WO2020026650A1

WO2020026650A1 - Automatic travel control system, automatic travel control method, automatic travel control program, and storage medium

Info

Publication number: WO2020026650A1
Application number: PCT/JP2019/025304
Authority: WO
Inventors: 阪口和央; 佐野友彦; 吉田脩; 中林隆志; 川畑翔太郎
Original assignee: 株式会社クボタ
Priority date: 2018-08-01
Filing date: 2019-06-26
Publication date: 2020-02-06

Abstract

An automatic travel control system for a harvesting machine that harvests crops in a farm field while automatically travelling, and that accumulates the harvested crops in an accumulation unit is provided with: a route setting unit which sets a travel route for automatic travel; an automatic travel control unit which, on the basis of the position of a machine body 10 and the travel route, performs automatic travel control for the machine body 10; a state detection unit which detects the state of the harvesting machine; and an interruption determination unit which can determine interruption of automatic travel on the basis of the result of detection performed by the state detection unit. The route setting unit, when interruption of automatic travel has been determined by the interruption determination unit, generates a mid-work route Pt for moving to a mid-work position DP on the basis of the mid-work position DP for work after interruption of automatic travel in the farm field, a position WP of the machine body 10 when interruption of automatic travel was determined, and a harvest status of the farm field.

Description

Automatic traveling control system, automatic traveling control method, automatic traveling control program, and storage medium

The present invention relates to an automatic travel control system for a harvester that harvests crops in a field while traveling automatically and stores the harvested crop in a storage unit.

In the work vehicle automatic traveling system disclosed in Patent Document 1, the harvester harvests crops in a field while automatically traveling along a traveling path calculated in advance. When discharging the harvest stored in the storage unit, the harvester separates from the travel route and arrives at an intermediate work position (the “parking position for harvest discharge” in the literature). Is selected as a work route on the way ("discharge route" in the literature), and the vehicle automatically travels along the work route on the way.

WO2018 / 042853

By the way, in Patent Document 1, a traveling route of a harvested work site is selected as a work route on the way. However, the traveling route used as an intermediate work route is calculated in advance on the assumption that crops in the field are harvested. Since the position and shape of the unworked land in the field before harvesting constantly change depending on the harvesting situation in the field, the halfway work route disclosed in Patent Document 1 may not always be optimal.

In view of the above-described circumstances, an object of the present invention is to provide an automatic traveling control system that can generate an optimal halfway work route according to the position of a machine body and a harvesting situation in a field.

An automatic traveling control system according to the present invention is an automatic traveling control system for a harvester that harvests crops in a field while traveling automatically and stores the harvested crop in a storage unit, wherein the harvesting machine automatically travels. A route setting unit that sets a traveling route for performing, an automatic traveling control unit that performs automatic traveling control of the aircraft based on the position of the aircraft and the traveling route, and a state detection unit that detects a state of the harvester And an interruption determination unit that can determine the interruption of the automatic traveling based on the detection result of the state detection unit, wherein the route setting unit determines that the interruption of the automatic traveling is interrupted by the interruption determination unit. And a preset work position for working after the interruption of the automatic traveling in the field, the position of the machine when the interruption of the automatic traveling is determined, and a harvesting state of the field, based on , And generating an intermediate work passage to move to serial middle working position.

According to the present invention, an intermediate work route is generated at the time when the interruption of the automatic traveling is determined based on the detection result of the state detection unit, and the intermediate work route is the position of the aircraft when the interruption of the automatic traveling is determined. And the harvest condition of the field. Therefore, as compared with a configuration in which the traveling route calculated in advance is used as the halfway work route, the distance of the halfway work route is shorter, and the optimum halfway work according to the position and shape of the unworked land before harvesting in the field is performed. A route is generated. As a result, an automatic traveling control system that can generate an optimal halfway work route according to the position of the machine body and the harvest situation in the field is realized.

The technical features of the automatic cruise control system described above are also applicable to an automatic cruise control program. Therefore, in the present invention, the automatic driving control program can also be covered by the right. Furthermore, a storage medium such as an optical disk, a magnetic disk, or a semiconductor memory in which the automatic cruise control program having this technical feature is stored can be a target of the right. The automatic traveling control program in this case is an automatic traveling control program for a harvester that harvests crops in a field while traveling automatically and stores the harvested product in a storage unit, wherein the harvester is the automatic traveling control program. A route setting function for setting a traveling route for traveling, an automatic traveling control function for performing automatic traveling control of the aircraft based on the position of the aircraft and the traveling route, and a state detection for detecting a state of the harvester. A function, an interruption determination function capable of determining the interruption of the automatic traveling based on the detection result of the state detection function, and when the interruption of the automatic traveling is determined by the interruption determination function, the automatic traveling in the field is On the basis of a preset work position for working after the suspension, a position of the aircraft when the suspension of the automatic traveling is determined, and a harvest condition in the field, A middle working path generation function of generating an intermediate work passage to move to work position, characterized by causing a computer to execute the.

In addition, the technical features of the above-described automatic cruise control system and automatic cruise control program can be applied to the automatic cruise control method. For this reason, the present invention can also cover the automatic driving control method. The automatic traveling control method in this case is an automatic traveling control method for a harvester that harvests crops in a field while traveling automatically and stores the harvested crop in a storage unit, wherein the harvester is the automatic traveling control method. A route setting step of setting a traveling route for traveling, an automatic traveling control step of performing automatic traveling control of the aircraft based on a position of the aircraft and the traveling route, and a state detection of detecting a state of the harvester A step, an interruption determination step capable of determining the interruption of the automatic traveling based on the detection result of the state detection step, and when the interruption of the automatic traveling is determined by the interruption determination step, the automatic traveling in the field is determined. An intermediate work position set in advance to work after the interruption, a position of the body when the interruption of the automatic traveling is determined, and a harvesting state of a field, , A middle working path generating step of generating an intermediate work passage to move to the middle working position, characterized in that it is included.

In the present invention, it is preferable that the route setting unit generates the midway work route by adding a condition of the body at the time when the interruption of the automatic traveling is determined to a condition.

With this configuration, the orientation of the machine is taken into account when generating the work route on the way. For this reason, for example, at the position of the fuselage when the interruption of the automatic traveling is determined, if the route heading in the direction opposite to the direction of the fuselage is the shortest halfway work route, if the area of the already-worked place is sufficient In addition, a work route on the way of the aircraft turning 180 degrees at the current position can be generated. On the other hand, if the size of the existing work area is not sufficient, the aircraft may turn while turning back with the reverse running, but such a turn may take time to warp or roughen the field. Or there is a risk of In such a case, even if the route is a circuitous route, the route that advances without changing the direction of the body is the optimal halfway work route. In this way, the route setting unit can generate an optimal halfway work route according to the actual condition of the field, taking into account the orientation of the machine.

In the present invention, it is preferable that the route setting unit obtains, as the harvest status of the field, position information of an unworked place where the harvesting work in the field has not been completed yet.

According to this configuration, the shape of the unworked area can be easily grasped based on the position information of the unworked area. Therefore, the route setting unit can generate an optimal halfway work path while bypassing the unworked area.

In the present invention, the route setting unit determines whether or not there is an unworked land where the harvesting work in the field has not yet been completed, on a straight line connecting the current position of the machine and the intermediate work position, If the unworked land does not exist on a straight line, the intermediate work route is generated so as to approximate the straight line, and if the unworked land exists on the straight line, Calculate the corner position of the nearest corner from the current position, and then determine whether or not the unworked area exists on another straight line connecting the corner position and the halfway work position, If the unworked area does not exist on a straight line, the intermediate work path is generated from the current position, the angular position, and the intermediate work position, and if the unworked area exists on the another straight line, And the unworked area does not exist. Until it finds a straight line it is preferable to repeat these operations.

With this configuration, by repeatedly detecting the corners of the un-worked area, a work path halfway around the un-worked area is easily generated. In addition, with the configuration in which the halfway work route connecting the current position and the halfway work position passes through the corner position, the halfway work route is generated along the outer periphery of the unworked place, and the distance of the halfway work route is reduced.

In the present invention, when the route setting unit calculates a corner position of a corner closest to the current position, the route setting unit calculates a corner position of a corner closest to the traveling direction of the aircraft from the current position. Is preferably calculated.

With this configuration, calculation of the corner in the direction opposite to the traveling direction is prevented, and an excessive sharp turn of the harvester is avoided.

In the present invention, the state detection unit includes a storage measurement unit that is provided in the storage unit and that measures a storage amount of the harvest stored in the storage unit. It is preferable that the interruption determination unit determines the interruption of the automatic traveling when a set amount of the harvest is stored in the storage unit.

With this configuration, since the storage amount of the kernel in the storage unit is detected by the storage measurement unit, the interrupt determination unit can determine whether to stop the automatic traveling before the storage of the kernel in the storage unit is full. .

In the present invention, the state detecting unit includes a fuel measuring unit provided in the fuel tank and measuring a remaining amount of the fuel stored in the fuel tank, and replenishing the fuel tank with the fuel at the intermediate work position. Preferably, a possible replenishment position is included, and when the remaining amount of fuel stored in the fuel tank falls below a set amount, the interruption determination unit preferably determines the interruption of the automatic traveling.

According to this configuration, the fuel measuring unit detects the remaining amount of fuel in the fuel tank, so that the interruption determining unit can determine whether to stop the automatic driving before the fuel runs out.

Another feature of the automatic travel control system according to the present invention is an automatic travel control system for a harvester that harvests crops in a field while traveling automatically and stores the harvested crop in a storage unit. A route setting unit that sets a traveling route for the aircraft to perform automatic traveling; and an automatic traveling control unit that performs automatic traveling control of the aircraft based on the position of the aircraft and the traveling route. The unit calculates the return position in the travel route based on the halfway work position and the harvesting status of the field after the automatic running is interrupted and the work is performed at a preset halfway work position in the field. In addition, a return route for moving to the return position is generated based on the return position and the harvest condition in the field.

According to the present invention, the return route is generated in consideration of the work position on the way and the harvest status of the field. For this reason, the distance of the return route is shorter than the configuration in which the traveling route calculated in advance before the harvest in the field is used as the return route, and the optimal distance is determined according to the position and shape of the unworked land before the harvest in the field. Return path is generated. Further, in the present invention, the position where the automatic traveling is interrupted does not need to be the return position, and the route setting unit can calculate the optimum return position according to the work position on the way and the harvest status of the field. As a result, an automatic traveling control system capable of generating an optimal return route according to the position of the machine body and the harvest situation in the field is realized.

別 Further, the other technical features of the above-described automatic cruise control system can be applied to an automatic cruise control program. Therefore, in the present invention, an automatic driving control program having this technical feature can be covered by the right. Furthermore, a storage medium such as an optical disk, a magnetic disk, or a semiconductor memory in which the automatic cruise control program having this technical feature is stored can be a target of the right. The automatic traveling control program in this case is an automatic traveling control program for a harvester that harvests crops in a field while traveling automatically and stores the harvested product in a storage unit, wherein the harvester is the automatic traveling control program. A route setting function for setting a traveling route for performing traveling, an automatic traveling control function for performing automatic traveling control of the aircraft based on the position of the aircraft and the traveling route, and in the field where the automatic traveling is interrupted. After the work is performed at the preset intermediate work position, the return position in the traveling route is calculated based on the intermediate work position and the harvest condition of the field, and based on the return position and the harvest condition of the field. And causing the computer to execute a return path generation function of generating a return path for moving to the return position.

In addition, the other technical features of the above-described automatic cruise control system and automatic cruise control program can be applied to the automatic cruise control method. For this reason, the present invention can also cover an automatic driving control method having this technical feature. The automatic traveling control method in this case is an automatic traveling control method for a harvester that harvests crops in a field while traveling automatically and stores the harvested crop in a storage unit, wherein the harvester is the automatic traveling control method. A route setting step of setting a traveling route for performing traveling, an automatic traveling control step of performing automatic traveling control of the aircraft based on a position of the aircraft and the traveling route, and the automatic traveling is interrupted in a field. After the work is performed at the preset intermediate work position, the return position in the traveling route is calculated based on the intermediate work position and the harvest condition of the field, and based on the return position and the harvest condition of the field. And generating a return route for moving to the return position.

In the present invention, it is preferable that the route setting unit generates the return route by adding a condition of the machine body at the time of completion of the work at the halfway work position to the condition.

With this configuration, the orientation of the aircraft is taken into account when generating the return route. Therefore, for example, when the path going in the direction opposite to the direction of the aircraft is the shortest return path at the work position in the middle, if the area of the work site is sufficient, the return of the aircraft by 180 degrees at the current position is possible. A route can be generated. On the other hand, if the size of the work site is not sufficient, the aircraft may turn while turning back with the reverse traveling, but if such a turn is performed, it takes time to return to the traveling route while warping. Or the field may be damaged. In such a case, even if the route is a circuitous route, the route that moves forward without changing the direction of the body is the optimal return route. Thus, the route setting unit can generate an optimal return route according to the actual condition of the field, taking into account the orientation of the machine.

With this configuration, it is easy to grasp the shape of the unworked land based on the position information of the unworked land. Therefore, the path setting unit can specify the optimum point of the unworked land where the harvest should be restarted, calculate the return position based on the optimum point of restarting the harvest, and generate the return path.

In the present invention, among the ends of the traveling route set in the unworked land where the harvesting work in the field has not yet been completed, the route setting unit is the closest end on the traveling direction side of the aircraft from the halfway working position. It is preferable to calculate a portion as the return position.

This configuration prevents the calculation of the return position in the direction opposite to the traveling direction, and prevents the harvester from forcibly turning sharply. Further, according to this configuration, even if the position where the automatic driving is interrupted is located farther than the corner from the halfway operation position, the return position is set at a position closer to the intermediate operation position than the position where the automatic driving is interrupted. You. For this reason, even when the harvester moves to the position where the automatic traveling has been interrupted, the harvester can move with the harvesting operation, and the harvesting operation is performed efficiently.

In the present invention, the route setting unit determines whether or not there is an unworked land on which the harvesting work in the field has not yet been completed, on a straight line connecting the halfway work position and the return position, If the unworked land does not exist, the return route is generated so as to approximate the straight line, and if the unworked land exists on the straight line, the work position in the middle of the unworked land Calculate the corner position of the nearest corner from, and then determine whether or not the unworked land exists on another straight line connecting the corner position and the return position, and on the another straight line If the unworked land does not exist, the return path is generated from the halfway work position, the corner position, and the return position, and if the unworked land exists on the another straight line, the unworked land is generated. Find another straight line with no land It is preferable to repeat these operations until the.

With this configuration, by repeatedly detecting the corners of the un-worked area, a return path having a shape bypassing the un-worked area is easily generated. Also, with a configuration in which the return path connecting the halfway work position and the return position passes through the corner position, a return path is generated along the outer periphery of the unworked place.

When the route setting unit calculates the corner position of the corner closest to the halfway work position, the route setting unit calculates the corner position of the closest corner on the traveling direction side of the aircraft from the halfway work position. Is preferably calculated.

With this configuration, the calculation of the angular position in the direction opposite to the traveling direction is prevented, and the aircraft can turn around the unworked ground along the angular position of the unworked ground without performing an excessive sharp turn.

In the present invention, it is preferable that the intermediate work position includes a discharge position at which the harvest stored in the storage section can be discharged.

With this configuration, the path setting unit considers the capacity of the grain tank, etc., and returns the return position in the work target area so that the discharge path when the aircraft departs from the traveling path next time is as short as possible. Can be calculated.

In the present invention, it is preferable that the intermediate work position includes a replenishing position at which fuel can be supplied to the fuel tank.

With this configuration, the route setting unit considers the capacity of the fuel tank and the like, and sets the return position in the work target area so that the refueling route when the aircraft departs from the traveling route next time is as short as possible. It is possible to calculate.

It is a side view of a combine as an example of a harvester. It is a figure showing the outline of automatic running of a combine. FIG. 3 is a diagram illustrating a traveling route in automatic traveling. FIG. 3 is a functional block diagram illustrating a configuration of a combine control system. It is a system block diagram showing a control system in automatic running. It is a figure showing the discharge course in automatic running. It is a figure showing the discharge course in automatic running. It is a system block diagram showing a control system in automatic running. It is a figure showing a return course in automatic running. It is a figure showing a return course in automatic running. It is a figure showing another embodiment of a discharge course in automatic running. It is a figure showing another embodiment of a discharge course in automatic running. It is a figure showing another embodiment of a discharge course in automatic running.

形態 An embodiment for carrying out the present invention will be described with reference to the drawings. In the following description, the direction of arrow "F" shown in FIG. 1 is the forward direction of the aircraft, and the direction of arrow "B" is the backward direction of the aircraft unless otherwise specified. The direction of arrow "U" shown in FIG. 1 is the upward direction, and the direction of arrow "D" is the downward direction.

[Overall structure of combine]
As shown in FIG. 1, an ordinary combine which is one form of a harvester includes a body 10, a crawler-type traveling device 11, an operating unit 12, a threshing device 13, a grain tank 14 as a storage unit, a harvesting device H , A transport device 16, a grain discharging device 18, and a vehicle position detecting module 80.

The traveling device 11 is provided at a lower part of the combine. The combine can be driven by the traveling device 11 by itself.

運転 Further, the operating unit 12, the threshing device 13, and the grain tank 14 are provided above the traveling device 11, and these are configured as an upper portion of the body 10. A driver who drives the combine or a monitor who monitors the work of the combine can board the driving unit 12. Usually, the driver and the supervisor are concurrently used. When the driver and the monitor are different persons, the monitor may monitor the combine operation from outside the combine. That is, the monitor in the present invention includes a driver.

The grain discharge device 18 is connected to a lower rear portion of the grain tank 14. The vehicle position detection module 80 is attached to the upper front part of the driving unit 12.

The harvesting device H is provided at the front of the combine. The transport device 16 is provided adjacent to and behind the harvesting device H. Further, the harvesting device H has a reaper 15 and a reel 17. The cutting device 15 cuts crops in the field. The crop is, for example, planted grain culm such as rice, but may be soybean or corn. Further, the reel 17 scrapes the crop to be harvested while rotating and driving. With this configuration, the harvesting device H harvests cereals in the field. Then, the combine is capable of harvesting traveling in which the harvester 15 travels by the traveling device 11 while harvesting crops in the field.

Thus, the combine has the cutting device 15 for cutting crops in the field.

作物 The crop (for example, the harvested culm) cut by the cutting device 15 is transferred to the threshing device 13 by the transfer device 16. In the threshing device 13, the cut crop is threshed. Grains as harvested products obtained by threshing are stored in a grain tank 14. The grains stored in the grain tank 14 are discharged out of the machine by a grain discharging device 18 as necessary.

運転 The operating unit 12 is provided with the communication terminal 2. The communication terminal 2 is configured to be able to display various information. In the present embodiment, the communication terminal 2 is fixed to the driving unit 12. Note that the communication terminal 2 may be configured to be detachable from the driving unit 12 or may be located outside the combine.

コン As shown in FIG. 2, the combine automatically travels along a travel route set in a field. The own vehicle position detection module 80 is used to detect the own vehicle position. The vehicle position detection module 80 includes a satellite navigation module 81 and an inertial navigation module 82. The satellite navigation module 81 receives a GNSS (Global Navigation / Satellite / System) signal (including a GPS signal) from the artificial satellite GS and outputs positioning data for calculating the position of the own vehicle. The inertial navigation module 82 incorporates a gyro acceleration sensor and a magnetic direction sensor, and outputs a position vector indicating an instantaneous traveling direction. The inertial navigation module 82 is used to supplement the own vehicle position calculation by the satellite navigation module 81. The inertial navigation module 82 may be installed at a different location from the satellite navigation module 81.

手順 The procedure for performing harvesting work in the field using this combine is as described below.

{Circle around (1)} First, the observer manually operates the combine and performs harvesting traveling so as to orbit along the boundary of the field at the outer peripheral portion in the field as shown in FIG. As a result, the area that has become a work site is set as the outer peripheral area SA. Then, the area left unoccupied in the outer peripheral area SA is set as the work target area CA. FIG. 2 shows an example of the outer peripheral area SA and the work target area CA.

At this time, in order to secure the width of the outer peripheral area SA to some extent, the observer makes the body 10 travel two or three times. In this traveling, the width of the outer peripheral area SA is increased by the working width of the combine every time the body 10 makes a round. First, for example, when two or three rounds of traveling are completed, the width of the outer peripheral area SA becomes about twice to three times the working width of the combine.

(4) The outer peripheral area SA is used as a space for the combine to change directions when performing harvesting traveling in the work target area CA. In addition, the outer peripheral area SA is also used as a space for movement when the harvest travel is once completed and the grain is moved to a grain discharge location, or is moved to a fuel supply location.

運搬 Note that the transport vehicle CV shown in FIG. 2 can collect and transport the kernels discharged from the combine. At the time of discharging the grain, the combine moves to the vicinity of the transport vehicle CV, and then discharges the grain to the transport vehicle CV by the grain discharging device 18.

When the outer peripheral area SA and the work area CA are set, the traveling route in the work area CA is calculated as shown in FIG. In this example, the traveling route includes a plurality of straight traveling routes extending in parallel with each other and a direction changing traveling route connecting the straight traveling routes. Note that the straight traveling route is not limited to a straight line, and may be a curved line or a combination of a curved line and a straight line. The interval between the traveling routes arranged in parallel is determined based on the work width, which is the harvest width of the harvesting device H, and the overlap for absorbing the traveling error. The calculated travel routes are sequentially set based on the work travel pattern, and the combine is automatically controlled to travel along the set travel route. FIG. 3 shows a work mode in which the direction is changed while repeatedly moving forward and backward at the corners while mowing around the work target area CA.

FIG. 4 shows a combine control system using the automatic cruise control system according to the present invention. The control system of the combine includes a control unit 5 composed of a large number of electronic control units called ECUs, and various input / output devices that perform signal communication (data communication) with the control unit 5 through a wiring network such as an in-vehicle LAN. It is configured.

The notification device 62 is a device for notifying a monitoring person or the like of a work traveling state or various warnings, and includes a buzzer, a lamp, a speaker, a display, and the like. The communication unit 66 is used for the control system of the combine to exchange data with the communication terminal 2 (see FIG. 1) or with a management computer installed at a remote place. The communication terminal 2 includes a tablet computer operated by an observer standing on a field or an observer riding in a combine, a computer installed in a home or a management office, and the like. The control unit 5 is a core element of the control system, and is shown as an aggregate of a plurality of ECUs. A signal from the vehicle position detection module 80 is input to the control unit 5 through the on-vehicle LAN.

The control unit 5 includes an output processing unit 58 and an input processing unit 57 as input / output interfaces. The output processing unit 58 is connected to various operating devices 70 via a device driver 65. The operating devices 70 include a traveling device group 71 that is a traveling-related device and a working device group 72 that is a working-related device. The traveling equipment group 71 includes, for example, steering equipment, engine equipment, transmission equipment, braking equipment, and the like. The work equipment group 72 includes power control equipment and the like in the harvest work apparatus (the harvest apparatus H, the threshing apparatus 13, the transport apparatus 16, and the grain discharge apparatus 18) as shown in FIG. Note that “steering” in the present embodiment is to change the direction of the body 10 according to the speed difference between the left and right crawlers in the crawler-type traveling device 11, but when the traveling device 11 is a wheel, the steering of the wheel itself is performed. Changing the direction of the aircraft 10 by changing the direction is also included in “steering”.

The input processing unit 57 is connected with a running state sensor group 63, a working state sensor group 64, a running operation unit 90, and the like. The running state sensor group 63 includes an engine speed sensor, an overheat detection sensor, a brake pedal position detection sensor, a shift position detection sensor, a steering position detection sensor, and the like. The traveling state sensor group 63 includes a fuel measuring unit 63A. The fuel measuring section 63A is provided on a fuel tank (not shown) mounted on the body 10, and measures the remaining amount of fuel stored in the fuel tank. The fuel measuring section 63A may be configured as a part of the state detecting section in the present invention.

The work state sensor group 64 includes a sensor that detects the drive state of the harvesting work device (the harvesting device H, the threshing device 13, the transport device 16, and the grain discharging device 18) as illustrated in FIG. Sensors for detecting the state of the particles are included. Further, the work state sensor group 64 includes a storage measurement unit 64A as a state detection unit. The storage measurement unit 64A is, for example, a load cell provided below the grain tank 14 and measures the amount of stored grains in the grain tank 14. The storage measurement unit 64A may be configured as a part of the grain tank 14.

The traveling operation unit 90 is a general term for operating tools that are manually operated by a monitor and whose operation signals are input to the control unit 5. The traveling operation unit 90 includes a main speed change operation tool, a steering operation tool, a mode operation tool, an automatic start operation tool, and the like. The main transmission operating tool is an operating tool for driving the traveling device 11 (see FIG. 1) forward or backward. The mode operation tool has a function of sending a command for switching between automatic operation and manual operation to the control unit 5. The automatic start operation tool has a function of sending a final automatic start command to start automatic traveling to the control unit 5.

The control unit 5 includes a travel control unit 51, a work control unit 52, a travel mode management unit 53, a vehicle position calculation unit 55, a notification unit 56, an interruption determination unit 59, a route generation module 4, and the like. Based on the positioning data sequentially sent from the vehicle position detection module 80, the vehicle position calculation unit 55 calculates the vehicle position that is the map coordinates (or the field coordinates) of the specific location of the aircraft 10 that is set in advance. calculate. As the own vehicle position, the position of a reference point of the body 10 (for example, the center of the vehicle body, the center of the harvesting device H shown in FIG. 1, and the like) can be set. The notification unit 56 generates notification data based on a command or the like from each functional unit of the control unit 5 and provides the notification data to the notification device 62.

The travel control unit 51 has an engine control function, a steering control function, a vehicle speed control function, and the like, and provides a control signal to the traveling equipment group 71. The work control unit 52 sends a control signal to the work equipment group 72 to control the movement of the harvesting work device (the harvesting device H, the threshing device 13, the transport device 16, the grain discharging device 18, etc.) as shown in FIG. give.

This combine can run in both automatic operation, in which harvesting is performed by automatic running, and manual operation, in which harvesting is performed by manual running. Therefore, the traveling control unit 51 includes a manual traveling control unit 51A and an automatic traveling control unit 51B. Note that the automatic driving mode is set when performing the automatic driving, and the manual driving mode is set for performing the manual driving. The switching of the traveling mode is managed by the traveling mode management unit 53. That is, the traveling mode management unit 53 is configured to be able to switch the traveling mode between an automatic traveling mode for executing automatic traveling and a manual traveling mode for executing manual traveling.

The route generation module 4 includes a traveling route setting unit 41 as a route setting unit, a discharge position setting unit 42, and a leaving position calculation unit 43. A traveling route for the combine as a harvester to perform automatic traveling is set by the traveling route setting unit 41, and the traveling route setting unit 41 generates a traveling route by a route calculation algorithm by itself. The function of the traveling route setting unit 41 for setting the traveling route in this way is the “route setting function” of the present invention. The route setting function is configured by a program executed by a computer. The method for setting the traveling route in this way is the “route setting step” of the present invention. The travel route setting unit 41 may download and use the travel route generated by the communication terminal 2 (see FIG. 1) or a remote management computer.

6) As shown in FIGS. 6 and 7, the discharge position setting unit 42 sets a discharge position DP, which is an example of an intermediate work position, at a location on the ridge where the transport vehicle CV can be laid sideways in the outer peripheral area SA. The discharge position DP is preset based on the shape of the field and the position of the transport vehicle CV, but the discharge position DP is provided at a plurality of locations in the outer peripheral area SA, and one of the plurality of discharge positions DP is appropriately selected. May be adopted. In short, the discharge position setting unit 42 sets the discharge position DP for discharging the kernel from the kernel tank 14 in the outer peripheral area SA in the field.

度合い The storage degree of the kernel in the kernel tank 14 is configured to be detectable by the storage measuring unit 64A. The interruption determination unit 59 is configured to be able to determine the interruption of the automatic traveling based on the detection result of the storage measurement unit 64A as the state detection unit. That is, when the storage amount of the grain based on the detection of the storage measurement unit 64A reaches or exceeds the set amount, the interruption determination unit 59 performs the interruption determination. Further, the interruption determination section 59 outputs the determination result to the separation position calculation section 43. When the interruption determination unit 59 determines that the automatic traveling is interrupted, the departure position calculation unit 43 calculates the departure position WP at which the departure from the traveling route on which the vehicle is traveling is started based on the current position of the aircraft 10. Then, the traveling route setting unit 41 generates, by a route calculation algorithm, a discharge route Pt for the combine to reach the discharge position DP from the separation position WP through the outer peripheral area SA. The discharge path Pt is an example of an intermediate work path. Thus, based on the interruption determination of the interruption determination unit 59, the harvester suspends the automatic traveling, separates from the traveling traveling route, and travels along the work route on the way.

When the automatic driving mode is set, automatic driving is performed based on a control block as shown in FIG. The automatic traveling control unit 51B controls the traveling equipment group 71 by generating a control signal for vehicle speed change including automatic steering and stopping. The traveling route is set by the traveling route setting unit 41, and the own vehicle position is calculated by the own vehicle position calculating unit 55. Then, the control signal relating to the automatic steering is generated such that the azimuth deviation and the positional deviation between the own vehicle position and the traveling route are eliminated. The control signal relating to the vehicle speed change is generated based on a vehicle speed value set corresponding to a forward position of a main speed change operation tool (not shown). The automatic traveling based on the control block as shown in FIG. 5 is similarly performed in the control block as shown in FIG.

When the manual traveling mode is selected, the manual traveling control unit 51A shown in FIG. 4 generates a control signal based on the operation by the monitor and controls the traveling equipment group 71, thereby realizing the manual driving. . The travel route calculated by the travel route setting unit 41 can be used for guidance for the combine to travel along the travel route even when the vehicle is operated manually.

[Generation of discharge route by automatic driving control system]
The generation of the discharge path Pt will be described with reference to FIGS. 6 and 7, an arrow in the traveling direction is shown on the side where the harvesting device H is located, and the aircraft 10 travels forward in the direction of the arrow. The same applies to FIGS. 9 to 12 described later.

(4) When the storage amount of the grain in the grain tank 14 (see FIG. 1) is full, harvesting of the crop by the harvesting device H cannot be continued. The storage amount of the grain in the grain tank 14 is calculated based on the detection value of the storage measurement unit 64A. Further, the current position of the aircraft 10 is detected based on the own vehicle position detection module 80. For this reason, when the storage amount of the grains in the grain tank 14 reaches or exceeds the set amount, the interruption determination unit 59 determines that the automatic traveling is interrupted. Then, the departure position calculation unit 43 sets the current position of the aircraft 10 as the departure position WP. 6 and 7, the discharge position DP is a point adjacent to the horizontal position of the transport vehicle CV.

The condition for generating the discharge route Pt by the traveling route setting unit 41 includes that the aircraft 10 passes only the outer peripheral area SA without passing through the work target area CA. The travel route setting unit 41 includes a preset intermediate work position for performing work after the interruption of the automatic traveling in the field, a detachment position WP as a position of the body 10 when the interruption of the automatic traveling is determined, Based on the harvesting status of, an intermediate work path for moving to the discharge position DP as an intermediate work position is generated. The function of the traveling route setting unit 41 that generates the halfway work route in this way is the “halfway work route generation function” of the present invention. The halfway work route generation function is configured by a program executed by a computer. A method for generating a halfway work route in this way is the “halfway work route generation step” of the present invention. 6 and 7 show a discharge path Pt as an intermediate work path. Then, the traveling route setting unit 41 acquires the position information of the work target area CA as an unworked place where the harvesting work in the field has not been completed yet, as the field harvest condition.

{Circle around (1)} First, the traveling route setting unit 41 attempts to generate a first straight discharge route Pt1 that can move the separation position WP and the discharge position DP linearly (or substantially linearly). At the same time, the traveling route setting unit 41 generates a first turning route Pc1 for the body 10 to enter the discharging position DP while turning. At a position before reaching the discharge position DP, one end of the first straight discharge path Pt1 is tangentially in contact with the arc of the first turning path Pc1. In addition, the traveling route setting unit 41 determines whether or not the work target area CA in the field exists on the first straight discharge route Pt1 connecting the current position (the detachment position WP) of the body 10 and the discharge position DP. . In FIG. 6, the first straight discharge path Pt1 is a path that can reach the discharge position DP without crossing the work area CA. For this reason, in FIG. 6, the first straight discharge path Pt1 is used as the discharge path Pt, and the generation of the discharge path Pt is determined. That is, when the work target area CA does not exist on the first straight discharge path Pt1, the traveling path setting unit 41 generates the discharge path Pt so as to approximate a straight line. The first turning path Pc1 has, for example, a turning radius equal to the minimum turning radius of the machine body 10, and this turning radius can be appropriately changed. A second turning path Pc2, a third turning path Pc3, and the like, which will be described later, are the same as the first turning path Pc1, and each turning path Pc may have a configuration having a different turning radius. A configuration having a turning radius of?

On the other hand, in FIG. 7, since the first straight discharge path Pt1 crosses the work target area CA, the first straight discharge path Pt1 is not used as the discharge path Pt, and the generation of the discharge path Pt is not determined.

In FIG. 7, the work target area CA as an unworked place is formed in a square shape, and the work target area CA formed in the square shape has corners P1, P2, P3, and P4. When the harvesting run of the combine in the field is performed, the shape of the work target area CA keeps changing. Therefore, the positions of the polygonal corners P1, P2, P3, and P4 in the work target area CA also change according to the harvesting situation in the field. For this reason, the traveling route setting unit 41 (see FIGS. 4 and 5) moves the aircraft 10 from the detachment position WP to the ejection position DP according to the detachment position WP, the discharge position DP, and the harvest status of the field. A discharge path Pt for automatic movement is generated. In FIG. 7, the discharge route Pt is a route that detours outside the work target area CA.

There is a corner P1 on the forward side of the body 10 relative to the separation position WP, and the corner P1 is the corner of the corners P1, P2, P3, and P4 that is closest to the separation position WP that is the current position of the body 10. It is. The corner P1 is a place where the body 10 can cut through when the body 10 goes straight without leaving the traveling route at the separation position WP. After attempting to generate the first straight discharge path Pt1, the traveling path setting unit 41 sets a first angular position C1 for the aircraft 10 to turn at a position adjacent to the corner P1 in the outer peripheral area SA. As described above, the traveling route setting unit 41 calculates the first corner position C1 of the corner P1 closest to the traveling direction of the body 10 from the current position. Then, the traveling route setting unit 41 provides a first bypass discharge route Pd1 for the body 10 to travel in the outer peripheral area SA along the outer periphery of the work target area CA over the detachment position WP and the first angular position C1. Generate At the same time, the traveling route setting unit 41 generates an arc-shaped second turning route Pc2 based on the first angular position C1. One end of the first bypass discharge path Pd1 is tangent to the arc of the second turning path Pc2. The first angular position C1 is used as a reference point when generating the second turning path Pc2. The second turning path Pc2 may be generated around the first angular position C1, or the second turning path Pc2 may be generated in a state where the first angular position C1 and the arc of the second turning path Pc2 overlap. . The first bypass discharge path Pd1 and the second turning path Pc2 are included in a part of the discharge path Pt.

After the generation of the first detour discharge path Pd1 and the second turning path Pc2, the traveling path setting unit 41 sets the first angular position C1 and the discharge position DP in a state where they extend tangentially from the arc of the second turning path Pc2. An attempt is made to generate a second straight discharge path Pt2 that can move linearly (or substantially linearly). At a position before reaching the discharge position DP, one end of the second straight discharge path Pt2 tangentially contacts on the arc of the first turning path Pc1. Further, the traveling route setting unit 41 determines whether or not the work target area CA exists on the second straight discharge route Pt2 connecting the first corner position C1 and the discharge position DP.

When the work target area CA does not exist on the second straight discharge path Pt2, the traveling path setting unit 41 determines the discharge path Pt from the current position, the separation position WP, the first corner position C1, and the discharge position DP. Generate However, in the example shown in FIG. 7, since the second straight discharge path Pt2 crosses the work target area CA, the second straight discharge path Pt2 is not used as the discharge path Pt, and the generation of the discharge path Pt is not determined. .

The corner P2 is located on the opposite side of the corner P1 from the side where the first bypass discharge path Pd1 is located. After trying to generate the second straight discharge route Pt2, the traveling route setting unit 41 sets a second angular position C2 for the aircraft 10 to turn at a position adjacent to the corner P2 in the outer peripheral area SA. Then, the travel route setting unit 41 performs the second bypass discharge for the body 10 to travel in the outer peripheral area SA along the outer periphery of the work target area CA over the first angular position C1 and the second angular position C2. A path Pd2 is generated. At the same time, the traveling route setting unit 41 generates an arc-shaped third turning route Pc3 based on the second angular position C2. One end of the second bypass discharge path Pd2 is tangent to the arc of the third turning path Pc3. The second angular position C2 is used as a reference point when generating the third turning path Pc3. The third turning path Pc3 may be generated around the second angular position C2, or the third turning path Pc3 may be generated in a state where the second angular position C2 and the arc of the third turning path Pc3 overlap. . The second bypass discharge path Pd2 and the third turning path Pc3 are included in a part of the discharge path Pt.

After the generation of the second bypass discharge path Pd2 and the third turning path Pc3, the traveling path setting unit 41 sets the second angular position C2 and the discharge position DP in a state where the second angular position C2 and the discharge position DP are extended tangentially from the arc of the third turning path Pc3. An attempt is made to generate a third straight discharge path Pt3 that can move linearly (or substantially linearly). One end of the third straight discharge path Pt3 is tangent to the arc of the first turning path Pc1. Further, the traveling route setting unit 41 determines whether or not the work target area CA exists on the third straight discharge route Pt3 connecting the second angular position C2 and the discharge position DP. In the example shown in FIG. 7, the third straight discharge path Pt3 is a path that can reach the discharge position DP without crossing the work target area CA. Therefore, the third straight discharge path Pt3 is included in a part of the discharge path Pt. Therefore, in FIG. 7, the traveling route setting unit 41 generates the discharge route Pt from the departure position WP, which is the current position, the first angular position C1, the second angular position C2, and the discharge position DP. As a result, the discharge route Pt moves from the separation position WP to the first bypass discharge route Pd1, the second turning route Pc2, the second bypass discharging route Pd2, the third turning route Pc3, the third straight discharging route Pt3, and the first turning route. It becomes a path to the discharge position DP via the order of Pc1.

As described above, the traveling route setting unit 41 attempts to create the discharge route Pt by preferentially using the straight route from the separation position WP to the discharge position DP. Then, when the work area CA exists on the straight path, the discharge path Pt is generated by searching for a straight path to the discharge position DP while inserting a detour path to the nearest corner position. In other words, when the work target area CA exists on another straight line other than the first straight discharge path Pt1 (for example, the second straight discharge path Pt2), the traveling path setting unit 41 does not include the work target area CA. The above calculation is repeated until another straight line is found.

At the detachment position WP, the combine leaves the traveling path in the work target area CA and moves to the discharge path Pt generated in the outer peripheral area SA while continuing the harvesting by the harvesting device H. Movement to the discharge route Pt is performed based on a control signal of the automatic traveling control unit 51B. That is, the automatic traveling control unit 51B leaves the outer peripheral area SA side of the traveling route while traveling, and moves to the discharge position DP while causing the harvesting device H to harvest the crop. The body 10 moves obliquely forward while traveling forward from the separation position WP toward the side where the discharge path Pt is located. Thereby, the machine body 10 can smoothly move to the discharge position DP without traveling backward, and there is no possibility that unharvested crops are stepped down by the machine body 10 at that time.

[Generation of return route by automatic driving control system]
The generation of the return route Rt will be described with reference to FIGS. When the discharge of the grain from the grain tank 14 (see FIG. 1) is completed, the harvesting of the crop by the harvesting device H can be restarted. Further, the current position of the aircraft 10 is detected based on the own vehicle position detection module 80. For this reason, after the work is performed at the discharge position DP, the separation position calculation unit 43 sets the discharge position DP as the intermediate work position as the separation position WP. The discharge position DP may be a replenishing position where fuel can be supplied to a fuel tank (not shown). In other words, the intermediate work position may include a discharge position DP at which the kernels as the harvest stored in the kernel tank 14 as the storage unit can be discharged, or refuel the fuel tank (not shown). Possible supply positions may be included.

The traveling route setting unit 41 shown in FIGS. 4 and 8 calculates the return position RP shown in FIGS. 9 and 10 based on the detachment position WP and the harvest condition of the field. As an example of a specific configuration, the traveling route setting unit 41 includes a return position calculation unit that calculates a return position RP. Then, the return position calculation unit of the traveling route setting unit 41 takes into account the capacity of the grain tank 14 and the like, so that the discharge route Pt when the aircraft 10 next leaves the traveling route becomes the shortest, for example, The return position RP in the work area CA is calculated. Note that the return position calculating unit of the traveling route setting unit 41 is an example, and the traveling route setting unit 41 and the return position calculating unit may be configured as separate modules.

That is, the traveling route setting unit 41 interrupts the automatic traveling and performs the work at the preset detachment position WP (intermediate work position) in the field, and then performs the operation based on the intermediate work position and the harvest status of the field. The return position RP in the travel route is calculated, and a return route Rt that moves to the return position RP is generated based on the return position RP and the field harvest condition. The traveling route setting unit 41 obtains, as the harvest status of the field, the position information of the work target area CA as an unworked place where the harvest work in the field has not been completed yet.

As shown in FIG. 8 and FIG. 9, the traveling route setting unit 41 includes a separation position WP among the ends of the traveling route set in an unworked area (work target area CA) where the harvesting work in the field has not yet been completed. A configuration in which the end closest to the traveling direction of the machine body 10 from the (intermediate work position) may be calculated as the return position RP. Further, as shown in FIGS. 8 and 10, the traveling route setting unit 41 may be configured to calculate the departure position WP shown in FIG. 7 as the return position RP as it is. Further, the traveling route setting unit 41 shown in FIGS. 4 and 8 considers, for example, the capacity of the grain tank 14 and the like, and sets a discharge route Pt (FIG. 6 and FIG. 7) when the aircraft 10 next leaves the traveling route. The reference position may be calculated so as to minimize the return position RP in the work area CA.

When the travel route setting unit 41 generates the return route Rt, the travel route setting unit 41 first generates the return route Rt by adding the orientation of the machine 10 at the time of completion of the work at the separation position WP (intermediate work position). I do. A first turning path Rc1 at the time of start of departure when leaving from the departure position WP is generated in front of the body 10, and a second turning path Rc2 for the body 10 to enter the return position RP while turning is generated. . At the same time, the traveling route setting unit 41 can linearly (or substantially linearly) move the first turning route Rc1 located near the departure position WP and the second turning route Rc2 located near the return position RP. The first straight return route Rt1 is attempted. Both ends of the first rectilinear return route Rt1 are tangent to the respective arcs of the first turning route Rc1 and the second turning route Rc2. In addition, the traveling route setting unit 41 determines whether or not the work target area CA in the field exists on the first straight return route Rt1 that connects the separation position WP and the return position RP. In FIG. 9, the first rectilinear return route Rt1 is a route that can reach the return position RP without crossing the work target area CA. Therefore, in FIG. 9, the first straight return route Rt1 is used as the return route Rt, and the generation of the return route Rt is determined. That is, when the work target area CA does not exist on the first straight return route Rt1, the traveling route setting unit 41 generates the return route Rt so as to approximate a straight line.

The first turning route Rc1 and the second turning route Rc2 have a turning radius equal to, for example, the minimum turning radius of the body 10, and the turning radius can be changed as appropriate. A third turning path Rc3, a fourth turning path Rc4, and the like described later are the same as the first turning path Rc1 and the second turning path Rc2, and each turning path Rc has a different turning radius. Or a configuration having the same turning radius.

On the other hand, in FIG. 10, since the first straight return route Rt1 crosses the work target area CA, the first straight return route Rt1 is not used as the return route Rt, and the generation of the return route Rt is not determined.

In FIG. 10, the work target area CA as an unworked place is formed in a square shape, and the work target area CA formed in the square shape has corner portions R1, R2, R3, and R4. When the harvesting run of the combine in the field is performed, the shape of the work target area CA keeps changing. For this reason, the positions of the polygonal corners R1, R2, R3, and R4 in the work target area CA also change according to the harvesting situation in the field. For this reason, the traveling route setting unit 41 (see FIGS. 4 and 8, the same applies hereinafter) moves from the detachment position WP to the return position RP in accordance with the detachment position WP, the return position RP, and the field harvest condition. A return route Rt for automatically moving the body 10 is generated. The function of the traveling route setting unit 41 that generates the return route Rt is the “return route generation function” of the present invention. The halfway work route generation function is configured by a program executed by a computer. The method of generating the return route Rt in this manner is the “return route generation step” of the present invention. In FIG. 10, the return route Rt is a route that detours outside the work target area CA.

There is a corner R1 on the forward side of the fuselage 10 beyond the separation position WP, and the corner R1 is the corner of the corners R1, R2, R3, and R4 that is closest to the separation position WP (intermediate work position). . After attempting to generate the first straight return route Rt1, the traveling route setting unit 41 sets a first angular position C11 for the aircraft 10 to turn at a position adjacent to the corner R1 in the outer peripheral area SA. As described above, when the traveling route setting unit 41 calculates the corner position of the corner R1 closest to the separation position WP, the traveling route setting unit 41 computes the nearest corner on the traveling direction side of the body 10 from the midway work position. The first angular position C11 of R1 is calculated. Then, the travel route setting unit 41 performs the first detour return route Rd1 for the vehicle body 10 to travel in the outer peripheral area SA along the outer periphery of the work target area CA over the detachment position WP and the first angular position C11. Generate At the same time, the traveling route setting unit 41 generates an arc-shaped third turning route Rc3 based on the first angular position C11. One end of the first detour return route Rd1 is tangent to the arc of the third turning route Rc3. The first angular position C11 is used as a reference point when generating the third turning route Rc3. The third turning path Rc3 may be generated around the first angular position C11, or the third turning path Rc3 may be generated in a state where the first angular position C11 and the arc of the third turning path Rc3 overlap. . The first detour return route Rd1 and the third turning route Rc3 are included in a part of the return route Rt.

After the generation of the first detour return route Rd1 and the third turning route Rc3, the traveling route setting unit 41 sets the first angular position C11 and the return position RP in a state where the first turning position R11 extends tangentially from the arc of the third turning route Rc3. An attempt is made to generate a second rectilinear return route Rt2 that can move linearly (or substantially linearly). At a position before reaching the return position RP, one end of the second rectilinear return path Rt2 is tangentially in contact with the arc of the second turning path Rc2. Further, the traveling route setting unit 41 determines whether or not the work target area CA exists on the second rectilinear returning route Rt2 connecting the first corner position C11 and the returning position RP.

When the work target area CA does not exist on the second rectilinear return route Rt2, the traveling route setting unit 41 determines the return route Rt from the departure position WP that is the current position, the first angular position C11, and the return position RP. Generate However, in the example shown in FIG. 10, since the second straight return route Rt2 crosses the work target area CA, the second straight return route Rt2 is not used as the return route Rt, and the generation of the return route Rt is not determined. .

A corner R2 exists on the side opposite to the side where the first detour return route Rd1 is located with respect to the corner R1. After attempting to generate the second rectilinear return route Rt2, the traveling route setting unit 41 sets a second angular position C12 for the aircraft 10 to turn at a position adjacent to the corner R2 in the outer peripheral area SA. Then, the traveling route setting unit 41 performs the second detour return for the body 10 to travel in the outer peripheral area SA along the outer periphery of the work target area CA over the first angular position C11 and the second angular position C12. A route Rd2 is generated. At the same time, the traveling route setting unit 41 generates an arc-shaped fourth turning route Rc4 based on the second angular position C12. One end of the second detour return route Rd2 is tangent to the arc of the fourth turning route Rc4. The second angular position C12 is used as a reference point when generating the fourth turning route Rc4. The fourth turning path Rc4 may be generated around the second angular position C12, or the fourth turning path Rc4 may be generated in a state where the second angular position C12 and the arc of the fourth turning path Rc4 overlap. . The second detour return route Rd2 and the fourth turning route Rc4 are included in a part of the return route Rt.

After generating the second detour return route Rd2 and the fourth turning route Rc4, the traveling route setting unit 41 sets the second angular position C12 and the return position RP in a state in which the second turning position Rc4 extends tangentially from the arc of the fourth turning route Rc4. An attempt is made to generate a third rectilinear return route Rt3 that can move linearly (or substantially linearly). At a position short of the return position RP, one end of the third rectilinear return path Rt3 is tangentially in contact with the arc of the third turning path Rc3, but in FIG. 10, the third rectilinear return path Rt3 is in the second angular position C12 ( It is linear over the arc of the fourth turning route Rc4) and the return position RP.

The traveling route setting unit 41 determines whether or not the work target area CA exists on the third rectilinear return route Rt3 connecting the second angular position C12 and the return position RP. In the example shown in FIG. 10, the third rectilinear return route Rt3 is a route that can reach the return position RP without crossing the work target area CA. Therefore, the third straight return route Rt3 is included in a part of the return route Rt. Therefore, in FIG. 10, the traveling route setting unit 41 generates the return route Rt from the departure position WP, which is the current position, the first angular position C11, the second angular position C12, and the return position RP. As a result, the return route Rt is moved from the separation position WP to the first turn route Rc1, the first detour return route Rd1, the third turn route Rc3, the second detour return route Rd2, the fourth turn route Rc4, and the third straight return route. The route becomes the return position RP via the order of Rt3.

As described above, the traveling route setting unit 41 attempts to create the return route Rt by preferentially using the straight route from the departure position WP to the return position RP. Then, when the work target area CA exists on the straight route, the return route Rt is generated by searching for a straight route to the return position RP while inserting a bypass route to the nearest corner position. In other words, when the work target area CA exists on another straight line other than the first straight return route Rt1 (for example, the second straight return route Rt2), the travel route setting unit 41 further does not include the work target area CA. The above calculation is repeated until another straight line is found.

[Another embodiment]
The present invention is not limited to the configuration exemplified in the above-described embodiment, and another representative embodiment of the present invention will be exemplified below.

(1) The discharge position DP shown in FIG. 7 is illustrated as an example of the halfway work position in the above-described embodiment. However, the halfway work position is not limited to the position for discharging the kernels. It may be a position for replenishment. In addition, although the discharge route Pt is illustrated as an intermediate work route, the intermediate work route may be, for example, a route for refueling. For this reason, the fuel supply position may be set as an intermediate work position at a location other than the discharge position DP in the field, and an intermediate work path corresponding to the fuel supply position may be set. Further, a plurality of intermediate work positions may be provided for each application in one field, and the intermediate work path may be set separately for each intermediate work position. Further, the state detection unit is not limited to the storage measurement unit 64A, and a fuel measurement unit 63A (see FIG. 4) or the like may be used. That is, a replenishing position at which fuel can be supplied to a fuel tank (not shown) may be included in the intermediate working position, or a harvested product stored in a grain tank 14 (see FIG. 1) as a storage unit may be included. A discharge position DP capable of discharging grains may be included. In addition, the state detection unit that detects the state of the harvester may include a storage measurement unit 64A that measures the storage amount of the kernel as the harvest stored in the kernel tank 14 as the storage unit. Alternatively, a fuel measuring unit 63A for measuring the remaining amount of fuel stored in the fuel tank may be included.

4 and 5 may be configured to determine the interruption of the automatic traveling based on the remaining amount of fuel in a fuel tank (not shown). That is, the interruption determination unit 59 may have any configuration that can determine the interruption of the automatic traveling based on the measurement result of the state detection unit. Accordingly, the suspension determination unit 59 may be configured to determine the suspension of the automatic traveling when the remaining amount of the fuel stored in the fuel tank falls below the set amount. Further, the travel route setting unit 41 shown in FIGS. 4 and 8 takes into account the capacity of the fuel tank and the like, and the refueling route (intermediate work route) when the aircraft 10 departs from the travel route next time becomes as short as possible. As described above, the configuration may be such that the return position RP in the work target area CA is calculated.

(2) In the above-described embodiment, when the storage amount of the kernel based on the detection of the storage measurement unit 64A (see FIGS. 4 and 5) reaches the set amount or more, the detachment position calculation unit 43 (see FIGS. 4 and 5). ) Calculates the departure position WP based on the current position of the aircraft 10, but is not limited to this embodiment. The separation position calculation unit 43 may set the separation position WP before the storage amount of the grain reaches the set amount. For example, as shown in FIG. 11, the detachment position calculation unit 43 calculates a point where the kernel in the kernel tank 14 is full (or almost full) based on the detection value of the storage measurement unit 64A, A configuration in which the separation position WP is set may be used. Then, the travel route setting unit 41 may generate a discharge route Pt, and when the machine body 10 reaches the disengagement position WP, the travel route setting unit 41 may depart from the travel route of the work target area CA and move to the discharge route Pt.

(3) In the embodiment described above, the traveling route setting unit 41 (see FIGS. 4 and 5) calculates the first corner position C1 of the corner P1 closest to the traveling direction of the body 10 from the current position, The discharge route Pt is generated based on the first corner position C1, but is not limited to this embodiment. FIG. 12 shows an example of the discharge path Pt that does not pass through the first corner position C1. The traveling path setting unit 41 attempts to generate the first turning path Pc1 and also generate the first straight discharge path Pt11 that can linearly (or substantially linearly) move between the separation position WP and the discharge position DP. After that, the traveling route setting unit 41 calculates the first angular position C1 of the corner P1 closest to the traveling direction of the body 10 and the first bypass discharge route over the departure position WP and the first angular position C1. Generate Pd11. While repeating these calculations, generation of the second straight discharge path Pt12 and generation of the third straight discharge path Pt13 accompanied by generation of the fourth turning path Pc4 are attempted, and the second bypass discharge path Pd12 and the third Each of the bypass discharge path Pd13 is generated. In addition, a second turning path Pc2, a third turning path Pc3, and a fifth turning path Pc5 are also generated. The method of generating the first to fifth turning paths Pc1 to Pc5 is the same as the method of generating the first to third turning paths Pc1 to Pc3 described above with reference to FIG. It is generated in accordance with a change in the approach direction to the ten discharge positions DP. The fourth straight discharge path Pt14 is a path that can reach the discharge position DP without crossing the work target area CA. For this reason, the traveling route setting unit 41 can generate a discharge route Pt extending from the first bypass discharge route Pd11, the second bypass discharge route Pd12, the third bypass discharge route Pd13, and the fourth straight discharge route Pt14.

However, in this case, since the body 10 travels a distance that exceeds a half circumference along the outer periphery of the work target area CA, the travel route setting unit 41 determines that the discharge route from the first detour discharge route Pd11 to the fourth straight discharge route Pt14. A configuration that does not generate Pt is also possible. In this case, the traveling route setting unit 41 determines whether or not the outer peripheral area SA leaving the leaving position WP has a turning space for the body 10. Then, when it is determined that there is a turning space in the outer peripheral area SA departing from the departure position WP, the traveling route setting unit 41 determines the nearest corner P4 from the current position toward the side opposite to the traveling direction of the aircraft 10. Is calculated. Then, the travel route setting unit 41 generates a fourth bypass discharge route Pd14 for the vehicle body 10 to travel in the outer peripheral area SA over the separation position WP and the fourth square position C4, and at the fourth square position C4. Based on this, an arc-shaped sixth turning path Pc6 that is tangent to the fourth bypass discharge path Pd14 is generated. Thereafter, the traveling route setting unit 41 moves the fourth position C4 and the discharge position DP linearly (or substantially linearly) in a state where the fourth position is extended tangentially from the arc of the sixth turning route Pc6. An attempt is made to generate the straight discharge path Pt15. At a position just before reaching the discharge position DP, one end of the fifth rectilinear discharge path Pt15 is tangent to the arc of the first turning path Pc1. The fifth straight discharge path Pt15 is a path that can reach the discharge position DP without crossing the work target area CA. Therefore, the traveling route setting unit 41 may be configured to generate a discharge route Pt that extends from the fourth bypass discharge route Pd14 to the fifth straight discharge route Pt15. With this configuration, the distance of the discharge path Pt is shorter than that of the path from the first bypass discharge path Pd11 to the fourth straight discharge path Pt14. As described above, the traveling route setting unit 41 may generate the discharge route Pt in addition to the condition of the orientation of the body 10 when the interruption of the automatic traveling is determined. In this case, when the body 10 reaches the discharge position DP, the traveling direction of the body 10 is reversed from the traveling direction of the automatic traveling. In such a case, the airframe 10 may make a U-turn immediately before the halfway operation at the discharge position DP, or the airframe 10 may make a U-turn immediately after the halfway operation at the discharge position DP. good.

(4) When the turning space as shown by the fourth detour path Pd14 in FIG. 12 is not secured in the outer peripheral area SA, the fourth detour path Pd14 does not need to be a path on which the aircraft 10 turns. good. For example, as a route that replaces the fourth bypass discharge route Pd14, a route in which the aircraft 10 moves backward until the fifth straight discharge route Pt15 is reached may be used. On the other hand, in the case where it takes time only with the reverse running, it is conceivable that the aircraft 10 makes a turn while turning back with the reverse running. However, such turning back takes a long time and warps the field. Or there is a risk of In such a case, even in the circuitous route, the body 10 is advanced without changing the direction, and the first bypass discharge route Pd11, the second bypass discharge route Pd12, the third bypass discharge route Pd13, and the fourth The discharge path Pt extending to the straight discharge path Pt14 is optimal. As described above, the traveling route setting unit 41 can generate an optimal discharge route Pt (intermediate work route) according to the actual condition of the field, taking into account the direction of the machine body 10. In addition, the traveling route setting unit 41 can generate an optimal return route Rt according to the actual condition of the field in consideration of the orientation of the machine body 10.

(5) In the above-described embodiment, the storage measurement unit 64A is provided as the state detection unit. However, the storage measurement unit 64A performs the processing of the kernel when the kernel is supplied from the threshing device 13 to the kernel tank 14. A sensor that detects the flow rate may be used.

(6) In the above-described embodiment, the discharge path Pt is generated based on round cutting as shown in FIG. 3, but the discharge path Pt is generated based on reciprocating cutting as shown in FIG. There may be. For example, in FIG. 13, a plurality of parallel lines L are generated as a travel route in the work target area CA, and the combine performs reciprocal cutting in order along the line L from one end of the field. Also in this case, the traveling route setting unit 41 calculates the departure position WP, and generates a discharge route Pt for the body 10 to pass from the departure position WP through the outer peripheral area SA to reach the discharge position DP. There may be.

(7) In the above-described embodiment, the route generation module 4 includes the traveling route setting unit 41, the discharge position setting unit 42, and the leaving position calculation unit 43, but is not limited to this embodiment. As the route setting unit, the traveling route setting unit 41, the discharge position setting unit 42, and the leaving position calculation unit 43 may be integrally configured.

(8) The first turning path Pc1, the second turning path Pc2, and the third turning path Pc3 shown in FIGS. 6, 7, 11, and 12 do not have to be independent structures. For example, the first turning path Pc1 illustrated in FIG. 6 may be configured as a part of the first straight discharge path Pt1. Further, the first swirl path Pc1 shown in FIG. 7 may be configured as a part of the third rectilinear discharge path Pt3, or the second swirl path Pc2 or the third swirl path Pc3 may be adjacent to the detour discharge path. Or may be configured as a part of a straight discharge path. The fourth turning path Pc4, the fifth turning path Pc5, and the sixth turning path Pc6 shown in FIG. 12 are the same as the first turning path Pc1 and the like.

第一 The first turning path Rc1, the second turning path Rc2, the third turning path Rc3, and the fourth turning path Rc4 shown in FIGS. 9 and 10 do not have to be independent structures. For example, the first turning route Rc1 shown in FIG. 9 may be configured as a part of the first straight return route Rt1. Further, the second turning route Rc2 shown in FIG. 10 may be configured as a part of the third straight return route Rt3, or the second turning route Rc2 and the third turning route Pc3 may be adjacent detour return routes. Or, it may be configured as a part of a straight return path.

(9) Each functional unit in the above-described embodiment may be configured as an automatic traveling control program for the harvester. This automatic running control program is stored in a storage medium such as an optical disk, a magnetic disk (for example, a hard disk), a semiconductor memory (for example, flash memory, EPROM, EEPROM, mask ROM, FeRAM, MRAM, and ReRAM), and can be read by a computer. May be. Furthermore, the processing performed by each functional unit in the above-described embodiment can be configured as an automatic traveling control method.

Note that the configuration disclosed in the above-described embodiment (including another embodiment, the same applies hereinafter) can be applied in combination with the configuration disclosed in other embodiments, as long as no contradiction occurs. The embodiment disclosed in the present specification is an exemplification, and the embodiment of the present invention is not limited thereto, and can be appropriately modified without departing from the object of the present invention.

ため Since the present invention is an automatic travel control system for a harvester, it can be used not only for a normal type combine but also for an automatic travel control system for a self-removing type combine. The present invention can also be used for an automatic traveling control system for various harvesters such as a corn harvester, a potato harvester, a carrot harvester, and a sugarcane harvester.

10: Airframe 14: Grain tank (storage section)
41: travel route setting unit (route setting unit)
51B: Automatic traveling control unit 59: Interruption determination unit 63A: Fuel measurement unit (state detection unit)
64A: Storage measurement unit (state detection unit)
CA: Work target area (non-work area)
DP: Discharge position (working position on the way)
RP: Return position WP: Release position (body position)
Pt: discharge route (work route on the way)
Rt: return route P1: corner R1: corner C1: first corner position (corner position)
C11: First corner position (corner position)

Claims

An automatic traveling control system for a harvester that harvests crops in a field while traveling automatically and stores the harvested crop in a storage unit,
A path setting unit that sets a traveling path for the harvester to perform the automatic traveling,
An automatic traveling control unit that performs automatic traveling control of the aircraft based on the position of the aircraft and the traveling route;
A state detection unit that detects a state of the harvester,
An interruption determination unit that can determine the interruption of the automatic traveling based on the detection result of the state detection unit,
The route setting unit, when the interruption of the automatic traveling is determined by the interruption determination unit, a preset intermediate work position to work after the interruption of the automatic traveling in the field, the interruption of the automatic traveling is An automatic cruise control system for generating an intermediate work route to the intermediate work position based on the position of the body at the time of the determination and a harvest situation in a field.
2. The automatic traveling control system according to claim 1, wherein the route setting unit generates the halfway work route by adding a condition of the body when the interruption of the automatic traveling is determined as a condition.
The automatic traveling control system according to claim 1 or 2, wherein the route setting unit obtains, as the harvest status of the field, positional information of an unworked place where the harvesting work in the field has not been completed yet.
The route setting unit,
On a straight line connecting the current position of the machine and the midway work position, determine whether or not there is an unworked land where the harvesting work in the field has not yet been completed,
If the unworked land does not exist on the straight line, generate the work route halfway to approximate the straight line,
When the unworked area exists on the straight line, among the unworked areas, a corner position of a corner closest to the current position is calculated, and subsequently, the corner position and the halfway work position are connected. It is determined whether or not the unworked land exists on another straight line.If the unworked land does not exist on the another straight line, the current position, the angular position, and the halfway work position are used to determine the unworked land. 4. The method according to claim 1, wherein a work route is generated halfway, and when the unworked area exists on the another straight line, these calculations are repeated until a further straight line having no unworked area is found. The automatic traveling control system according to claim 1.
5. The route setting unit according to claim 4, wherein when calculating the corner position of the corner closest to the current position, the route setting unit calculates the corner position of the closest corner on the traveling direction side of the aircraft from the current position. 6. Automatic driving control system.
The state detection unit, provided in the storage unit, includes a storage measurement unit that measures the storage amount of the harvest stored in the storage unit,
The intermediate work position includes a discharge position capable of discharging the crop stored in the storage unit,
The automatic traveling control system according to any one of claims 1 to 5, wherein the interruption determining unit determines the interruption of the automatic traveling when a set amount of harvest is stored in the storage unit.
The state detection unit includes a fuel measurement unit that is provided in a fuel tank and measures the remaining amount of fuel stored in the fuel tank.
The intermediate work position includes a replenishment position where the fuel tank can be refueled,
The automatic traveling control system according to any one of claims 1 to 6, wherein the interruption determining unit determines interruption of the automatic traveling when a remaining amount of fuel stored in the fuel tank falls below a set amount.
An automatic traveling control system for a harvester that harvests crops in a field while traveling automatically and stores the harvested crop in a storage unit,
A path setting unit that sets a traveling path for the harvester to perform the automatic traveling,
An automatic traveling control unit that performs automatic traveling control of the aircraft based on the position of the aircraft and the traveling route,
The route setting unit, after the automatic traveling is interrupted and the work is performed at a preset halfway work position in the field, the return position in the travel route based on the halfway work position and the field harvest condition. And an automatic cruise control system for calculating a return route based on the return position and the harvest condition of the field.
The automatic cruise control system according to claim 8, wherein the route setting unit generates the return route by adding a condition of the body at the time of completion of the work at the halfway work position to the condition.
The automatic travel control system according to claim 8 or 9, wherein the route setting unit obtains, as the harvest status of the field, positional information of an unworked place where the harvesting work in the field has not been completed yet.
The route setting unit returns the end of the traveling route set in an unworked area where the harvesting work in the field has not been completed yet to the end closest to the traveling direction of the aircraft from the halfway work position. The automatic travel control system according to claim 8, wherein the position is calculated as a position.
The route setting unit,
On a straight line connecting the halfway work position and the return position, it is determined whether or not there is an unworked land where the harvesting work in the field has not yet been completed,
If the unworked land does not exist on the straight line, the return path is generated to approximate the straight line,
In a case where the unworked area exists on the straight line, among the unworked areas, a corner position of a corner closest to the halfway work position is calculated, and subsequently, the corner position and the return position are connected. It is determined whether or not the unworked land exists on another straight line, and if the unworked land does not exist on the another straight line, the intermediate work position, the angular position, and the return position 12. A return route is generated, and when the unworked area exists on the another straight line, these calculations are repeated until a further straight line without the unworked area is found. Automatic traveling control system according to the paragraph.
13. The route setting unit according to claim 12, wherein when calculating a corner position of a corner closest to the halfway work position, the route setting unit calculates a corner position of a closest corner on the traveling direction side of the aircraft from the halfway work position. Automatic driving control system as described.
The automatic travel control system according to any one of claims 8 to 13, wherein the intermediate work position includes a discharge position at which the crop stored in the storage unit can be discharged.
The automatic traveling control system according to any one of claims 8 to 14, wherein the intermediate work position includes a replenishing position at which fuel can be supplied to the fuel tank.
An automatic traveling control method for a harvester that harvests crops in a field while traveling automatically and stores the harvested crop in a storage unit,
A path setting step of setting a traveling path for the harvester to perform the automatic traveling,
An automatic traveling control step of performing automatic traveling control of the aircraft based on the position of the aircraft and the traveling route;
A state detection step of detecting a state of the harvester,
An interruption determination step capable of determining interruption of the automatic traveling based on a detection result of the state detection step,
When the interruption of the automatic traveling is determined by the interruption determination step, a preset work position for working after the interruption of the automatic traveling in the field, and the interruption when the interruption of the automatic traveling is determined. An automatic traveling control method including an intermediate work route generating step of generating an intermediate work route for moving to the intermediate work position based on a position of the machine body and a harvest situation in a field.
17. The automatic traveling control method according to claim 16, wherein the intermediate traveling route is generated by adding a direction of the body when the interruption of the automatic traveling is determined in the intermediate traveling route generating step to a condition.
18. The automatic traveling control method according to claim 16 or 17, wherein the intermediate work route generation step acquires position information of an unworked place where the harvesting work in the field has not yet been completed, as the harvesting state of the field.
In the halfway work route generation step,
On a straight line connecting the current position of the machine and the midway work position, determine whether or not there is an unworked land where the harvesting work in the field has not yet been completed,
If the unworked land does not exist on the straight line, generate the work route halfway to approximate the straight line,
When the unworked area exists on the straight line, among the unworked areas, a corner position of a corner closest to the current position is calculated, and subsequently, the corner position and the halfway work position are connected. It is determined whether or not the unworked land exists on another straight line.If the unworked land does not exist on the another straight line, the current position, the angular position, and the halfway work position are used to determine the unworked land. 19. The method according to claim 16, wherein a work route is generated halfway, and when the unworked area exists on the another straight line, these calculations are repeated until a further straight line having no unworked area is found. The automatic traveling control method according to claim 1.
20. The method according to claim 19, wherein, in calculating the corner position of a corner closest to the current position in the halfway work path generating step, calculating a corner position of a corner closest to the traveling direction of the aircraft from the current position. Automatic driving control method as described.
The state detection step includes a storage measurement step of measuring the storage amount of the crop stored in the storage unit,
The intermediate work position includes a discharge position capable of discharging the crop stored in the storage unit,
The automatic travel control method according to any one of claims 16 to 20, wherein the suspension determination step determines the suspension of the automatic travel when a set amount of harvest is stored in the storage unit.
The state detection step includes a fuel measurement step of measuring the remaining amount of fuel stored in the fuel tank,
The intermediate work position includes a replenishment position where the fuel tank can be refueled,
22. The automatic traveling control method according to claim 16, wherein in the interruption determining step, if the remaining amount of fuel stored in the fuel tank falls below a set amount, it is determined that the automatic traveling is interrupted.
An automatic traveling control method for a harvester that harvests crops in a field while traveling automatically and stores the harvested crop in a storage unit,
A path setting step of setting a traveling path for the harvester to perform the automatic traveling,
An automatic traveling control step of performing automatic traveling control of the aircraft based on the position of the aircraft and the traveling route;
After the automatic traveling is interrupted and the work is performed at a preset intermediate work position in the field, the return position in the traveling route is calculated based on the intermediate work position and the harvesting status of the field, and A return route generating step of generating a return route that moves to the return position based on the return position and the harvest situation in the field.
24. The automatic traveling control method according to claim 23, wherein in the return route generation step, the return route is generated by adding a direction of the machine at the time of completion of the work at the halfway work position to a condition.
25. The automatic traveling control method according to claim 23, wherein in the return route generation step, position information of an unworked place where the harvesting work in the field has not been completed is acquired as the harvesting state of the field.
In the return route generation step, among the ends of the traveling route set in an unworked place where the harvesting work in the field has not yet been completed, the closest end on the traveling direction side of the aircraft from the halfway working position is the The automatic traveling control method according to any one of claims 23 to 25, wherein the method is calculated as a return position.
In the return route generation step,
On a straight line connecting the halfway work position and the return position, it is determined whether or not there is an unworked land where the harvesting work in the field has not yet been completed,
If the unworked land does not exist on the straight line, the return path is generated to approximate the straight line,
In a case where the unworked area exists on the straight line, among the unworked areas, a corner position of a corner closest to the halfway work position is calculated, and subsequently, the corner position and the return position are connected. It is determined whether or not the unworked land exists on another straight line, and if the unworked land does not exist on the another straight line, the intermediate work position, the angular position, and the return position 27. A return route is generated, and when the unworked land exists on the another straight line, these calculations are repeated until a further straight line without the unworked land is found. Automatic traveling control method according to the paragraph.
28. In the return route generation step, when calculating a corner position of a corner portion closest to the halfway work position, calculating a corner position of a corner portion closest to the traveling direction of the aircraft from the halfway work position. 3. The automatic travel control method according to claim 1.
29. The automatic traveling control method according to claim 23, wherein the intermediate work position includes a discharge position at which the crop stored in the storage unit can be discharged.
The automatic traveling control method according to any one of claims 23 to 29, wherein the intermediate work position includes a replenishing position at which fuel can be supplied to a fuel tank.
An automatic traveling control program for a harvester that harvests crops in a field while traveling automatically and stores the harvested crop in a storage unit,
A path setting function for setting a traveling path for the harvester to perform the automatic traveling,
An automatic traveling control function for performing automatic traveling control of the aircraft based on the position of the aircraft and the traveling route;
A state detection function for detecting the state of the harvester,
An interruption determination function capable of determining interruption of the automatic driving based on a detection result of the state detection function,
When the interruption of the automatic traveling is determined by the interruption determination function, a preset work position for working after the interruption of the automatic traveling in the field, and the interruption when the interruption of the automatic traveling is determined. An automatic traveling control program for causing a computer to execute a midway work route generation function of generating a midway work route to move to the midway work position based on a position of the machine body and a harvest situation in a field.
32. The automatic traveling control program according to claim 31, wherein the intermediate traveling route generating function generates the intermediate traveling route by adding a direction of the body when the interruption of the automatic traveling is determined to a condition.
33. The automatic traveling control program according to claim 31, wherein the halfway work route generation function acquires, as the harvesting status of the field, position information of an unworked place where the harvesting work in the field has not been completed yet.
The midway work route generation function includes:
On a straight line connecting the current position of the machine and the midway work position, determine whether or not there is an unworked land where the harvesting work in the field has not yet been completed,
If the unworked land does not exist on the straight line, generate the work route halfway to approximate the straight line,
When the unworked area exists on the straight line, among the unworked areas, a corner position of a corner closest to the current position is calculated, and subsequently, the corner position and the halfway work position are connected. It is determined whether or not the unworked land exists on another straight line.If the unworked land does not exist on the another straight line, the current position, the angular position, and the halfway work position are used to determine the unworked land. 34. A work route is generated halfway, and when the unworked place exists on the another straight line, these calculations are repeated until a further straight line without the unworked place is found. An automatic traveling control program according to one of the preceding claims.
35. The midway work route generation function according to claim 34, wherein, when calculating a corner position of a corner closest to the current position, calculating a corner position of a corner closest to the traveling direction of the aircraft from the current position. Automatic driving control program as described.
The state detection function includes a storage measurement function of measuring the storage amount of the crop stored in the storage unit,
The intermediate work position includes a discharge position capable of discharging the crop stored in the storage unit,
The automatic travel control program according to any one of claims 31 to 35, wherein the suspension determination function determines the suspension of the automatic travel when a set amount of harvest is stored in the storage unit.
The state detection function includes a fuel measurement function for measuring the remaining amount of fuel stored in the fuel tank,
The intermediate work position includes a replenishment position where the fuel tank can be refueled,
The automatic travel control program according to any one of claims 31 to 36, wherein the suspension determination function determines the suspension of the automatic traveling when the remaining amount of fuel stored in the fuel tank falls below a set amount.
An automatic traveling control program for a harvester that harvests crops in a field while traveling automatically and stores the harvested crop in a storage unit,
A path setting function for setting a traveling path for the harvester to perform the automatic traveling,
An automatic traveling control function for performing automatic traveling control of the aircraft based on the position of the aircraft and the traveling route;
After the automatic traveling is interrupted and the work is performed at a preset intermediate work position in the field, the return position in the traveling route is calculated based on the intermediate work position and the harvesting status of the field, and An automatic travel control program for causing a computer to execute a return route generation function of generating a return route that moves to the return position based on the return position and a harvest situation in a field.
39. The automatic travel control program according to claim 38, wherein the return route generation function generates the return route by adding a condition of the body at the time of completion of the work at the halfway work position to a condition.
40. The automatic travel control program according to claim 38, wherein the return route generation function acquires, as the harvest status of the field, position information of an unworked place where the harvesting work in the field has not been completed yet.
The return route generation function, among the ends of the traveling route set in the unworked land where the harvesting work in the field has not yet been completed, the closest end on the traveling direction side of the aircraft from the midway work position is 41. The automatic travel control program according to claim 38, wherein the automatic travel control program calculates the return position.
The return path generation function includes:
On a straight line connecting the halfway work position and the return position, it is determined whether or not there is an unworked land where the harvesting work in the field has not yet been completed,
If the unworked land does not exist on the straight line, the return path is generated to approximate the straight line,
In a case where the unworked area exists on the straight line, among the unworked areas, a corner position of a corner closest to the halfway work position is calculated, and subsequently, the corner position and the return position are connected. It is determined whether or not the unworked land exists on another straight line, and if the unworked land does not exist on the another straight line, the intermediate work position, the angular position, and the return position 42. A return route is generated, and when the unworked area exists on the another straight line, these calculations are repeated until a further straight line without the unworked area is found. Automatic traveling control program according to the paragraph.
43. The return route generation function calculates a corner position of a corner closest to the traveling direction of the aircraft from the halfway work position when calculating a corner position of a corner closest to the halfway work position. Automatic driving control program according to the item.
The automatic traveling control program according to any one of claims 38 to 43, wherein the intermediate work position includes a discharge position at which the crop stored in the storage unit can be discharged.
45. The automatic traveling control program according to claim 38, wherein the intermediate work position includes a replenishing position at which fuel can be supplied to a fuel tank.
A computer-readable recording medium on which the automatic traveling control program according to any one of claims 31 to 45 is recorded.