumference side of the pavement.

In addition, this predetermined distance may be a fixed value determined according to the model of the combine 101 or may be arbitrarily set by an operator.

For example, in the region P2 of the outer circumferential region SA shown in Fig. 27, it is assumed that the distance between the boundary line OB on the outer circumference side and the boundary line IB on the inner circumference side is shorter than the predetermined distance. In this case, as shown in Fig. 28, the display unit 104a displays a warning message a1 urging to further perform circumferential travel in the area on the outer circumferential side of the pavement. In addition, at this time, as shown in FIG. 28, the display portion 104a highlights and displays a portion in the outer circumferential region SA where the distance between the outer boundary line OB and the inner boundary line IB is short.

As described above, the area determination system A1 provides a display unit 104a for urging to further perform circumferential travel in the area on the outer circumference side of the pavement when the distance calculated by the distance calculation unit 125 is shorter than the predetermined distance. We have.

In response to this warning, the operator further performs circumferential travel in the area on the outer circumference side of the pavement, so that the outer circumferential area SA expands and the pavement is in a state shown in FIG. 29. As shown in Fig. 29, as the outer circumferential region SA expands, the distance between the outer circumferential boundary line OB and the inner circumferential boundary line IB increases in the portion P2 of the outer circumferential region SA. Thereby, the width of the outer circumferential area SA can be secured to some extent.

As described above, by the warning processing, the width of the outer circumferential area SA can be secured to a certain extent.

In addition, the above-described side increasing processing and warning processing may be performed in appropriate combinations. For example, after the side increasing processing is executed, when the distance calculated by the distance calculating unit 125 is still shorter than the predetermined distance, the warning processing may be performed.

In addition, the above-described side increasing processing and warning processing may be configured to be used separately according to conditions. For example, when the shape of the work target area CA calculated by the area calculation unit 124 is a triangular shape, a side increase processing may be performed, and when a polygon other than a triangle, a warning processing may be performed.

Further, it may be configured such that only one of the above-described side increasing processing and warning processing is executed.

In the configuration described above, the shape of the work target area CA is calculated as a polygon. Therefore, the shape of the work target area CA can be calculated as a relatively simple type.

[Other Embodiments of the Second Embodiment]

Hereinafter, another embodiment modified from the above-described embodiment will be described. Except for the matters described in each of the following different embodiments, it is the same as the matters described in the above-described embodiments. The above-described embodiment and each of the following other embodiments may be appropriately combined within a range in which contradictions do not occur. In addition, the scope of the present invention is not limited to the above-described embodiment and the following different embodiments.

(1) The traveling device 111 may be a wheel type or a semi-crawler type.

(2) In the above embodiment, the mowing travel path LI calculated by the travel path setting unit 122 is a plurality of parallel lines parallel to each other, but the present invention is not limited to this, and the travel path setting unit 122 The mowing travel path LI calculated by may not be a plurality of parallel lines parallel to each other. For example, the mowing travel path LI calculated by the travel path setting unit 122 may be a winding travel path.

(3) In the above embodiment, the operator manually operates the combine 101 and, as shown in Fig. 20, performs harvesting run so as to circumscribe along the boundary line of the pavement in the outer circumferential portion within the pavement. However, the present invention is not limited to this, and the combine 101 may be configured to run automatically so as to travel along the boundary of the pavement at the outer periphery of the pavement.

(4) Among the vehicle position calculation unit 121, the travel route setting unit 122, the travel control unit 123, the area calculation unit 124, the distance calculation unit 125, the display unit 104a, and the operation input unit 104b , Part or the whole may be provided outside the combine 101, for example, may be provided in a management server provided outside the combine 101.

(5) The travel route setting unit 122 and the travel control unit 123 may not be provided at all. That is, the "harvester" according to the present invention does not need to be capable of automatic travel.

(6) In the above embodiment, the display unit 104a in the communication terminal 104 corresponds to the "notification unit" and the "warning unit" according to the present invention. However, the present invention is not limited to this, and a member corresponding to a "notification part" and a member corresponding to a "warning part" may be provided respectively.

(7) As the ``warning unit'' according to the present invention, when the distance calculated by the distance calculating unit 125 is shorter than a predetermined distance, a circumferential running in the area on the outer circumference side of the pavement is additionally performed by sound. You may be provided with a urging speaker.

(8) The distance calculating part 125 does not need to be provided.

(9) The display portion 104a does not need to be provided.

(10) The operation input unit 104b does not need to be provided.

(11) The communication terminal 104 does not have to be provided.

(12) The mowing travel path LI may be a straight path or a curved path.

(13) It may be configured as an area determination program for realizing the functions of each member in the above embodiment in a computer. Further, it may be configured as a recording medium on which an area determination program for realizing the functions of each member in the above embodiment in a computer is recorded. In addition, in the above-described embodiment, it may be configured as a region determination method in which what is performed by each member is performed by one or a plurality of steps.

[Third Embodiment]

Hereinafter, a third embodiment of the present invention will be described with reference to FIGS. 30 to 40. In addition, as for the description regarding the direction, unless otherwise specified, the direction of the arrow F shown in FIG. 30 is set to "front" and the direction of the arrow B is set to "back". In addition, the direction of arrow U shown in FIG. 30 is set to "up", and the direction of arrow D is set to "down".

〔Overall composition of combine〕

As shown in Fig. 30, the normal type combine 201 is a crawler-type traveling device 211, a driving unit 212, a threshing device 213, a grain tank 214, a harvesting device H, and a conveying device. 216, a grain discharging device 218, and a satellite positioning module 280 are provided.

The traveling device 211 is provided in the lower part of the combine 201. The combine 201 is often possible by the traveling device 211.

In addition, the driving unit 212, the threshing device 213, and the grain tank 214 are provided on the upper side of the traveling device 211. A worker who monitors the work of the combine 201 can be boarded in the driver 212. In addition, the operator may monitor the work of the combine 201 from outside the unit of the combine 201.

The grain discharging device 218 is provided on the upper side of the grain tank 214. Further, the satellite positioning module 280 is provided on the upper surface of the driving unit 212.

The harvesting device H is provided in the front part of the combine 201. And the conveying device 216 is provided on the rear side of the harvesting device H. In addition, the harvesting device H has a mowing device 215 and a reel 217.

The harvesting apparatus 215 mows the planting grain stem of a package. Further, the reel 217 scrapes the grain stem to be harvested while being rotated. With this configuration, the harvesting device H harvests grains in the package. Then, the combine 201 is capable of mowing running by the traveling device 211 while mowing the planting grains of the pavement by the mowing device 215.

In this way, the combine 201 has the harvesting apparatus 215 which mows the planted grain stem of a package.

The harvested grain stems harvested by the harvesting device 215 are conveyed to the threshing device 213 by the conveying device 216. In the threshing apparatus 213, the harvested grain stem is threshed. The grain obtained by the threshing treatment is stored in the grain tank 214. The grains stored in the grain tank 214 are discharged to the outside of the aircraft by the grain discharge device 218 as necessary.

Further, as shown in FIG. 30, a communication terminal 204 is disposed in the driver 212. The communication terminal 204 is configured to be able to display various types of information. In this embodiment, the communication terminal 204 is fixed to the driving unit 212. However, the present invention is not limited to this, and the communication terminal 204 may be configured to be detachable from the driving unit 212, and the communication terminal 204 may be located outside the aircraft of the combine 201. .

Here, the combine 201 runs around while harvesting grain in the area on the outer circumference side of the pavement as shown in FIG. 32, and then mows in the inner area of the pavement as shown in FIG. By running, it is configured to harvest grains in the field.

And in this harvesting operation, the combine 201 is controlled by the combine control system A2. Hereinafter, the configuration of the combine control system A2 will be described.

〔Combination control system configuration〕

As shown in FIG. 31, the combine control system A2 includes a satellite positioning module 280 and a control unit 220. In addition, the control unit 220 is provided in the combine 201. Further, as described above, the satellite positioning module 280 is also provided in the combine 201.

The control unit 220 includes an own vehicle position calculation unit 221, a route calculation unit 222, a travel control unit 223, an area calculation unit 224, a distance calculation unit 225, and a determination unit 226. . Further, the travel control unit 223 has a mowing travel control unit 223a and a direction change control unit 223b.

As shown in Fig. 30, the satellite positioning module 280 receives a GPS signal from an artificial satellite GS used in a GPS (global positioning system). Then, as shown in FIG. 31, the satellite positioning module 280 sends positioning data indicating the position of the own vehicle of the combine 201 to the own vehicle position calculating unit 221 based on the received GPS signal.

The own vehicle position calculation unit 221 calculates the position coordinates of the combine 201 over time based on the positioning data output by the satellite positioning module 280. The calculated position coordinates of the combine 201 over time are sent to the traveling control unit 223 and the area calculating unit 224.

The area calculation unit 224 calculates the outer circumferential area SA and the work target area CA, as shown in Fig. 33, based on the time-lapsed position coordinates of the combine 201 received from the own vehicle position calculation unit 221. .

More specifically, the area calculation unit 224 is based on the time-lapsed position coordinates of the combine 201 received from the own vehicle position calculation unit 221, the combine 201 in the circumferential run on the outer circumference side of the pavement. ) To calculate the traveling trajectory. Then, the area calculation unit 224 calculates an area on the outer circumference side of the pavement in which the combine 201 travels circumferentially while harvesting grain, as the outer circumferential area SA based on the calculated travel trajectory of the combine 201. Further, the area calculation unit 224 calculates the inside of the calculated outer circumferential area SA as the work target area CA.

For example, in Fig. 32, the travel path of the combine 201 for circumferential travel on the outer circumferential side of the pavement is indicated by arrows. In the example shown in FIG. 32, the combine 201 runs around 3 weeks. Then, when the mowing run along this traveling route is completed, the pavement is in a state shown in FIG. 33.

As shown in Fig. 33, the area calculation unit 224 calculates an area on the outer circumference side of the pavement in which the combine 201 travels around while harvesting grain as the outer circumference area SA. Further, the area calculation unit 224 calculates the inside of the calculated outer circumferential area SA as the work target area CA.

In addition, the area calculation unit 224, based on the time-lapsed position coordinates of the combine 201 received from the own vehicle position calculation unit 221, as shown in Fig. 34, the non-reap in the work target area CA Calculate the area CA1 and the previously saved area CA2.

More specifically, the area calculation unit 224 is based on the time-lapsed position coordinates of the combine 201 received from the own vehicle position calculation unit 221, and the combine 201 in the mowing run in the work target area CA ) To calculate the traveling trajectory. Then, the area calculation unit 224 calculates the area in which the combine 201 has mowed, based on the calculated travel trajectory of the combine 201, as the pre-reap area CA2. In addition, the area calculation unit 224 calculates a portion other than the previously saved area CA2 in the work target area CA as the unsaved area CA1.

And, as shown in FIG. 31, the calculation result by the area calculation part 224 is sent to the path calculation part 222 and the distance calculation part 225.

The route calculation unit 222, based on the calculation result received from the area calculation unit 224, calculates a harvesting travel path LI, which is a travel path for harvesting travel in the work target area CA, as shown in FIG. 33. Calculate. In addition, as shown in FIG. 33, in the present embodiment, the mowing travel path LI is a plurality of mesh lines extending in the vertical and horizontal directions. In addition, a plurality of mesh lines may not be straight and may be curved.

As shown in FIG. 31, the mowing travel path LI calculated by the path calculation unit 222 is sent to the travel control unit 223.

The mowing and running control unit 223a automatically performs the combine 201 based on the position coordinates of the combine 201 received from the own vehicle position calculation unit 221 and the mowing travel path LI received from the route calculation unit 222. Control the driving. More specifically, as shown in FIG. 33, the mowing run control unit 223a controls the travel of the combine 201 so that mowing run is performed by automatic running along the mowing run path LI.

In addition, the distance calculation unit 225 is based on the calculation result received from the area calculation unit 224, as shown in Fig. 34, between the corner CP in the unreaped area CA1 and the boundary line OBL of the pavement. Calculate the distance of

In addition, the distance calculation unit 225 determines the narrowest part between the corner part CP and the boundary line OBL of the pavement, and then calculates the distance between the corner part CP and the boundary line OBL of the pavement at that part. It may be configured to output as a final calculation result by the unit 225.

In addition, the distance calculation unit 225 selects a plurality of portions between the corner portion CP and the boundary line OBL of the pavement, and calculates a distance between the corner portion CP and the boundary line OBL of the pavement at each selected portion. It may be configured. In this case, the shortest distance among the distances calculated at each site may be output as a final calculation result by the distance calculation unit 225. In addition, the average value of the distances calculated at each site may be output as a final calculation result by the distance calculation unit 225.

And, as shown in FIG. 31, the distance calculated by the distance calculating part 225 is sent to the determination part 226.

The determination unit 226 determines a direction switching method of the combine 201 based on the distance calculated by the distance calculation unit 225.

In detail, when the distance between the corner part CP and the boundary line OBL of the pavement is shorter than the predetermined distance, the determination part 226 changes the direction of the combine 201 performed to mow the grains of the corner part CP. It is determined what is to be done by this special direction change for the corner part.

In addition, this predetermined distance may be a fixed value determined according to the model of the combine 201 or may be set arbitrarily by an operator.

In addition, the special direction change for a corner part is a direction change method including a mowing and turning operation. In addition, the mowing and turning operation is an operation of turning while mowing the planting grain stem. In particular, as shown in FIG. 34, the special direction change for a corner part in this embodiment includes a 1st reversing operation, a mowing and turning operation, a 2nd reversing operation, and a forward operation.

The first reversing operation is an operation performed prior to the mowing and turning operation, and is an operation of retreating to a position rearward than the corner part CP in the advancing direction of the combine 201 before direction change. In addition, the 2nd reversing operation is an operation|movement performed after the mowing and turning operation|movement, and is an operation|movement which moves backward to a position rearward than the corner part CP in the advancing direction of the combine 201 after a direction change. In addition, the forward operation is an operation performed after the second reverse operation, and is an operation to advance.

As described above, in the present embodiment, the special direction change for the corner part includes the first reverse operation and the first reverse operation in which the combine 201 moves backward to a position rearward than the corner part CP in the traveling direction of the combine 201 before the change of direction. The mowing and turning operation performed later, and the operation performed after the mowing and turning operation, are a second reversing operation in which the combine 201 moves backward to a position rearward than the corner CP in the moving direction of the combine 201 after direction change, and the second reversing It includes a forward motion performed after the motion.

In addition, when the distance between the corner part CP and the boundary line OBL of the pavement is more than a predetermined distance, the determination part 226 may change the direction of the combine 201, which is performed to mow the cropped grains of the corner part CP. It determines what is done by a direction change method different from the direction change.

Thus, the combine control system A2 is provided with the determination part 226 which determines the direction change method of the combine 201.

As shown in Fig. 31, the content of the decision made by the decision unit 226 is sent to the direction change control unit 223b. Further, the direction change control unit 223b is configured to control the direction change of the combine 201 according to the content determined by the determination unit 226.

In this way, the combine control system A2 is provided with the direction change control part 223b which controls the direction change of the combine 201.

Here, as described above, when the distance between the corner part CP and the boundary line OBL of the pavement is shorter than the predetermined distance, the determination part 226 is performed to mow the grain stems of the corner part CP. It is determined that the direction change is to be made by means of a special direction change for the corner part. And, in this case, the direction change control unit 223b, when the combine 201 changes direction in order to mow the planting grain of the corner part CP, the direction change of the combine 201 is performed by special direction change for the corner part. It controls the combine 201 so that it is possible.

As described above, when the combine 201 changes direction in order to mow the planted grains of the corner portion CP in the non-reaping area CA1 of the pavement, the direction change control unit 223b rotates while mowing the planted grains. The combine 201 is controlled so that the direction change of the combine 201 is performed by a special direction change for a corner part, which is a direction change method including an operation.

〔Flow of harvesting work using combine control system〕

Hereinafter, as an example of the harvesting operation using the combine control system A2, a flow in the case where the combine 201 performs the harvesting operation in the field shown in FIG. 32 will be described.

First, the operator manually operates the combine 201, and as shown in Fig. 32, in the outer circumferential portion of the pavement, the operator performs mowing so as to revolve around the boundary line OBL of the pavement. In the example shown in FIG. 32, the combine 201 runs around 3 weeks. When this round trip is completed, the pavement is in a state shown in FIG. 33.

The area calculation unit 224 calculates a travel trajectory of the combine 201 in the round trip shown in FIG. 32 based on the time-lapsed position coordinates of the combine 201 received from the host vehicle position calculation unit 221 . And, as shown in FIG. 33, based on the calculated travel trajectory of the combine 201, the area calculation unit 224 is an area on the outer periphery of the pavement in which the combine 201 has traveled around while mowing the planted grains. Is calculated as the outer circumferential area SA. Further, the area calculation unit 224 calculates the inside of the calculated outer circumferential area SA as the work target area CA.

Next, the path calculation unit 222 sets the mowing travel path LI in the work target area CA, as shown in FIG. 33, based on the calculation result received from the area calculation unit 224.

Then, when the operator presses the automatic travel start button (not shown), as shown in FIG. 33, automatic travel along the mowing travel path LI is started. At this time, the harvesting travel control unit 223a controls the travel of the combine 201 so that the harvesting travel is performed by automatic travel along the harvesting travel path LI.

In addition, in the present embodiment, as shown in Figs. 32 and 33, the transport vehicle CV is parked outside the pavement. And in the outer circumferential area SA, a stop position PP is set at a position near the transport vehicle CV.

The transport vehicle CV can collect and transport the grain discharged from the grain discharging device 218 by the combine 201. When discharging the grain, the combine 201 stops at the stop position PP, and discharges the grain to the transport vehicle CV by the grain discharging device 218.

In addition, when the whole of one mowing travel path LI is completely traveled, the combine 201 performs a direction change and starts mowing travel along the other mowing travel path LI. At this time, the direction change of the combine 201 is automatically performed under the control of the direction change control unit 223b.

Then, when the harvesting travel along all the harvesting travel paths LI in the work target area CA is completed, the entire pavement is harvested.

〔About changing the direction of the combine〕

Hereinafter, the direction change of the combine 201 will be described. First, as an example of a case in which the direction change of the combine 201 is performed by a special direction change for a corner portion, a case where the combine 201 performs a direction change in the pavement shown in FIG. 34 will be described.

The first route LI1 and the second route LI2 in FIG. 34 are both mowing travel routes LI. Further, the first path LI1 and the second path LI2 are orthogonal to each other.

And, in FIG. 34, after the combine 201 completes the mowing run along the first path LI1, it performs a direction change of 90 degrees to mow the planting grain of the corner part CP, and the mowing run along the second path LI2 is performed. Operation until initiation is shown.

In addition, in FIG. 34, in order to show the operation|movement of the combine 201, the trajectory of the center part in the left-right direction of the aircraft at the front end of the mowing apparatus 215 is indicated by an arrow.

Initially, the combine 201 completes the mowing run along the first route LI1 and is located at the position Q1. At this time, the distance calculation unit 225 calculates the distance between the corner part CP and the boundary line OBL of the pavement. As shown in Fig. 34, the distance calculated at this time is the distance DS1.

Here, the distance DS1 is assumed to be shorter than the predetermined distance. Therefore, the determination unit 226 determines that the direction change of the combine 201, which is performed in order to mow the planted grain stem of the corner part CP, is performed by special direction change for the corner part.

Thereby, the combine 201 starts a special direction change for a corner part from the position Q1. First, the combine 201 performs a first reverse operation along the first path LI1. Thereby, as shown in Fig. 34, the combine 201 moves to the position Q2. In addition, the position Q2 is a position rearward than the corner part CP in the advancing direction of the mowing run along the first route LI1.

Next, the combine 201 performs a mowing and turning operation. Thereby, the combine 201 moves to the position Q3. Further, by this cutting and turning operation, the planting grain stem of the part CP1 which is a part of the corner part CP is mowed.

Next, the combine 201 performs a 2nd reverse operation. Thereby, the combine 201 moves to the position Q4. In addition, the position Q4 is a position rearward than the corner part CP in the advancing direction of the mowing run along the second path LI2.

Then, the combine 201 performs a forward operation from the position Q4 and completes the direction change.

Through the series of operations described above, the gas direction of the combine 201 becomes a direction along the second path LI2. Then, the mowing run along the second path LI2 is started, and the planting grain stem of the corner part CP is mowed.

Next, as an example of a case in which the direction change of the combine 201 is performed by a direction change method different from that of the special direction change for a corner part, a case where the combine 201 performs direction change in the pavement shown in FIG. 35 will be described. do.

The third route LI3 and the fourth route LI4 in Fig. 35 are both mowing travel routes LI. Further, the third path LI3 and the fourth path LI4 are orthogonal to each other.

Then, in FIG. 35, after the combine 201 completes the mowing run along the third path LI3, it performs a direction change of 90 degrees in order to mow the planting grains of the corner CP, and the mowing run along the fourth path LI4. Operation until initiation is shown.

In addition, in FIG. 35, in order to show the operation|movement of the combine 201, the trajectory of the center part in the left-right direction of the aircraft at the front end of the mowing apparatus 215 is indicated by an arrow.

Initially, the combine 201 completes the mowing run along the third route LI3 and is located at the position Q5. At this time, the distance calculation unit 225 calculates the distance between the corner part CP and the boundary line OBL of the pavement. As shown in Fig. 35, the distance calculated at this time is the distance DS2.

Here, it is assumed that the distance DS2 is equal to or greater than the predetermined distance. Therefore, the determination unit 226 determines that the direction change of the combine 201, which is performed to mow the planted grain stems of the corner part CP, is performed by a direction change method different from the special direction change for the corner part.

At this time, the determination unit 226 determines that the direction change of the combine 201, which is performed in order to mow the planted grain stem of the corner part CP, is usually performed by an α turn. Still, the normal α-turn is a direction switching method of performing a normal turning operation in which the planted grain stem is turned without mowing, and then performing a reverse operation, and then performing a forward operation, as shown in FIG. 35. In addition, in general, the α-turn is a method that enables rapid direction change compared to the special direction change for a corner part.

Thereby, the combine 201 normally starts the α turn from the position Q5. First, the combine 201 performs a normal turning operation. Thereby, the combine 201 moves to the position Q6.

Next, the combine 201 performs a reverse operation. Thereby, the combine 201 moves to the position Q7. In addition, the position Q7 is a position rearward than the corner part CP in the advancing direction of the mowing run along the fourth route LI4.

Then, the combine 201 performs a forward operation from the position Q7 and completes the direction change.

Through the series of operations described above, the gas direction of the combine 201 becomes a direction along the fourth path LI4. Then, the cutting run along the fourth path LI4 is started, and the planting grain stem of the corner part CP is mowed.

In the above-described configuration, when the combine 201 changes direction to mow the grain stem of the corner CP in the uncut area CA1 of the pavement, the combine 201 is directed by a special direction change for the corner part. It is controlled to do the conversion. And this special direction change for the corner part includes a cutting and turning operation of turning while cutting the planted grain stem.

Accordingly, in the configuration described above, in the direction change, the combine 201 enters the non-reap area CA1 by the mowing and turning operation. That is, in the direction change, since the combine 201 enters the uncut area CA1 while mowing the planted grain stem, it can be avoided that the combine 201 step on the planted grain stem of the uncut area CA1.

In addition, compared to the case where the combine 201 is controlled so that the combine 201 does not enter the uncut area CA1 at the time of direction change, the space available for the direction change is widened. Accordingly, it is easy to smoothly change the direction of the combine 201.

That is, with the configuration described above, it is possible to avoid the combine 201 from stepping on the grain stem of the uncut area CA1, and it is easy to smoothly change the direction of the combine 201.

[About the change of direction in the acute angle part of the packaging]

As described with reference to FIGS. 34 and 35, in the present embodiment, when the combine 201 changes direction in order to mow the grain stem of the corner CP in the uncut area CA1 of the pavement, the combine 201 ) Is controlled to perform a direction change by a special direction change for a corner part or a normal α turn.

Here, as shown in FIG. 36, when the combine 201 performs a direction change in an acute angle part of a pavement, the combine 201 is controlled to perform a direction change by a special α turn for an acute angle part. In addition, as shown in FIG. 36, the special α-turn for the acute angle part is, after performing the first reverse operation, performing a normal turning operation in which the planted grain is not mowing, and performing a second reverse operation after the normal turning operation, After that, it is a direction switching method for performing a forward operation.

Hereinafter, as an example of a case in which the direction change of the combine 201 is performed by a special α turn for an acute angle portion, a case where the combine 201 performs direction change in the pavement shown in FIG. 36 will be described.

The fifth route LI5 and the sixth route LI6 in FIG. 36 are both mowing travel routes LI. And, in FIG. 36, in the acute angle part of the pavement, after the combine 201 has completed the mowing run along the fifth path LI5, the direction is changed to mow the planting grain of the corner part CP, and the sixth path LI6 The operation until the mowing operation is started is shown.

In addition, in FIG. 36, in order to show the operation|movement of the combine 201, the trajectory of the center part in the left-right direction of the aircraft at the front end of the harvesting device 215 is indicated by an arrow.

Initially, the combine 201 has completed the mowing run along the fifth route LI5 and is located at the position Q8. And, since the combine 201 is located at the acute angle part of the pavement, the determination part 226, the direction change of the combine 201 performed in order to mow the planting grain of the corner part CP in a special α turn for the acute angle part Determine what is done by

Thereby, the combine 201 starts the special α turn for the acute angle part from the position Q8. First, the combine 201 performs a first reverse operation along the fifth path LI5. Thereby, as shown in Fig. 36, the combine 201 moves to the position Q9.

Subsequently, the combine 201 performs a normal turning operation. Thereby, the combine 201 moves to the position Q10. Next, the combine 201 performs a 2nd reverse operation. Thereby, the combine 201 moves to the position Q11. Then, the combine 201 performs a forward operation from the position Q11, and completes the direction change.

By the series of operations described above, the gas direction of the combine 201 becomes a direction along the sixth path LI6. Then, the mowing run along the sixth path LI6 is started, and the planting grain stem of the corner part CP is mowed.

Further, according to the special α-turn for the acute angle portion described above, the first reverse operation is performed prior to the normal turning operation. Thereby, when the combine 201 changes direction in the acute angle part of a pavement, it is easy to avoid the situation where the combine 201 crosses the boundary line OBL of the pavement by a normal turning operation.

[Other Embodiments of the Third Embodiment]

Hereinafter, another embodiment modified from the above-described embodiment will be described. Except for the matters described in each of the following different embodiments, it is the same as the matters described in the above-described embodiments. The above-described embodiment and each of the following other embodiments may be appropriately combined within a range in which contradictions do not occur. In addition, the scope of the present invention is not limited to the above-described embodiment and each of the following other embodiments.

[First other embodiment]

In the above embodiment, as shown in Fig. 34, the special direction change for the corner portion includes a first reversing operation, a mowing and turning operation, a second reversing operation, and a forward operation.

However, the present invention is not limited to this. The special direction change for the corner portion does not have to include a part or all of the first reverse motion, the second reverse motion, and the forward motion.

Hereinafter, the first other embodiment of the third embodiment will be described focusing on differences from the above embodiment. Configurations other than the parts described below are the same as those in the above embodiment. In addition, the same code|symbol is attached|subjected to the structure similar to the said embodiment.

Fig. 37 is a diagram showing an example in which the direction change of the combine 201 is performed by special direction change for corner portions in the first other embodiment of the third embodiment. In this first other embodiment, the special direction change for the corner portion does not include the first reverse operation leading to the mowing and turning operation.

The seventh route LI7 in FIG. 37 is a mowing travel route LI. And, in FIG. 37, when the combine 201 is traveling in the outer circumferential area SA, a direction change of 90 degrees is performed in order to mow the planting grain of the corner part CP, until mowing along the seventh path LI7 is started. The operation of is shown.

In addition, in FIG. 37, in order to show the operation|movement of the combine 201, the trajectory of the center part in the left-right direction of the aircraft at the front end of the harvesting apparatus 215 is indicated by an arrow.

First, the combine 201 is traveling in the outer circumferential area SA and is located at the position Q12. At this time, the distance calculation unit 225 calculates the distance between the corner part CP and the boundary line OBL of the pavement. As shown in Fig. 37, the distance calculated at this time is the distance DS3.

Here, the distance DS3 is assumed to be shorter than the predetermined distance. Therefore, the determination unit 226 determines that the direction change of the combine 201, which is performed in order to mow the planted grain stem of the corner part CP, is performed by special direction change for the corner part.

Thereby, the combine 201 starts a special direction change for a corner part from the position Q12. First, the combine 201 performs a mowing and turning operation. Thereby, the combine 201 moves to the position Q13. Further, by this cutting and turning operation, the planting grain stem of the part CP2 which is a part of the corner part CP is mowed.

Next, the combine 201 performs a reverse operation. Thereby, the combine 201 moves to the position Q14. In addition, the position Q14 is a position rearward than the corner part CP in the advancing direction of the mowing run along the seventh route LI7.

Then, the combine 201 performs a forward operation from the position Q14, and completes the direction change.

By the series of operations described above, the gas direction of the combine 201 becomes a direction along the seventh path LI7. Then, the mowing run along the seventh path LI7 is started, and the planting grain stem of the corner part CP is mowed.

Next, in this first other embodiment, as an example of a case in which the direction change of the combine 201 is performed by a direction change method different from that of the special direction change for a corner part, the combine 201 is a packaging shown in FIG. A case where the direction change is performed will be described.

The eighth path LI8 in FIG. 38 is a mowing travel path LI. In Fig. 38, when the combine 201 is traveling in the outer circumferential area SA, a direction change of 90 degrees is performed in order to mow the planting grains of the corner CP, until the mowing run along the eighth path LI8 is started. The operation of is shown.

In addition, in FIG. 38, in order to show the operation|movement of the combine 201, the trajectory of the center part in the left-right direction of the aircraft at the front end of the harvesting apparatus 215 is indicated by an arrow.

First, the combine 201 is traveling in the outer circumferential area SA and is located at the position Q15. At this time, the distance calculation unit 225 calculates the distance between the corner part CP and the boundary line OBL of the pavement. As shown in FIG. 38, the distance calculated at this time is the distance DS4.

Here, it is assumed that the distance DS4 is equal to or greater than the predetermined distance. Therefore, the determination unit 226 determines that the direction change of the combine 201, which is performed to mow the planted grain stems of the corner part CP, is performed by a direction change method different from the special direction change for the corner part.

At this time, the determination unit 226 determines that the direction change of the combine 201, which is performed in order to mow the planted grain stem of the corner part CP, is performed by turning normally. In addition, as shown in FIG. 38, the normal turning is a direction change method in which direction is changed only by a normal turning operation of turning without mowing the planted grain stem.

Thereby, the combine 201 starts turning normally from the position Q15. That is, the combine 201 performs a normal turning operation from the position Q15 and completes the direction change.

By this normal turning operation, the gas direction of the combine 201 becomes a direction along the eighth path LI8. Then, the cutting run along the eighth path LI8 is started, and the planting grain stem of the corner part CP is mowed.

(2nd other embodiment)

In the above embodiment, as shown in FIG. 34, the special direction change for the corner portion is constituted by only four operations of a first reversing operation, a mowing and turning operation, a second reversing operation, and a forward operation.

However, the present invention is not limited to this. The special direction change for the corner portion may include a separate operation in addition to the first reverse operation, the mowing and turning operation, the second reverse operation, and the forward operation.

Hereinafter, the second other embodiment of the third embodiment will be described focusing on differences from the above embodiment. Configurations other than the parts described below are the same as those in the above embodiment. In addition, the same code|symbol is attached|subjected to the structure similar to the said embodiment.

Fig. 39 is a diagram showing an example in which the direction change of the combine 201 is performed by special direction change for a corner portion in another second embodiment of the third embodiment. In this first other embodiment, the special direction change for the corner portion is a first reverse operation, a first harvesting and turning operation (corresponding to the ``reaping and turning operation'' according to the present invention), a second reverse operation, and a second harvesting and turning operation. (Corresponding to the "reaping and turning operation" according to the present invention), a third reverse operation, and a forward operation are included.

The ninth path LI9 and the tenth path LI10 in Fig. 39 are both mowing travel paths LI. Further, the ninth path LI9 and the tenth path LI10 are orthogonal to each other.

Then, in FIG. 39, after the combine 201 completes the mowing run along the ninth path LI9, it performs a direction change of 90 degrees to mow the planting grain of the corner CP, and the mowing run along the tenth path LI10 Operation until initiation is shown.

In addition, in FIG. 39, in order to show the operation|movement of the combine 201, the trajectory of the center part in the left-right direction of the aircraft at the front end of the harvesting apparatus 215 is indicated by an arrow.

Initially, the combine 201 has completed the mowing run along the ninth route LI9 and is located at the position Q16. At this time, the distance calculation unit 225 calculates the distance between the corner part CP and the boundary line OBL of the pavement. 39, the distance calculated at this time is the distance DS5.

Here, the distance DS5 is assumed to be shorter than the predetermined distance. Therefore, the determination unit 226 determines that the direction change of the combine 201, which is performed in order to mow the planted grain stem of the corner part CP, is performed by special direction change for the corner part.

Thereby, the combine 201 starts a special direction change for a corner part from the position Q16. First, the combine 201 performs a first reverse operation along the ninth path LI9. Thereby, as shown in Fig. 39, the combine 201 moves to the position Q17. In addition, the position Q17 is a position on the rear side of the corner part CP in the advancing direction of the mowing run along the ninth route LI9.

Next, the combine 201 performs a 1st mowing and turning operation. Thereby, the combine 201 moves to the position Q18. In addition, the planting grain stem of the part CP3 that is a part of the corner part CP is mowed by this first cutting and turning operation.

Next, the combine 201 performs a 2nd reverse operation. Thereby, the combine 201 moves to the position Q19. In addition, the position Q19 is a position rearward than the corner part CP in the advancing direction of the mowing run along the tenth path LI10.

Next, the combine 201 performs a 2nd mowing and turning operation. Thereby, the combine 201 moves to the position Q20. Further, by this second cutting and turning operation, the planting grain stem of the part CP4 that is a part of the corner part CP is cut.

Next, the combine 201 performs a 3rd reverse operation. Thereby, the combine 201 moves to the position Q21. In addition, the position Q21 is a position on the rear side of the corner part CP in the advancing direction of the mowing run along the tenth path LI10.

Then, the combine 201 performs a forward operation from the position Q21 and completes the direction change.

By the series of operations described above, the gas direction of the combine 201 becomes a direction along the tenth path LI10. Then, the mowing run along the tenth path LI10 is started, and the planting grain stem of the corner part CP is mowed.

(3rd other embodiment)

In the above embodiment, the planting grain stem in a part of the corner part CP is mowed by the mowing and turning operation.

However, the present invention is not limited to this. The planted grain stem harvested by the "reaping and turning operation" according to the present invention may not be the planted grain stem of the corner part CP.

Hereinafter, a third other embodiment of the third embodiment will be described focusing on differences from the above embodiments. Configurations other than the parts described below are the same as those in the above embodiment. In addition, the same code|symbol is attached|subjected to the structure similar to the said embodiment.

FIG. 40 is a diagram showing an example in which the direction change of the combine 201 is performed by special direction change for corner portions in the third other embodiment of the third embodiment.

The eleventh route LI11 and the twelfth route LI12 in Fig. 40 are both mowing travel routes LI. Further, the eleventh path LI11 and the twelfth path LI12 are orthogonal to each other.

And, in FIG. 40, after the combine 201 completes the mowing run along the eleventh path LI11, it performs a direction change of 90 degrees to mow the planting grain of the corner CP, and the mowing run along the twelfth path LI12. Two operations until initiation are shown.

In addition, in FIG. 40, in order to show the operation|movement of the combine 201, the trajectory of the center part in the left-right direction of the aircraft at the front end of the harvesting apparatus 215 is indicated by an arrow.

The combine 201 can perform direction change from the position shown in FIG. 40 by two direction change methods.

The first of the two direction switching methods is the same as that described in FIG. 34. That is, the first direction switching method shown in FIG. 40 is constituted by four operations of a first reversing operation, a mowing and turning operation, a second reversing operation, and a forward operation. And, in the cutting and turning operation among these four movements, the planting grain stem of the part CP5 which is a part of the corner part CP is mowed.

The second of the two direction change methods is composed of three operations: a mowing, turning operation, a reverse operation, and a forward operation. And, in the cutting and turning operation among these three operations, the planting grain stem in the part other than the corner part CP is mowed.

In detail, in the pavement shown in Fig. 40, two uncut areas CA1 exist. In one of the two uncut areas CA1, a corner CP is included, and a twelfth path LI12 is set. In addition, the other of the two uncut areas CA1 is located in front of the combine 201 in the advancing direction before direction change.

Then, in the reaping and turning operation in the second direction switching method shown in Fig. 40, the combine 201 enters the other of the two non-reaping areas CA1. At this time, some of the planted grain stems in the other of the two uncut areas CA1 are mowed. After that, the combine 201 performs a reverse operation and a forward operation, and completes the direction change.

In addition, both of the two direction switching methods shown in Fig. 40 correspond to "special direction switching for corner portions" according to the present invention.

[Other embodiments]

(1) The traveling device 211 may be a wheel type or a semi-crawler type.

(2) In the above embodiment, the mowing travel path LI calculated by the path calculation unit 222 is a plurality of mesh lines extending in the vertical and horizontal directions. However, the present invention is not limited to this, and the mowing travel path LI calculated by the path calculation unit 222 may not be a plurality of mesh lines extending in the vertical and horizontal directions. For example, the mowing travel path LI calculated by the path calculation unit 222 may be a winding path. In addition, the mowing travel path LI does not have to be orthogonal to another mowing travel path LI.

(3) In the above embodiment, the operator manually operates the combine 201 and, as shown in Fig. 32, performs mowing so as to circumnavigate along the boundary line OBL of the pavement in the outer circumferential portion of the pavement. However, the present invention is not limited to this, and it may be configured such that the combine 201 automatically travels and mowing travels around the boundary line OBL of the pavement at the outer periphery of the pavement.

(4) In the examples shown in FIGS. 34, 35, 37, 38, 39, and 40, the combine 201 is performing a direction change of 90 degrees. However, the present invention is not limited to this. That is, it may be a configuration in which the combine 201 performs a direction change of an angle other than 90 degrees under the control of the direction change control unit 223b. In particular, the "special direction change for a corner part" according to the present invention is not limited to the 90 degree direction change method, and may be a direction change method at an angle other than 90 degrees.

(5) In the above embodiment, the timing at which the determination unit 226 determines the direction switching method of the combine 201 is just before the combine 201 performs a direction change. However, the present invention is not limited to this, and the timing at which the determination unit 226 determines the direction switching method of the combine 201 may be any timing. For example, the timing at which the determination unit 226 determines the direction switching method of the combine 201 may be a timing when the area calculation unit 224 calculates the outer circumferential area SA and the work target area CA.

(6) The mowing run control unit 223a may not be provided. That is, the mowing run along the mowing run path LI may be performed by an operator manually operating the combine 201.

(7) Some or all of the own vehicle location calculation unit 221, route calculation unit 222, travel control unit 223, area calculation unit 224, distance calculation unit 225, and determination unit 226 are combined It may be provided outside of 201, for example, may be provided in a management server provided outside of combine 201.

(8) The determination unit 226 need not be provided.

(9) The distance calculation unit 225 does not need to be provided.

(10) The communication terminal 204 need not be provided.

(11) As shown in FIG. 32, the outer shape of the package in the said embodiment is a square. However, the present invention is not limited to this, and the outer shape of the packaging may be any shape other than a square. For example, the outer shape of the package may be a pentagon or a triangle.

(12) The mowing travel path LI may be a straight path or a curved path.

(13) It may be configured as a combine control program for realizing the functions of each member in the above embodiment in a computer. Further, it may be configured as a recording medium in which a combine control program for realizing the functions of each member in the above embodiment to a computer is recorded. In addition, in the above embodiment, it may be configured as a combine control method in which what is performed by each member is performed by one or a plurality of steps.

The present invention can be used not only for a normal type combine but also for a self-removing type combine. In addition, it can be used for various harvesters such as a corn harvester, a potato harvester, a carrot harvester, and a sugar cane harvester.

(First embodiment)
1: Combine (harvester)
2: management server
4: Communication terminal (display device)
21: data acquisition unit
22: appearance judgment unit
24: area setting unit
25: Inner driving route calculation unit
26: driving control section
27: first driving information generation unit
A: Automatic driving system
G1: first grain packaging (packaging)
G2: Second grain packaging (packaging)
LIC: Inner driving route
P: concave
Pt: vertex part
Q: Outer part
R1: first area
R2: second area
W: work car
(2nd embodiment)
101: combine (harvester)
104a: display unit (notification unit, warning unit)
104b: operation input unit
124: area calculation unit
125: distance calculation unit
180: satellite positioning module
A1: Area determination system
CA: Target area
IB: boundary line on the inner periphery
OB: boundary line on the outer circumference side
SA: Outsourcing area
(3rd embodiment)
201: combine
215: mowing device
220: control unit
223b: direction change control
226: decision
A2: Combine control system
CA1: Uncut area
CP: Corner
OBL: The boundary of the packaging

Claims (22)

An automatic travel system that manages automatic travel of a harvester for harvesting agricultural crops on the pavement by a first harvesting run including a harvesting run in an outer circumferential portion of the pavement, and a second harvesting run performed after the first harvesting run Is,
An area setting unit that sets an inside of the first area, which is an area that has been harvested by the first harvesting run, as a second area,
An inner circumferential travel path calculation unit that calculates an inner circumferential travel path that is a travel path in the second area set by the area setting unit;
A travel control unit for controlling the travel of the harvester so that the second harvesting travel is performed by automatic travel based on the inner circumferential travel path;
A data acquisition unit that acquires packaging appearance data, which is data representing the appearance of the packaging;
A first travel information generation unit configured to generate first travel information, which is information indicating a travel route or travel position for the first harvest travel, based on the pavement appearance data acquired by the data acquisition unit,
In the first driving information generated by the first driving information generation unit, intermediate driving information, which is information indicating a driving route or a driving position for intermediate driving, is included. The automatic traveling system according to claim 1, wherein the traveling control unit controls the traveling of the harvester based on the heavy traveling information so that the heavy traveling is performed by automatic traveling in the first harvest traveling. . The automatic traveling system according to claim 1 or 2, further comprising a display device that displays a driving route or a driving position for the heavy-duty traveling based on the heavy-duty traveling information. The automatic traveling system according to any one of claims 1 to 3, wherein the data acquisition unit acquires the pavement appearance data from a work vehicle different from the harvester. The method according to any one of claims 1 to 4, comprising a management server for storing the package appearance data,
The data acquisition unit acquires the package appearance data from the management server. The package according to any one of claims 1 to 5, wherein the outer shape of the package has a concave indentation from the outer circumference side to the inner circumference side of the package, based on the package appearance data acquired by the data acquisition unit. It has an appearance determination unit for determining whether or not the shape,
When it is determined that the outer shape of the pavement is a shape having the concave inlet portion by the outer shape determination unit, the first travel information generating unit may include the vertex of the concave inlet portion in a traveling route or a traveling position for the heavy driving. 1 Automatic driving system that generates driving information. Automatic travel management that manages automatic travel of a harvester for harvesting agricultural crops on the pavement by a first harvest run including a harvest run in the outer periphery of the pavement and a second harvest run performed after the first harvest run Program,
An area setting function for setting the inside of the first area, which is an area that has been harvested by the first harvesting run, as a second area,
An inner circumferential travel path calculation function for calculating an inner circumferential travel path that is a travel path in the second area set by the area setting function;
A travel control function for controlling travel of the harvester so that the second harvesting travel is performed by automatic travel based on the inner circumferential travel path;
A data acquisition function for acquiring packaging appearance data, which is data representing the appearance of the packaging;
A first travel information generation function for generating first travel information, which is information indicating a travel route or travel position for the first harvest travel, based on the pavement appearance data acquired by the data acquisition function, is realized in a computer. Is configured to be
In the first driving information generated by the first driving information generating function, intermediate driving information, which is information indicating a driving route or a driving position for intermediate driving, is included. Automatic travel management that manages automatic travel of a harvester for harvesting agricultural crops on the pavement by a first harvest run including a harvest run in the outer periphery of the pavement and a second harvest run performed after the first harvest run It is a recording medium in which the program is recorded,
The automatic driving management program,
An area setting function for setting the inside of the first area, which is an area that has been harvested by the first harvesting run, as a second area,
An inner circumferential travel path calculation function for calculating an inner circumferential travel path that is a travel path in the second area set by the area setting function;
A travel control function for controlling travel of the harvester so that the second harvesting travel is performed by automatic travel based on the inner circumferential travel path;
A data acquisition function for acquiring packaging appearance data, which is data representing the appearance of the packaging;
A first travel information generation function for generating first travel information, which is information indicating a travel route or travel position for the first harvest travel, based on the pavement appearance data acquired by the data acquisition function, is realized in a computer. Is configured to be
A recording medium recording an automatic driving management program, wherein the first driving information generated by the first driving information generating function includes intermediate driving information, which is information indicating a driving route or a driving position for intermediate driving. Automatic travel management that manages automatic travel of a harvester for harvesting agricultural crops on the pavement by a first harvest run including a harvest run in the outer periphery of the pavement and a second harvest run performed after the first harvest run Is the way,
An area setting step of setting as a second area an inside of the first area, which is an area that has been harvested by the first harvesting run,
An inner circumferential travel path calculation step for calculating an inner circumferential travel path that is a travel path in the second area set by the area setting step;
A travel control step of controlling the travel of the harvester so that the second harvesting travel is performed by automatic travel based on the inner circumferential travel path;
A data acquisition step of acquiring package appearance data, which is data representing the appearance of the package,
A first travel information generation step of generating first travel information, which is information indicating a travel route or a travel position for the first harvest travel, based on the pavement appearance data acquired by the data acquisition step,
In the first driving information generated by the first driving information generation step, intermediate driving information, which is information indicating a driving route or a driving position for intermediate driving, is included. A satellite positioning module that outputs positioning data indicating the position of the harvester's own vehicle;
Based on the positioning data output by the satellite positioning module, the area on the outer circumference side of the pavement, which the harvester has traveled around while harvesting the crops, is calculated as an outer circumference area, and the inside of the outer circumference area is used as a work target area. It has an area calculation unit to calculate,
The area calculation unit is configured to calculate a shape of the work target area as a polygon. The method of claim 10, wherein the notification unit for notifying the shape of the work target area calculated by the area calculation unit,
It has an operation input unit for receiving an artificial operation input,
The area calculation unit changes the number of sides of the polygon based on the artificial manipulation input input to the manipulation input unit. The method according to claim 10 or 11, further comprising a distance calculating unit for calculating a distance between a boundary line on the outer circumferential side in the outer circumferential region and a boundary line on the inner circumferential side in the outer circumferential region,
When the distance calculated by the distance calculating unit is shorter than a predetermined distance, the area calculating unit increases the number of sides of the polygon. The distance calculation unit according to any one of claims 10 to 12, wherein the distance calculation unit calculates a distance between a boundary line on the outer circumferential side in the outer circumferential region and a boundary line on the inner circumference side in the outer circumferential region,
An area determination system comprising: a warning unit for urging to further perform circumferential travel in an area on the outer circumference side of the pavement when the distance calculated by the distance calculation unit is shorter than a predetermined distance. Based on the positioning data output by the satellite positioning module that outputs positioning data indicating the position of the host vehicle of the harvester, the region on the outer circumference side of the pavement in which the harvester has traveled while harvesting the crops is calculated as the outer circumferential region, It is configured to realize in a computer an area calculation function that calculates the inside of the outer circumferential area as a work target area,
The area determination program, wherein the area calculation function calculates a shape of the work target area as a polygon. Based on the positioning data output by the satellite positioning module that outputs positioning data indicating the position of the host vehicle of the harvester, the region on the outer circumference side of the pavement in which the harvester has traveled while harvesting the crops is calculated as the outer circumferential region, A recording medium recording an area determination program for realizing an area calculation function that calculates the inside of the outer circumferential area as a work target area in a computer,
The recording medium recording an area determination program, wherein the area calculation function calculates a shape of the work target area as a polygon. Based on the positioning data output by the satellite positioning module that outputs positioning data indicating the position of the host vehicle of the harvester, the region on the outer circumference side of the pavement in which the harvester has traveled while harvesting the crops is calculated as the outer circumferential region, An area calculation step of calculating the inside of the outer circumferential area as a work target area,
In the area calculation step, the shape of the work target area is calculated as a polygon. It is a combine control system that controls a combine with a mowing device that mows the planted grains of the pavement.
It has a direction change control unit for controlling the direction change of the combine,
When the combine performs a direction change in order to mow the planted grains of the corners in the uncut area of the pavement, the direction change control unit is for a corner part, which is a direction change method including a mowing and turning operation of turning while mowing the planted grains. A combine control system for controlling the combine so that direction change of the combine is performed by a special direction change. The method of claim 17, wherein the special direction change for the corner portion,
A first reversing operation of reversing to a position rearward of the corner portion in the advancing direction of the combine before direction change; and
The mowing and turning operation performed after the first reverse operation,
A second reversing operation performed after the mowing and turning operation, and moving backward to a position rearward of the corner portion in the travel direction of the combine after direction change; and
A combine control system comprising a forward operation performed after the second reverse operation. The method according to claim 17 or 18, comprising a determination unit for determining a method of changing the direction of the combine,
The direction change control unit is configured to control the direction change of the combine in accordance with the content determined by the determination unit,
In the case where the distance between the corner portion and the boundary line of the pavement is shorter than a predetermined distance, the determination unit indicates that the direction change of the combine performed to mow the grain stem for the corner portion is performed by a special direction change for the corner portion. Decide,
The determination unit, when the distance between the corner portion and the boundary line of the pavement is greater than the predetermined distance, the direction change of the combine performed to mow the cropped grains of the corner portion is different from the special direction change for the corner portion A combine control system that determines what is done by the method. It is a combine control program that controls a combine with a mowing device that mows the planting grains of the pavement.
It is configured to realize a direction change control function for controlling the direction change of the combine in a computer,
When the combine performs a direction change in order to mow the planted grains of the corners in the uncut area of the pavement, the direction change control function is a corner, which is a direction change method including a mowing and turning operation of turning while mowing the planted grains. A combine control program for controlling the combine so that the direction change of the combine is performed by a special direction change of the bouillon. It is a recording medium recording a combine control program that controls a combine having a mowing device that mows the planting grains of a package,
The combine control program is configured to realize a direction change control function for controlling the direction change of the combine in a computer,
When the combine performs a direction change in order to mow the planted grains of the corners in the uncut area of the pavement, the direction change control function is a corner, which is a direction change method including a mowing and turning operation of turning while mowing the planted grains. A recording medium having a combine control program recorded thereon, wherein the combine is controlled so that the direction change of the combine is performed by a special direction change of the part. It is a combine control method that controls a combine having a mowing device that mows the planted grains of a package,
And a direction change control step for controlling the direction change of the combine,
When the combine performs a direction change in order to mow the cropped grains of the corners in the uncut area of the pavement, in the direction change control step, a direction change method including a mowing and turning operation of turning while mowing the cropped grains The combine control method, wherein the combine is controlled so that the direction change of the combine is performed by a special direction change for a corner part.

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