WO2022004474A1 - 収穫機、収穫機の自動走行方法、プログラム、記録媒体、システム、農作業機、農作業機の自動走行方法、方法、自動操舵管理システム - Google Patents

収穫機、収穫機の自動走行方法、プログラム、記録媒体、システム、農作業機、農作業機の自動走行方法、方法、自動操舵管理システム Download PDF

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Publication number
WO2022004474A1
WO2022004474A1 PCT/JP2021/023511 JP2021023511W WO2022004474A1 WO 2022004474 A1 WO2022004474 A1 WO 2022004474A1 JP 2021023511 W JP2021023511 W JP 2021023511W WO 2022004474 A1 WO2022004474 A1 WO 2022004474A1
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WIPO (PCT)
Prior art keywords
aircraft
aircraft position
traveling
reference direction
unit
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PCT/JP2021/023511
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English (en)
French (fr)
Japanese (ja)
Inventor
中林隆志
渡邉俊樹
佐野友彦
吉田脩
川畑翔太郎
堀内真幸
齊藤直
山岡京介
奥平淳人
Original Assignee
株式会社クボタ
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from JP2020113235A external-priority patent/JP2022011847A/ja
Priority claimed from JP2020113234A external-priority patent/JP2022011846A/ja
Priority claimed from JP2020113236A external-priority patent/JP7387544B2/ja
Priority claimed from JP2020167985A external-priority patent/JP7387572B2/ja
Application filed by 株式会社クボタ filed Critical 株式会社クボタ
Priority to KR1020227034824A priority Critical patent/KR20230029589A/ko
Priority to CN202180024559.6A priority patent/CN115361861A/zh
Publication of WO2022004474A1 publication Critical patent/WO2022004474A1/ja

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    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B69/00—Steering of agricultural machines or implements; Guiding agricultural machines or implements on a desired track
    • A01B69/007—Steering or guiding of agricultural vehicles, e.g. steering of the tractor to keep the plough in the furrow
    • A01B69/008—Steering or guiding of agricultural vehicles, e.g. steering of the tractor to keep the plough in the furrow automatic
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B69/00—Steering of agricultural machines or implements; Guiding agricultural machines or implements on a desired track
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D34/00—Mowers; Mowing apparatus of harvesters
    • A01D34/006—Control or measuring arrangements
    • A01D34/008—Control or measuring arrangements for automated or remotely controlled operation
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions

Definitions

  • the present invention relates to a harvester, an automatic traveling method of the harvester, a program, a recording medium, a system, an agricultural work machine, an automatic traveling method and method of an agricultural work machine, and an automatic steering management system.
  • the rice transplanter which is one of the agricultural work vehicles, divides the field into an outer peripheral area and a central area located inside the field, and performs seedling planting work.
  • a linear teaching traveling by manual steering is performed along the shore in the outer peripheral region before the seedling planting work is performed.
  • the direction along the teaching path obtained by the teaching run is set as the target direction (reference direction).
  • a target direction and a target travel path are used.
  • the seedling planting work is performed by automatic steering from the central area. Seedling planting work is carried out while going straight along the first target running route by automatic steering, the direction of the aircraft is changed by turning running by manual steering performed near the shore, and the target direction and the next target running again Seedling planting work is carried out by automatic steering using a route.
  • the agricultural work machine disclosed in Patent Document 2 is provided with a positioning unit capable of acquiring the position information of the machine using a navigation satellite so that the agricultural work machine runs along the reference direction calculated in the first teaching run. , Steering control is performed by the steering control unit.
  • Patent Document 3 discloses an automatic work vehicle traveling system that manages a plurality of automatically traveling agricultural work vehicles put into one field.
  • this work vehicle automatic traveling system for example, the first agricultural work vehicle and the second agricultural work vehicle capable of data communication exchange the working traveling state.
  • Each agricultural work vehicle is provided with a route element selection unit that selects a travel route element that is a travel target for automatic driving from a previously generated travel route element group.
  • the route element selection unit selects the next travel route element in consideration of both working travel conditions and both aircraft positions.
  • first farm work vehicle and the second farm work vehicle can exchange the setting parameters of the vehicle traveling equipment group and the work equipment group equipped with each other, and the parameters of the own vehicle are based on the parameters of the other vehicle. Can be adjusted.
  • one side of an unworked area of a polygonal shape formed by manual surrounding cutting is used as a reference side, and this reference side is used as a reference side for the working width (including overlap).
  • the line obtained by moving in parallel by 1/2 is calculated as the initial reference line.
  • Work on the unworked area is performed in a reciprocating running pattern that repeats straight running with automatic steering and U-turn turning running with manual steering with the initial reference line as the target running path.
  • the target route for straight running with automatic steering is calculated by translating the initial reference line inward by the working width.
  • Rice transplanters and harvesters divide the field into an outer peripheral area and a central area located inside it, and carry out farm work.
  • a linear teaching traveling is manually performed in the outer peripheral region before the seedling planting work.
  • the direction along the teaching path obtained by the teaching run is set as the target direction (reference direction).
  • the target direction and the target travel route are used.
  • the seedling planting work is performed by automatic steering from the central area. Seedling planting work is carried out while going straight along the first target travel route by automatic steering, the direction of the aircraft is changed by the turning travel performed near the shore, and the reference direction and the next target travel route are used again. Seedling planting work is carried out by automatic steering.
  • a conceivable method is to first perform teaching running in the existing work area formed by the harvester entering the field by manual steering and performing a certain harvesting work.
  • Such a method has a drawback that the running time of the harvester without the harvesting work is increased and the efficiency of the harvesting work is deteriorated.
  • an object of the present invention is to provide a harvester that can obtain a reference direction by teaching running while performing harvesting work.
  • the harvesting work of the harvester is first carried out by orbiting the field along the shore side.
  • the lap running in the place where the protrusion area protruding from the shore, the water outlet, etc. exist, the avoidance running using the reverse movement is performed to avoid these.
  • the relationship between the vehicle speed and the processing speed of the harvesting equipment may not be appropriate, and when the harvest is clogged, the aircraft is temporarily stopped or the engine is stopped in order to clear the clogging. It will be necessary to make it.
  • an object of the present invention is to provide an agricultural work machine that can obtain a reference direction required for automatic driving even if an emergency evacuation driving state occurs in teaching driving.
  • Patent Document 2 The agricultural work machine disclosed in Patent Document 2 is steered and controlled along one reference direction. Depending on the type of farm work machine, the farm work machine may not only travel along one side of the field, but may also travel along a plurality of directions according to the shape of the field. Therefore, it is desirable to flexibly use a plurality of reference directions according to the traveling state of the aircraft.
  • An object of the present invention is to provide an agricultural work machine capable of automatic steering control along a plurality of directions according to the shape of a field or the like.
  • An object of the present invention is automatic steering that enables automatic driving of an agricultural work vehicle using a standard for automatic steering that can be easily calculated without generating a traveling route for automatic driving that covers the agricultural work area in advance. To provide a management system.
  • the harvester of the present invention is generated by a machine having a traveling device, a machine position calculation unit for calculating the position of the machine using satellite positioning, and a manual operation during the harvesting operation. It was generated by a manual operation at a place away from the first machine position during the harvesting work and a first machine position acquisition unit having the machine position acquired in response to the first signal as the first machine position. Calculated using the orientation of the straight line connecting the first aircraft position and the second aircraft position as the reference orientation and the second aircraft position acquisition unit whose second aircraft position is the aircraft position acquired in response to the second signal.
  • a reference orientation calculation unit and a travel control unit that controls automatic travel of the aircraft based on the reference orientation or a travel route calculated based on the reference orientation are provided.
  • the harvester enters the field and manually operates the harvesting work.
  • the first aircraft position and the second aircraft position calculated by satellite positioning are acquired in response to the driver's operation.
  • the direction of the straight line connecting the first machine position and the second machine position acquired at intervals is calculated as the reference direction.
  • Automatic driving is started based on the calculated reference direction or the traveling route calculated based on this reference direction. That is, if the harvesting work is performed manually only while the first machine body position and the second machine body position are acquired, the harvesting work by automatic running becomes possible after that.
  • the phrase "harvesting work” here includes a state in which the aircraft is performing harvesting work while traveling and a state in which the aircraft is stopped and performing harvesting work.
  • Automatic steering using the reference direction can be realized in multiple control modes.
  • One of them is that the reference direction is set as the target direction for automatic driving, and steering is performed so as to maintain the target direction from the time when the start command for automatic driving is issued.
  • the other one is that a travel path extending in the reference direction from the aircraft position at the time when the automatic travel start command is issued is set as a target route for automatic steering, and steering is performed along this target route.
  • the steering control algorithm becomes simple.
  • the method of steering so as to eliminate the positional deviation (lateral displacement) of the aircraft with respect to the traveling path calculated by using the aircraft position by satellite positioning, and the steering by combining the positional deviation and the directional deviation are steered.
  • the traveling route is set based on the reference direction at the start of automatic traveling, and the traveling control unit automatically travels the aircraft so as to follow the traveling route. To control.
  • the teaching run for acquiring the first machine position and the second machine position is a stable run even if the harvesting work is performed at the same time. Further, in order to obtain a desired reference direction, it is necessary to acquire the second aircraft position at an appropriate aircraft position with respect to the first aircraft position. Therefore, accurate manual steering is required for manual driving when reaching the position of the second aircraft from the position of the first aircraft.
  • a display information generation unit that generates a traveling locus of the aircraft from the first aircraft position to the second aircraft position and the traveling locus are generated. It is equipped with a display device to display. In this configuration, the driver can confirm the state of driving on the traveling track displayed on the display device, and accurate driving is facilitated.
  • the display device When driving support information is displayed on the display device, the display device is constantly checked by the driver during driving, so that it is also effective as an operation input device in which the driver gives a command regarding driving to the harvester. Therefore, in one of the preferred embodiments of the present invention, the display device is a touch panel, and the manual operation for generating the first signal is a touch operation for the first button displayed on the touch panel. The manual operation for generating the second signal is a touch operation for the second button displayed on the touch panel.
  • the distance between the first aircraft position and the second aircraft position is calculated in consideration of the satellite positioning error.
  • the larger the value the higher the accuracy of orientation calculation.
  • the minimum required distance between the first aircraft position and the second aircraft position can be estimated. For this reason, in one of the preferred embodiments of the present invention, traveling for a predetermined distance or more or traveling for a predetermined time or more from the position of the first aircraft is set as a condition for generating the second signal.
  • the predetermined distance is determined from the desired reference direction calculation accuracy and the error of satellite positioning. Further, since the vehicle speed suitable for the harvesting work is almost fixed, the time for traveling a predetermined distance can be obtained in the same manner.
  • the second button is displayed on the touch panel when the above-mentioned conditions are satisfied for traveling for a predetermined distance or more or traveling for a predetermined time or more from the position of the first aircraft.
  • the display information generation unit When the driver confirms the running state of the harvester while looking at the running locus displayed on the display device in order to set the position of the second aircraft at the correct position, it is convenient if a guide sign is also displayed on the display device.
  • the harvester runs with the boundary line of the harvesting work area (field) and the line indicating the planting line of the harvested crop as a guide, so it is appropriate if the line embodying such a guideline is displayed on the display device. It is a good support for calculating the reference orientation.
  • the display information generation unit generates a marker line parallel to the boundary line of the harvesting work area or the planting line of the harvested crop, and the boundary line or the marker. The line is displayed on the display device together with the travel locus.
  • the manual operation for generating the first signal is an operation for the harvesting start operation tool for starting the harvesting operation by the harvesting device.
  • the present invention covers not only the harvester but also the automatic traveling method for the harvester.
  • the automatic traveling method of the harvester provided with the aircraft having the traveling device is generated by the aircraft position calculation step of calculating the aircraft position using satellite positioning and the manual operation during the harvesting work by manual steering.
  • the first machine position acquisition step in which the machine position acquired in response to one signal is set as the first machine position
  • a reference orientation calculated using the orientation of a straight line connecting the first aircraft position and the second aircraft position as a reference orientation and a second aircraft position acquisition step in which the aircraft position acquired in response to a signal is set as the second aircraft position.
  • It includes a calculation step and a travel control step for controlling the automatic travel of the aircraft based on the reference orientation or the travel route calculated based on the reference orientation. Also in the automatic traveling method according to the present invention, the above-mentioned action and effect in the harvester and the embodiment can be applied.
  • the program of the present invention is a program for controlling a harvester equipped with an airframe having a traveling device, and is an airframe position calculation for calculating an airframe position using satellite positioning.
  • the second aircraft position acquisition function that sets the aircraft position acquired in response to the second signal generated by manual operation at a location away from the first aircraft position as the second aircraft position, and the first aircraft position and the first aircraft position.
  • a reference orientation calculation function that calculates the orientation of a straight line connecting two aircraft positions as a reference orientation, and traveling that controls automatic travel of the aircraft based on the reference orientation or a travel route calculated based on the reference orientation. Realize the control function and the computer
  • the recording medium of the present invention is a recording medium on which a program for controlling a harvester equipped with an aircraft having a traveling device is recorded, and the position of the aircraft is positioned by using satellite positioning.
  • the first machine position acquisition function that sets the first machine position acquired in response to the first signal generated by the manual operation during the harvesting work by manual steering, and the above-mentioned machine position calculation function.
  • the second machine position acquisition function that sets the machine position acquired in response to the second signal generated by the manual operation at a place away from the first machine position during the harvesting work as the second machine position
  • the reference orientation calculation function that calculates the orientation of the straight line connecting the position of one aircraft and the position of the second aircraft as the reference orientation, and the reference orientation or the traveling route calculated based on the reference orientation of the aircraft. It records a driving control function that controls automatic driving and a program that realizes a computer.
  • the system of the present invention is a system for controlling a harvester equipped with an airframe having a traveling device, and is an airframe position calculation for calculating an airframe position using satellite positioning.
  • a reference azimuth calculation unit that calculates the azimuth of the straight line connecting the two as a reference azimuth
  • a travel control unit that controls the automatic travel of the aircraft based on the reference azimuth or the travel route calculated based on the reference azimuth.
  • the agricultural work machine of the present invention includes a machine having a traveling device and performing forward traveling and non-forward traveling, and an aircraft position calculation unit for calculating the aircraft position using satellite positioning.
  • the first aircraft position acquisition unit whose first aircraft position is the aircraft position acquired in response to the first signal generated by manual operation, and through the forward travel, or both the forward travel and the non-forward travel.
  • a second aircraft position acquisition unit whose second aircraft position is the aircraft position acquired in response to a second signal generated by a manual operation at a location moved from the first aircraft position, and the first aircraft position.
  • the reference orientation calculation unit that calculates the orientation of the straight line connecting the second aircraft position and the second aircraft position as the reference orientation, and the automatic traveling of the aircraft based on the reference orientation or the traveling route calculated based on the reference orientation. It is provided with a traveling control unit for controlling.
  • Automatic steering using the reference direction can be realized in multiple control modes.
  • One of them is that the reference direction is set as the target direction for automatic driving, and steering is performed so as to maintain the target direction from the time when the start command for automatic driving is issued.
  • the other one is that a travel path extending in the reference direction from the aircraft position at the time when the automatic travel start command is issued is set as a target route for automatic steering, and steering is performed along this target route.
  • the steering control algorithm becomes simple.
  • the method of steering so as to eliminate the positional deviation (lateral displacement) of the aircraft with respect to the traveling path calculated by using the aircraft position by satellite positioning, and the steering by combining the positional deviation and the directional deviation are steered.
  • the traveling route is set based on the reference direction at the start of automatic traveling, and the traveling control unit automatically travels the aircraft so as to follow the traveling route. To control.
  • the non-forward travel includes a reverse travel state and / or a reverse travel state
  • the travel stop state includes an engine stop state or an engine drive state.
  • an emergency evacuation running state such as a temporary stop of the machine or an engine stop occurs in order to clear the clog.
  • the teaching running is not stopped despite the occurrence of such an emergency evacuation running state, the running while performing agricultural work such as harvesting work can also be used as the teaching running. From this, in one of the preferred embodiments of the present invention, even if the forward travel is a work travel or the forward travel is a non-work travel, the first aircraft position acquisition unit is the first. The position of one machine can be acquired, and the position acquisition unit of the second machine can acquire the position of the second machine.
  • the distance between the first aircraft position and the second aircraft position is calculated in consideration of the satellite positioning error.
  • the larger the value the higher the accuracy of orientation calculation.
  • the minimum required distance between the first aircraft position and the second aircraft position is estimated. For this reason, in one of the preferred embodiments of the present invention, traveling for a predetermined distance or more or traveling for a predetermined time or more from the position of the first aircraft is set as a condition for generating the second signal.
  • the predetermined distance is determined from the desired reference direction calculation accuracy and the error of satellite positioning. Further, since the vehicle speed suitable for the mowing work is almost fixed, the time for traveling a predetermined distance can be obtained in the same manner.
  • the minimum distance between the first aircraft position and the second aircraft position acquired in teaching driving is set and the distance is calculated by the mileage of the aircraft, in order to make an appropriate judgment, move backward to the mileage. Do not include the mileage of.
  • the minimum time required for traveling between the first aircraft position and the second aircraft position acquired in the teaching operation is set, for proper determination, the minimum time is calculated. Do not include stop time. For this reason, in one of the preferred embodiments of the present invention, the reverse distance is ignored as the predetermined distance, and the stop time is ignored as the predetermined time.
  • the manual operation for generating the first signal is an operation for the work start operation tool for starting the work operation by the work device.
  • the present invention is intended not only for agricultural work machines but also for automatic traveling methods for agricultural work machines.
  • the automatic traveling method of a harvester having a traveling device and having an aircraft that performs forward traveling and non-forward traveling is generated by a machine position calculation step for calculating the machine position using satellite positioning and a manual operation.
  • the first aircraft is the first aircraft position acquisition step in which the aircraft position acquired in response to the first signal is set as the first aircraft position, and through the forward travel, or through both the forward travel and the non-forward travel.
  • the second aircraft position acquisition step with the aircraft position acquired in response to the second signal generated by the manual operation at the place moved from the position as the second aircraft position, the first aircraft position and the second aircraft A reference orientation calculation step that calculates the orientation of a straight line connecting positions as a reference orientation, and a travel control step that controls automatic travel of the aircraft based on the reference orientation or a travel route calculated based on the reference orientation. And. Also in the automatic traveling method according to the present invention, the above-mentioned action and effect on the agricultural work machine and the embodiment can be applied.
  • the program of the present invention is a program for controlling an agricultural work machine having a traveling device and having an aircraft that performs forward traveling and non-forward traveling, and performs satellite positioning.
  • the machine position calculation function that calculates the machine position using the machine
  • the first machine position acquisition function that sets the machine position acquired in response to the first signal generated by manual operation as the first machine position, and the forward traveling.
  • the second aircraft position is the aircraft position acquired in response to the second signal generated by the manual operation at the place moved from the first aircraft position through both the forward traveling and the non-forward traveling.
  • the computer realizes a travel control function that controls the automatic travel of the aircraft based on the travel route.
  • the recording medium of the present invention is a recording medium that records a program for controlling an agricultural work machine having a traveling device and having an aircraft that performs forward traveling and non-forward traveling.
  • the second aircraft position acquisition function which is the position of two aircraft
  • the reference orientation calculation function which calculates the orientation of the straight line connecting the first aircraft position and the second aircraft position as the reference orientation, and the reference orientation, or the reference.
  • a program is recorded to realize a travel control function for controlling the automatic travel of the aircraft based on a travel route calculated based on the orientation, and a computer.
  • the system of the present invention is a system for controlling an agricultural work machine having a traveling device and having an aircraft that performs forward traveling and non-forward traveling, and performs satellite positioning.
  • the machine position calculation unit that calculates the machine position using the machine
  • the first machine position acquisition part that uses the machine position acquired in response to the first signal generated by manual operation as the first machine position, and the forward traveling.
  • the second aircraft position is the aircraft position acquired in response to the second signal generated by the manual operation at the place moved from the first aircraft position through both the forward traveling and the non-forward traveling.
  • the two aircraft position acquisition unit calculates the orientation of the straight line connecting the first aircraft position and the second aircraft position as the reference orientation
  • the reference orientation is provided with a travel control unit that controls the automatic travel of the aircraft based on the travel route.
  • the agricultural work machine of the present invention has an airframe having a maneuverable traveling device, an airframe position calculation unit for calculating an airframe position using satellite positioning, and a work traveling machine.
  • a storage unit that stores a plurality of reference directions, a selection unit that selects one of the plurality of reference directions, and the reference direction or a traveling target line set based on the reference direction. It is characterized by being provided with a steering control unit that automatically controls steering of the traveling device based on the position of the machine.
  • the storage unit stores a plurality of reference directions, and the selection unit can select one of the plurality of reference directions. Therefore, it is possible to configure a plurality of reference directions to be flexibly used according to the traveling state of the aircraft, and the steering control unit steers the traveling device according to the selected reference direction among the plurality of reference directions. Can be controlled. That is, the selection unit selects a necessary reference direction from a plurality of reference directions, and the steering control unit can control the steering based on the selected reference direction. As a result, an agricultural work machine capable of automatic steering control along a plurality of directions according to the shape of the field and the like is realized.
  • a reference direction calculation unit for calculating the reference direction based on a plurality of the aircraft positions calculated while traveling in the field
  • the reference direction calculation unit is a first point in the outer peripheral region of the field.
  • the first reference direction is calculated as one of the plurality of reference directions based on the aircraft position calculated at each of the first point and the second point in the two-point running over the second point. After traveling over the first point and the second point, the first point is traveled between two points in the outer peripheral region over a third point and a fourth point different from both the first point and the second point. It is preferable to calculate the second reference direction as one of the plurality of reference directions based on the aircraft positions calculated at each of the three points and the fourth point.
  • the first reference direction and the second reference direction are calculated by repeating the running between two points for each different area in the outer peripheral area of the field. Therefore, for example, in the process of traveling in the outer peripheral region of the field, it is possible to calculate a plurality of reference directions.
  • a reference direction calculation unit for calculating the reference direction based on a plurality of the aircraft positions calculated while traveling in the field is provided, and the reference direction calculation unit is predetermined from the calculated reference direction. It is preferable that the reference azimuth, which is deviated only by the azimuth, can be calculated.
  • the predetermined orientation is preferably 90 degrees.
  • the directional deviation setting unit capable of setting the directional deviation amount based on the artificial operation is provided, and the predetermined azimuth is the directional deviation amount set by the artificial operation.
  • the passenger or the manager of the agricultural work machine operates the directional deviation setting unit to set the desired directional deviation amount, so that the reference azimuth deviates from the calculated reference azimuth by the desired azimuth. Can be calculated.
  • a reference direction calculation unit for calculating the reference direction based on a plurality of the aircraft positions calculated while traveling in the field is provided, and the reference direction calculation unit is manually operated in the outer peripheral region of the field. It is preferable to calculate the plurality of reference directions along the extending direction of at least one side of the outer periphery of the field based on the aircraft position calculated during the orbiting.
  • the reference directions can be easily calculated without imposing a burden on the passengers of the agricultural work machine.
  • the traveling target line can be configured to extend along the one side. From this, the steering control by the steering control unit is along the one side, and suitable work running is realized.
  • the aircraft orientation calculation unit for calculating the orientation of the aircraft is provided, the plurality of reference orientations having different orientations are stored in the storage unit, and the selection unit is set to the calculated orientation of the aircraft. It is preferable to select one of the plurality of reference orientations based on the above.
  • the aircraft orientation calculation unit calculates the aircraft orientation, and the reference orientation suitable for the aircraft orientation is automatically selected. Therefore, it is not necessary for the passenger or the like to bother to select the reference direction as compared with the configuration in which the reference direction is not selected based on the direction of the aircraft, and the selection of the reference direction becomes smooth.
  • the steering control unit determines that the predetermined conditions are satisfied and that the aircraft has traveled straight for a predetermined distance or a predetermined time along the reference direction selected by the selection unit. In this case, it is preferable that the traveling device can be automatically steered and controlled.
  • the steering control unit When the steering control by the steering control unit is started while the passenger of the agricultural work machine is manually steering the aircraft to go straight, the steering control unit is stable only by finely adjusting the steering amount of the traveling device. Steering control can be executed. With this configuration, since the steering control by the steering control unit is started after the aircraft has traveled straight along the reference direction for a predetermined distance or a predetermined time, stable straight traveling is possible. Further, in the present configuration, since the steering control by the steering control unit is started in a state where a predetermined condition is satisfied, the steering control is performed under appropriate conditions.
  • the predetermined conditions include that the clutch for power transmission to the working device is engaged. Further, in the present invention, it is preferable that the predetermined conditions include that the working device is located at the working position.
  • an orientation display unit capable of displaying an orientation index indicating the reference orientation selected by the selection unit is provided.
  • the passenger or manager of the agricultural work machine can easily grasp the reference direction selected by the selection unit from the plurality of reference directions on the direction display unit.
  • the directional display unit determines the display mode of the directional index depending on whether the traveling device is artificially steered or controlled or the traveling device is automatically steered. It is preferable to change it.
  • the passenger or manager of the agricultural work machine can easily grasp whether or not the steering control is performed by the steering control unit based on the display mode of the directional index.
  • the system of the present invention is a system for controlling an agricultural work machine equipped with an aircraft having a maneuverable traveling device, and uses satellite positioning to determine the position of the agricultural work machine.
  • An aircraft position calculation unit to be calculated a storage unit capable of storing a plurality of reference directions for work driving, a selection unit for selecting one of the plurality of reference directions, the selected reference direction, or the selected reference direction.
  • a steering control unit that automatically steers and controls the traveling device based on the position of the aircraft is provided so as to follow a traveling target line set based on the selected reference direction.
  • the program of the present invention is a program for controlling an agricultural work machine equipped with an airframe having a maneuverable traveling device, and is a program for controlling the airframe of the agricultural work machine by using satellite positioning.
  • the aircraft position calculation function for calculating the position
  • the storage function for storing a plurality of reference directions for work driving in the memory
  • the selection function for selecting one of the plurality of reference directions
  • the computer has a steering control function that automatically steers the traveling device based on the position of the aircraft so as to follow the orientation or the traveling target line set based on the selected reference orientation. make it happen.
  • the recording medium of the present invention is a recording medium on which a program for controlling an agricultural work machine including an airframe having a maneuverable traveling device is recorded, and satellite positioning is used.
  • a machine position calculation function for calculating the machine position of the agricultural work machine, a storage function for storing a plurality of reference directions for work driving in a memory, and a selection function for selecting one of the plurality of reference directions.
  • Steering control that automatically steers the traveling device based on the aircraft position so as to follow the selected reference directional direction or the traveling target line set based on the selected reference azimuth. It records the functions and the programs that realize the functions on the computer.
  • the method of the present invention is a method for controlling an agricultural work machine equipped with an airframe having a maneuverable traveling device, and uses satellite positioning to control the airframe of the agricultural work machine.
  • An aircraft position calculation step for calculating a position
  • a storage step for storing a plurality of reference directions for work driving in a memory
  • a selection step for selecting one of the plurality of reference directions, and the selected reference. It includes a steering control step that automatically steers and controls the traveling device based on the aircraft position so as to follow the orientation or the traveling target line set based on the selected reference orientation.
  • the automatic steering management system for the agricultural work vehicle of the present invention has the first aircraft position and the first aircraft, which are the aircraft positions of the agricultural work vehicle acquired by using satellite positioning. At least one of the combination with the second aircraft position acquired by using the satellite positioning at a place away from the position and the reference orientation which is the orientation of the straight line connecting the first aircraft position and the second aircraft position.
  • the reference information management unit that manages as reference information and the travel control unit that controls the automatic travel of the agricultural work vehicle based on the reference orientation obtained from the reference information or the travel route calculated based on the reference orientation.
  • a reference information transmission unit for transmitting the reference information read from the reference information management unit.
  • the reference orientation which is the combination of the first aircraft position and the second aircraft position acquired through teaching running in the field, or the orientation of the straight line connecting the first aircraft position and the second aircraft position. It is managed by the standard information management department as standard information. Since the reference direction can be calculated from the first aircraft position and the second aircraft position, the reference information management unit manages only the combination of the first aircraft position and the second aircraft position, or the reference calculated from the combination. Only the orientation may be used, or both may be managed.
  • Such standard information is managed by the standard information management unit and sent to the travel control unit of the agricultural work vehicle. The travel control unit performs automatic steering control based on the reference information. For example, in this field, when a plurality of agricultural work vehicles automatically run at almost the same time or at intervals of time (seasonal), the same standard information managed by the standard information management department is automatically used. Used for steering.
  • Automatic steering using the reference direction can be realized in multiple control modes.
  • One of them is that the reference direction is set as the target direction for automatic driving, and steering is performed so as to maintain the target direction from the time when the start command for automatic driving is issued.
  • the other one is that a travel path extending in the reference direction from the aircraft position at the time when the automatic travel start command is issued is set as a target route for automatic steering, and steering is performed along this target route.
  • the former control mode if a position shift occurs due to slip or the like in the middle, there is a problem that the position shift cannot be corrected, but there is an advantage that the steering control algorithm becomes simple.
  • the method of steering so as to eliminate the positional deviation (lateral displacement) of the aircraft with respect to the traveling path calculated by using the aircraft position by satellite positioning, and the steering by combining the positional deviation and the directional deviation are steered.
  • the travel path is set based on the reference direction at the start of automatic steering, and the travel control unit automatically travels the aircraft so as to follow the travel path. To control.
  • the reference information management unit receives and manages the position of the first machine and the position of the second machine as the reference information.
  • the reference information management unit calculates and manages the reference direction from the position of the first machine and the position of the second machine.
  • the reference information management unit receives and manages the reference direction calculated from the first aircraft position and the second aircraft position as the reference information. That is, at the stage when the position of the second aircraft is acquired, the reference direction is calculated and given to the reference information management unit.
  • the reference information management unit manages the reference information for each field in which the farm work vehicle works. With this configuration, the farm work vehicle can be automatically steered using the reference information in the field where the reference information is managed by the reference information management unit, without performing the teaching run.
  • the reference information management unit and the reference information transmission unit are provided in a management computer that can be connected to the farm work vehicle via a data communication line. As a result, the standard information obtained in many fields is shared with many agricultural work vehicles.
  • the automatic steering management system of the present invention can be constructed as a small-scale system using data exchange communication between a plurality of agricultural work vehicles, instead of a large-scale system using a management computer.
  • this automatic steering management system may be constructed in the main agricultural work vehicle, or this automatic steering management system may be constructed in all agricultural work vehicles, and a specific automatic steering management system may be selected and used. You may.
  • the agricultural work vehicle includes at least a first agricultural work vehicle and a second agricultural work vehicle, and the first agricultural work vehicle and the second agricultural work vehicle.
  • the reference information management unit and the reference information transmission unit are provided on at least one of the above.
  • the second agricultural work vehicle here is a general term for a plurality of agricultural work vehicles that are put into the same field in cooperation with the first agricultural work vehicle, and the second agricultural work vehicle means at least one agricultural work vehicle.
  • the preceding farm work vehicle which is the master, first performs teaching driving, obtains standard information, performs automatic driving, and then performs automatic driving.
  • the remaining farm work vehicles can be automatically driven by using the reference information received from the preceding farm work vehicle as the follow-on farm work vehicle to be a slave.
  • the following agricultural work vehicle does not need to perform teaching running, and it is not necessary to manage the reference information obtained by teaching running, so that the control system becomes simple. Therefore, in one of the preferred embodiments of the present invention, the agricultural work vehicle includes a preceding agricultural work vehicle that performs work first in the same field and a succeeding agricultural work vehicle that performs work behind the preceding agricultural work vehicle. It is notified to the succeeding farm work vehicle that the standard information by the preceding farm work vehicle is managed by the standard information management unit.
  • the reference direction In order to calculate the reference direction, it is necessary to acquire the position of the first aircraft while traveling and to acquire the position of the second aircraft after traveling a further predetermined distance. It is also possible to automatically acquire the position of the first aircraft by detecting the straight running of the vehicle body, and automatically acquire the position of the second aircraft after a predetermined distance thereafter.
  • the reference direction is calculated from the acquired first and second aircraft positions and used as a control target for automatic steering thereafter, it is important for automatic driving to obtain an appropriate reference direction. .. For this reason, it is preferable for the driver to manually acquire the position of the first machine and the position of the second machine while checking the position of the machine and the state of the machine.
  • the first machine position is acquired in response to the first signal generated by the manual operation by the driver of the farm work vehicle, and the second machine is obtained.
  • the position is acquired in response to a second signal generated by a manual operation by the driver of the farming vehicle at a location away from the first aircraft position.
  • the program of the present invention is a program for controlling an automatic steering management system for an agricultural work vehicle, and the position of the agricultural work vehicle acquired by using satellite positioning.
  • Agricultural work based on a reference information management function that manages at least one of the reference orientations as reference information, the reference orientation obtained from the reference information, or a travel route calculated based on the reference orientation.
  • the computer is provided with a reference information transmission function for transmitting the reference information managed by the reference information management function to the control unit that controls the automatic running of the vehicle.
  • the recording medium of the present invention is a recording medium for recording a program for controlling an automatic steering management system for an agricultural work vehicle, and was acquired by using satellite positioning.
  • a reference information management function that manages at least one of the reference orientations that is the orientation of a straight line connecting the aircraft position as reference information, the reference orientation obtained from the reference information, or traveling calculated based on the reference orientation.
  • the control unit that controls the automatic running of the agricultural work vehicle based on the route records a program that realizes a reference information transmission function for transmitting the reference information managed by the reference information management function and a computer. ..
  • the method of the present invention is a method for controlling an automatic steering management system for an agricultural work vehicle, and the position of the agricultural work vehicle acquired by using satellite positioning is used.
  • Agricultural work based on a reference information management step that manages at least one of the reference orientations as reference information, the reference orientation obtained from the reference information, or a travel route calculated based on the reference orientation.
  • the control unit that controls the automatic traveling of the vehicle includes a reference information transmission step for transmitting the reference information managed in the reference information management step.
  • (First Embodiment) It is a side view of the combine.
  • (First Embodiment) It is a functional block diagram of the control system concerning automatic driving.
  • (First Embodiment) It is a schematic diagram which shows the running pattern in a harvesting work.
  • (First Embodiment) It is a schematic diagram which shows the other running pattern in a harvesting work.
  • (First Embodiment) It is a schematic diagram which shows the teaching running.
  • (First Embodiment) It is a schematic diagram which shows the transition from the manual steering running to the automatic steering running.
  • (First Embodiment) It is a schematic diagram for demonstrating the basics of automatic operation control.
  • (First Embodiment) It is a flowchart which shows an example of a harvesting work run.
  • (Second Embodiment) It is a functional block diagram of the control system concerning automatic driving. (Note 421) (Second Embodiment) It is a schematic diagram which shows the teaching running. (Second Embodiment) It is a schematic diagram which shows the teaching running. (Second Embodiment) It is a schematic diagram which shows the teaching running. (Third Embodiment) It is a functional block diagram which shows the control system of an agricultural work machine. (Third Embodiment) It is a flowchart about calculation of a reference direction. (Third Embodiment) It is a top view of the field which shows the reference direction calculated by the perimeter mowing run for one round of the machine body.
  • (Third Embodiment) It is a flowchart about automatic steering control.
  • (Third Embodiment) It is a top view of the field which shows the automatic steering control of the airframe based on a reference direction.
  • (Third Embodiment) It is a top view of the field which shows the automatic steering control of the airframe based on a reference direction.
  • (Third Embodiment) It is a top view of the field which shows the automatic steering control of the airframe based on a reference direction.
  • (Third Embodiment) It is a top view of the field which shows the automatic steering control of the airframe based on a reference direction.
  • (Third Embodiment) It is a top view of the field which shows the automatic steering control of the airframe based on a reference direction.
  • (Third Embodiment) It is a top view of the field which shows the automatic steering control of the airframe based on a reference direction.
  • (Third Embodiment) It is a top view of the field which shows the automatic steering control of the airframe based on a reference direction.
  • (Third Embodiment) It is a top view of the field which shows the automatic steering control of the airframe based on a reference direction.
  • (Third Embodiment) It is a flowchart which shows the start determination routine of the automatic steering control.
  • (Third Embodiment) It is a figure which shows the direction index.
  • (Third Embodiment) It is a figure which shows the direction index.
  • (Third Embodiment) It is a figure which shows the direction index.
  • (Third Embodiment) It is a figure which shows the direction index.
  • (Fourth Embodiment) It is a schematic diagram which shows the harvesting work performed cooperatively by two combines.
  • (Fourth Embodiment) It is a schematic diagram which shows the harvesting operation which used the orbiting running and the round-trip straight running on two combines.
  • (Fourth Embodiment) It is a functional block diagram of the control system about automatic driving mounted on a combine.
  • (Fourth Embodiment) It is a flowchart which shows an example of the cooperative harvesting work run.
  • a combine that performs harvesting work by automatic steering based on the traveling path of a rice transplanter that performs seedling planting work by automatic steering based on the reference orientation obtained by teaching running and the reference orientation used by the rice transplanter. It is a schematic diagram which shows the traveling route of. (Fourth Embodiment) It is a schematic diagram which shows the automatic steering management system incorporated in the management computer of a remote place.
  • this combine includes an aircraft 1, a pair of steerable left and right crawler-type traveling devices 11, a boarding section 12, a threshing device 13, a grain tank 14, and a harvesting device 15. And a transport device 16 and a grain discharge device 18.
  • the traveling device 11 is provided at the lower part of the combine.
  • the traveling device 11 has a pair of left and right crawler traveling mechanisms, and the combine can travel in the field as a harvesting work site by the traveling device 11.
  • the traveling device 11 includes a main transmission of a hydrostatic continuously variable transmission and a gear switching type auxiliary transmission.
  • the auxiliary transmission is configured to be capable of shifting, with the number of gears for movement (non-working) and the number of gears for work traveling slower than that for movement.
  • the boarding unit 12, the threshing device 13, and the grain tank 14 are provided above the traveling device 11, and these are configured as the upper part of the machine body 1.
  • the passenger and the observer also serve concurrently.
  • the observer may monitor the work of the combine from outside the combine.
  • a drive engine (not shown) is provided below the boarding section 12.
  • the grain discharge device 18 is connected to the rear lower portion of the grain tank 14.
  • the combine is traveled by the traveling device 11 while harvesting the crops in the field by the harvesting device 15.
  • the harvesting device 15 harvests the crops in the field. Then, the combine can be run by the traveling device 11 while harvesting the crops in the field by the harvesting device 15.
  • the transport device 16 is provided adjacent to the rear side of the harvest device 15.
  • the harvesting device 15 and the transporting device 16 are supported on the front portion of the machine body 1 so as to be able to move up and down by the expansion and contraction operation of the harvesting device cylinder 15a.
  • the crops harvested by the harvesting device 15 are transported to the threshing device 13 by the transport device 16 and threshed by the threshing device 13.
  • the grain as a harvest obtained by the threshing process is stored in the grain tank 14.
  • the grains stored in the grain tank 14 are discharged to the outside of the machine by the grain discharging device 18 as needed.
  • the grain discharge device 18 is configured to swing around the vertical axis core at the rear of the machine. That is, the free end portion of the grain discharge device 18 protrudes to the lateral outside of the machine body 1 so that the crop can be discharged, and the free end portion of the grain discharge device 18 is within the range of the machine width of the machine body 1.
  • the grain discharging device 18 is configured so as to be switchable between the stored storage state and the positioned storage state.
  • a satellite positioning module 80 is provided on the ceiling of the boarding section 12.
  • the satellite positioning module 80 receives a GNSS (Global Navigation Satellite System) signal from the artificial satellite GS and outputs satellite positioning data indicating the position of the combine body.
  • Signals of GNSS include GPS, QZSS, Galileo, GLONASS, BeiDou, and the like.
  • an inertial measurement module 81 called an IMU (Inertial Measurement Unit) is also provided in the airframe 1.
  • the inertial measurement module 81 has a gyro sensor and an acceleration sensor.
  • the inertial measurement module 81 can detect the angular velocity of the turning angle of the airframe 1, and can calculate the directional change angle of the airframe 1 by integrating the angular velocity. For this reason, the measurement data measured by the inertial measurement module 81 includes data that can indicate the direction (direction) of the airframe 1.
  • the inertial measurement module 81 can measure the angular velocity of the turning angle of the machine body 1, the left-right tilt angle of the machine body 1, the angular velocity of the front-back tilt angle of the machine body 1, and the like.
  • the satellite positioning module 80 and the inertial measurement module 81 may be integrally configured.
  • FIG. 2 is a functional block diagram of a travel control system showing a function related to automatic travel control of the combine.
  • This travel control system includes a general-purpose terminal VT, which is a tablet computer capable of data communication, and a control unit 4.
  • the control unit 4 is a core element of the travel control system, and is an aggregate of a plurality of ECUs connected by an in-vehicle LAN or the like.
  • the control unit 4 has an automatic driving mode in which automatic driving control is executed, and a manual driving mode in which driving control is performed by manual operation.
  • the general-purpose terminal VT includes a touch panel 3 as a display device and a graphic user interface that manages input / output of information through the touch panel 3.
  • the screen area of the touch panel 3 includes a support image display area 3a on which a running support image is displayed and an operation image display area 3b on which software buttons, lamps, and the like are displayed.
  • the first button 31 and the second button 32 which will be described in detail later, are arranged as software buttons in the operation image display area 3b.
  • various applications for processing information regarding the harvesting work by this combine are installed in the general-purpose terminal VT.
  • One of the applications is a display information generation unit 30 that generates information to be displayed in the support image display area 3a.
  • the control unit 4 includes an aircraft position calculation unit 40, a first aircraft position acquisition unit 41, a second aircraft position acquisition unit 42, a reference direction calculation unit 43, a travel route creation unit 44, and a travel locus creation unit 45.
  • the aircraft orientation calculation unit 46 and the traveling control unit 50 are provided. Hereinafter, these may be collectively referred to as “functional unit”.
  • Signals from the satellite positioning module 80, the inertial measurement module 81, and the general-purpose terminal VT are input to the control unit 4.
  • signals such as a vehicle speed sensor, an engine torque sensor, and an obstacle detection sensor are also input to the control unit 4.
  • control unit 4 is composed of a computer device having a CPU, a communication function, and a storage function (internal recording medium, external recording medium, and input / output interface), and a predetermined computer program.
  • This computer program causes the computer device to function as the above-mentioned functional unit.
  • the computer program is recorded on the computer-readable recording medium described above. By executing this computer program, a method including a step corresponding to each of the above-mentioned functional parts is executed in the combine.
  • the aircraft position calculation unit 40 calculates the aircraft position, which is the map position coordinates of the aircraft 1, at a predetermined repetition frequency based on the satellite positioning data output from the satellite positioning module 80.
  • the travel locus creation unit 45 creates a travel locus of the aircraft 1 based on the aircraft position acquired from the aircraft position calculation unit 40 over time.
  • the created travel locus is sent to the display information generation unit 30 and image-processed so that the support image display area 3a of the touch panel 3 has a width corresponding to a linear line or a harvest width together with the combine icon. It is displayed as a band-shaped line BL.
  • the aircraft orientation calculation unit 46 calculates the orientation of the aircraft 1 based on the measurement data output by the inertial measurement module 81. When the inertial measurement module 81 is not mounted, the aircraft orientation calculation unit 46 can be configured to calculate the orientation of the aircraft 1 based on, for example, an electronic compass.
  • This combine performs teaching driving for automatic driving while performing harvesting work. For example, when the combine enters the field, the teaching run can be performed immediately or after the required posture change.
  • the first machine position acquisition unit 41 receives the first signal generated by the driver clicking (touching) the first button 31 from the general-purpose terminal VT during the harvesting work.
  • the click operation of the first button 31 means the start of the teaching run.
  • the first airframe position acquisition unit 41 acquires the airframe position at the timing of receiving the first signal from the airframe position calculation unit 40, and stores the airframe position as the first airframe position.
  • the second machine position acquisition unit 42 continues the teaching run, and when the machine 1 makes a work run to a place away from the first machine position, the driver clicks (touches) the second button 32. The second signal generated by this is received.
  • the second machine position acquisition unit 42 acquires the machine position at the timing when the second signal is received from the general-purpose terminal VT from the machine position calculation unit 40, and stores the machine position as the second machine position.
  • the click operation of the second button 32 means the end of the teaching run. It should be noted that this combine can also perform teaching running in an already-worked area where the harvesting work has already been completed or in a mixed area including the already-worked area and the unworked area.
  • the reference direction calculation unit 43 uses the direction of a straight line connecting the first machine position read from the first machine position acquisition unit 41 and the second machine position read from the second machine position acquisition unit 42 as the reference direction. Calculated as. This reference orientation is stored and used in automatic steering control.
  • the traveling route creating unit 44 has a function of calculating a straight line extending in the reference direction through the vehicle body position (the position of the vehicle body reference point such as the cutting center of the harvesting device 15) as a target line. As will be described in detail later, this target line is determined and fixed as a target path in the automatic steering control when the automatic steering start command is output based on the operation of the automatic steering starter 71.
  • the travel route creation unit 44 calculates a straight line extending in the reference direction through the vehicle body position as a target line at the time when the automatic steering start command is output, determines this target line as the target route, and fixes the target line. It may be configured to do so.
  • the travel control unit 50 has an automatic steering module 51, a manual steering module 52, and a vehicle speed control module 53.
  • the automatic steering module 51 controls the automatic traveling of the aircraft 1 by a method described later during automatic traveling.
  • the manual steering module 52 controls the traveling of the aircraft 1 based on the operation of the driver during the manual traveling.
  • the vehicle speed control module 53 controls the vehicle speed when the aircraft 1 is moving forward and backward, and the vehicle speed when the aircraft 1 is stopped.
  • the traveling device 11 of this combine is composed of a crawler type left traveling mechanism 11a and a right traveling mechanism 11b. Therefore, the traveling control unit 50 gives a shifting control signal to the left shifting mechanism 10a to adjust the speed of the left traveling mechanism 11a, and also gives a shifting control signal to the right shifting mechanism 10b to speed the right traveling mechanism 11b. To adjust.
  • the aircraft 1 is steered by driving the left traveling mechanism 11a and the right shifting mechanism 10b at different speeds.
  • the aircraft 1 changes direction (turns 90 degrees in FIG. 3) so as to follow the next side.
  • this change of direction is simplified in the figure, it is actually a turning run with reverse movement called an alpha turn (switchback turn).
  • the traveling around the field is performed by combining the linear traveling and the turning traveling.
  • the next lap will be run on the route that has entered the inside by the amount of the harvest width. In this way, by repeating the circular running inward in a spiral shape, the harvesting work running of the entire field is completed.
  • the pattern shown in FIG. 4 is a linear route for the combine that has entered the field to make a lap of about 2 to 3 laps and the inner unworked area (inner area) left by this lap. It consists of a reciprocating run that repeats the direction change at the U-turn (180 ° U-turn turn in FIG. 4).
  • the 180 ° U-turn turn is performed on the existing work area (outer peripheral area).
  • the distance from the straight path after running to the next straight path becomes large, but in the 180 ° U-turn turn using the switchback turn, that is the case.
  • the distance is short, and it is possible to have a running pattern in which a straight path that has finished running and the next straight path are adjacent to each other.
  • the automatic traveling control of the present invention is a control for traveling on this linear path by automatic steering as much as possible.
  • the linear path here includes not only a strict straight path but also a linear path consisting of a polygonal line and a path drawing a large curve.
  • the automatic traveling of the present invention is performed based on this reference direction or a traveling route as a target route calculated based on this reference direction.
  • the position of the first machine and the position of the second machine can be acquired when the machine 1 is traveling and the harvesting work is being performed, or when the machine 1 is stopped and the harvesting work is being performed. You can also do it.
  • the first aircraft position and the second aircraft position are harvested while the aircraft 1 is traveling. It is preferable to get it when.
  • FIG. 6 shows a method of determining a traveling route that is a target route for automatic steering.
  • a target line in the direction of the reference direction passing through the cutting center of the harvesting device 15 (one of the reference points of the aircraft 1 set in advance) is constantly calculated, and when automatic steering is started (1). (When the automatic steering starter 71 is operated), the target line is determined and fixed as a traveling path.
  • the travel route is determined and fixed in response to the operation of the automatic steering starter 71 by the driver. This makes it possible to start automatic driving.
  • the harvesting work operating tool Since the start of the harvesting work accompanied by the descent of the harvesting device 15 is performed by the harvesting work operating tool, when the harvesting work operating tool is used as the automatic steering starting tool 71, the start of the harvesting work and the automatic steering is one operating tool. It is possible and convenient by the operation of.
  • the target line is always calculated, and when the automatic steering is started, the target line is determined as a traveling path and is not fixed, but a reference that passes through the reference point at that time when the automatic steering is started.
  • a configuration may be adopted in which a target line in the direction of orientation is created and fixed as a traveling route.
  • Automatic steering control for automatic driving can be performed in the following three steering modes, and at least one of them is incorporated in the automatic steering module 51. When multiple modes are incorporated, they are selected and used.
  • the angle formed by the travel path (target route) extending in the reference orientation and the aircraft orientation line (the line indicating the direction of the aircraft 1 passing through the reference point of the aircraft 1) is the orientation deviation: ⁇ , and the aircraft 1 with respect to the travel route.
  • the deviation (distance from the reference point of the aircraft 1 to the traveling path) is the positional deviation: d.
  • directional deviation and misalignment are used as control inputs, and a steering control signal is output so that the directional deviation falls within the permissible directional range. If the misalignment exceeds the permissible position, priority is given. The steering control signal is output so that the misalignment falls within the allowable position range.
  • control is adopted in which the steering control signal is directly output by inputting both the misalignment and the misalignment. You may.
  • the driving route is set at the start of automatic driving.
  • the driving route is set at the start of automatic driving.
  • This mode is mainly used for fields with little slip and short straight distances.
  • the straight path after that is automatically driven by automatic steering in the above-mentioned first maneuvering mode is adopted, and when traveling on two sides orthogonal to one side, the orientation obtained by rotating the reference orientation by 90 degrees is used as the reference orientation.
  • a teaching run is performed to obtain the reference direction required for automatic steering.
  • the driver clicks the first button 31 (see FIG. 2) displayed in the operation image display area 3b of the touch panel 3 (# 11).
  • the first aircraft position which is the aircraft position at that time, is acquired (# 12).
  • the point A indicating the position of the first machine is displayed in the support image display area 3a of the touch panel 3 (# 13).
  • a band-shaped line BL showing the run trajectory of the combine from the point A is displayed together with the combine icon at the harvest width ( # 14).
  • a sign line GL indicating a line parallel to the shore or the ridge of the field is displayed in order to perform accurate teaching running.
  • a line parallel to the planting strip may be displayed as a marker line GL.
  • the end condition of the teaching run is whether the combine has traveled a predetermined distance (for example, 5 m) or more from the position of the first aircraft, or whether the predetermined time required for traveling the predetermined distance has elapsed.
  • a predetermined distance for example, 5 m
  • the second button 32 is displayed in the operation image display area 3b of the touch panel 3 (# 16).
  • the driver can confirm the teaching run by the points A and B displayed in the support image display area 3a and the running locus between them.
  • the direction of the straight line connecting the position of the first machine and the position of the second machine is calculated and stored as the reference direction (# 20).
  • the automatic steering starter 71 is used for the operation for starting the automatic running in the automatic steering. It is checked whether or not the automatic steering starter 71 has been operated (# 30).
  • step # 35Yes branch When the start of automatic steering is requested by the operation of the automatic steering starter 71 (# 35Yes branch), the vehicle jumps to step # 31, and the traveling route is determined based on the aircraft position and the reference direction at that time. It is fixed and automatic steering is started.
  • the reference direction of a different direction is stored as the reference direction
  • the reference direction having a direction close to the direction of the aircraft 1 at the time when the start of automatic steering is requested is used for determining the traveling route. Used.
  • a configuration may be adopted in which the driver selects the reference direction used for determining the traveling route.
  • the resumption of automatic steering is usually performed from the harvesting work running in which the harvesting device 15 is lowered following the direction change running (non-harvesting work running) by the manual steering in which the harvesting device 15 is raised.
  • a harvesting start operating tool that starts a harvesting operation by a harvesting device such as a harvesting device 15 may be used in combination with the automatic steering starter 71 or instead of the automatic steering starter 71.
  • the aircraft orientation calculation unit 46 for calculating the orientation of the aircraft 1 based on the measurement data of the inertial measurement module 81 is provided, but it is calculated over time by the aircraft position calculation unit 40.
  • a configuration may be adopted in which the direction of the aircraft 1 is calculated from the aircraft position.
  • Each functional unit shown in the functional block diagram of FIG. 2 may be combined with another functional unit, or one functional unit may be separated into a plurality of functional units.
  • the first machine position and the second machine position are the machine positions at the operation timings of the first button 31 and the second button 32, respectively, but instead of this, the first button It may be a representative value (average value, etc.) of a plurality of aircraft positions before and after the operation timing of the 31 and the second button 32.
  • the traveling device 11 is composed of a crawler-type left traveling mechanism 11a and a right traveling mechanism 11b, and the aircraft 1 is due to a speed difference between the left traveling mechanism 11a and the right traveling mechanism 11b.
  • a traveling device 11 in which the aircraft 1 is steered by changing the steering angle of the steering wheel may be adopted.
  • the teaching run is performed while performing the harvesting work, but it is also possible to perform the teaching running without performing the harvesting work and calculate the reference direction.
  • a system for controlling the combine may be configured by the functional unit of the control unit 4 described above.
  • FIGS. 9-12 Another embodiment of the present invention will be described with reference to FIGS. 9-12.
  • the same reference numerals may be given to the same configurations as those of the above-described embodiments, and detailed description thereof may be omitted.
  • the combine of the present embodiment is different from the combine of the above-described embodiment in the following points.
  • the second machine position acquisition unit 42 includes the teaching travel management unit 42a. Hereinafter, it will be described in detail.
  • the machine 1 in the teaching running that starts when the position of the first machine is acquired, the machine 1 is allowed to temporarily stop, stop the engine, and move backward. Compared to teaching running that allows only forward movement, the permission conditions for permitting the position of the second aircraft are more diverse.
  • the permission condition is that the mileage between the first aircraft position and the second aircraft position is equal to or greater than a predetermined value
  • the reverse distance is ignored. That is, the mileage in reverse and the forward mileage that supplements the mileage returned to the position side of the first aircraft by reverse must be excluded from the mileage for determining the condition.
  • the permission condition is that the traveling time between the first aircraft position and the second aircraft position is longer than a predetermined time
  • the temporary stop time of the aircraft 1 and the traveling time and the reverse movement of the aircraft 1 are carried out.
  • the total travel time for forward travel that compensates for the travel distance returned to the position side of the first aircraft must be excluded from the travel time for condition determination.
  • the second machine position acquisition unit 42 includes a teaching travel management unit 42a.
  • the teaching travel management unit 42a satisfies the conditions for determining the position of the second aircraft despite the special travel modes in teaching travel such as "temporary stop of the aircraft 1", “engine stop”, and "reverse”. Determine if it is possible.
  • the first machine position acquired by the first machine position acquisition unit 41 is stored in the memory address assigned to the RAM, but when the power is cut off by a key-off operation or the like, it is stored in advance. It is saved and stored in the save area of the non-volatile memory. After that, when the power supply is restored by a key-on operation or the like, the position of the first machine is read from the save area of the non-volatile memory and stored in the previous memory address.
  • maintaining the function of the RAM with a spare battery is also required to maintain the position of the first machine when the power is turned off by a key-off operation or the like.
  • maintaining the function of the RAM with a spare battery is also required to maintain the position of the first machine when the power is turned off by a key-off operation or the like.
  • Non-forward running includes a reverse running state, a running stopped state, or both. Further, the running stop state includes an engine stop state or an engine drive state.
  • the traveling mode shown in FIG. 10 is a standard traveling mode using only forward traveling.
  • the traveling mode shown in FIG. 11 is one of the non-forward traveling modes, which is a special traveling mode in which reverse traveling (indicated by a dotted arrow) is performed in the middle and then forward traveling is performed again. be.
  • the traveling mode shown in FIG. 12 is also one of the non-forward traveling modes, which is a special traveling mode in which the aircraft 1 in the middle is stopped (stopped) and then the forward traveling is performed again.
  • a special traveling mode in which the aircraft 1 in the middle is stopped (stopped) and then the forward traveling is performed again.
  • the vehicle is stopped, there are an engine drive state in which the engine is driven as it is and an engine stop state in which the engine is stopped. Both are considered valid teaching runs.
  • the reference azimuth is the direction of a straight line connecting the first aircraft position and the second aircraft position. Is calculated.
  • the automatic traveling of the present invention is performed based on this reference direction or a traveling route as a target route calculated based on this reference direction.
  • the position of the first machine and the position of the second machine can be acquired when the machine 1 is running and the harvesting work is being performed, or can be obtained when the machine 1 is not performing the harvesting work. Further, either the first machine position or the second machine position can be acquired even when the machine 1 is stopped and the harvesting work is being performed.
  • the first aircraft position and the second aircraft position are harvested while the aircraft 1 is traveling. It is preferable to get it when.
  • FIGS. 13-29 Another embodiment of the present invention will be described with reference to FIGS. 13-29.
  • the same reference numerals may be given to the same configurations as those of the above-described embodiments, and detailed description thereof may be omitted.
  • the combine of the present embodiment has the same configuration as the conventional combine of the first embodiment shown in FIG.
  • the combine of the present embodiment includes the control system shown in FIG. [Control unit configuration]
  • the control unit 230 shown in FIG. 13 is a core element of the control system of the combine, and is shown as an aggregate of a plurality of ECUs.
  • control unit 230 is a computer device having a CPU, a communication function, and a storage function (internal recording medium, or external recording medium and input / output interface), and a predetermined computer device, similarly to the control unit 4 of the first embodiment. It consists of a computer program.
  • This computer program causes the computer device to function as the above-mentioned functional unit.
  • the computer program is recorded on the computer-readable recording medium described above. By executing this computer program, a method including a step corresponding to each of the above-mentioned functional parts is executed in the combine.
  • the control unit 230 is configured to be switchable between an automatic steering mode in which automatic steering control is executed and a manual steering mode in which automatic steering control is not executed.
  • "Automatic steering control” is to set a linear traveling target line C, which will be described later, based on a predetermined direction, and control the traveling device 11 so that the aircraft 1 travels along the traveling target line C. Means.
  • the control unit 230 calculates the reference direction B as the predetermined direction. Further, the control unit 230 is configured to be able to communicate with a general-purpose terminal VT (touch panel type screen terminal).
  • VT touch panel type screen terminal
  • the reference direction B is the direction in which the aircraft 1 should go straight on the ground in the automatic steering control, and is managed by an angle value based on, for example, either north, south, east, or west.
  • the aircraft 1 can travel in one direction and in the direction opposite to one direction by 180 ° along the reference direction B.
  • the reference direction B is managed by an angle value in the range of 180 ° with respect to any of the north, south, east, and west, but the reference direction B is managed by the angle value in the range of 360 °. It may be. Alternatively, the reference direction B may be managed by a vector value.
  • the “reference direction” in the present invention is the direction in which the aircraft 1 should go straight on the ground in automatic steering control.
  • the aircraft 1 can travel in one direction and in the direction 180 ° opposite to one direction along the reference direction B, but only in one direction along the reference direction B.
  • a configuration in which the machine body 1 travels is also included in the present invention.
  • the control unit 230 includes a machine position calculation unit 231, a machine direction calculation unit 232, a reference direction calculation unit 233, a storage unit 234, a selection unit 235, a line setting unit 236, a steering control unit 237, and conditions.
  • a determination unit 238 and a determination unit 238 are provided. Similar to the first embodiment, these may be collectively referred to as "functional unit” below.
  • the signals of the satellite positioning module 80, the inertial measurement module 81, the start point setting switch 221a, and the end point setting switch 221b are input to the control unit 230.
  • signals such as a vehicle speed sensor, an engine torque sensor, and an obstacle detection sensor are also input to the control unit 230.
  • the aircraft position calculation unit 231 calculates the position coordinates of the aircraft 1 over time based on the positioning data output by the satellite positioning module 80. That is, the aircraft position calculation unit 231 calculates the aircraft position using satellite positioning. The calculated position coordinates of the aircraft 1 over time are sent to the aircraft orientation calculation unit 232 and the steering control unit 237.
  • the aircraft orientation calculation unit 232 can calculate the traveling orientation change angle of the aircraft 1 by integrating the angular velocity detected by the inertial measurement module 81. Further, the aircraft orientation calculation unit 232 can calculate the traveling speed and the traveling orientation of the aircraft 1 by time-differentiating the position coordinates of the aircraft 1 calculated over time.
  • the aircraft orientation calculation unit 232 is based on at least one of the position coordinates of the aircraft 1 calculated over time by the aircraft position calculation unit 231 and the angular velocity output by the inertial measurement module 81. Is calculated.
  • the traveling direction of the aircraft 1 calculated by the aircraft orientation calculation unit 232 is sent to the selection unit 235 and the steering control unit 237.
  • the aircraft orientation calculation unit 232 may calculate the traveling orientation of the aircraft 1 based on, for example, an electronic compass.
  • a setting switch 221 for setting the reference direction B is provided.
  • the setting switch 221 is, for example, an icon button displayed on a general-purpose terminal VT (for example, a touch-operable screen such as a liquid crystal screen or an OLED screen) provided on the boarding unit 12, and is a start point setting for setting a start point position. It has a switch 221a and an end point setting switch 221b for setting an end point position.
  • VT for example, a touch-operable screen such as a liquid crystal screen or an OLED screen
  • the position Aa of the aircraft 1 at this timing calculates the reference direction. It is sent to the section 233.
  • the position Aa is calculated by the machine body position calculation unit 231 at the timing when the start point setting switch 221a is operated.
  • the end point setting switch 221b cannot be operated.
  • the end point setting switch 221b After the passenger operates the start point setting switch 221a, when the aircraft 1 continues to travel and is separated from the position Aa by a distance beyond a preset distance, the end point setting switch 221b can be operated.
  • the start point setting switch 221a may be operable or the start point setting switch 221a may be inoperable while the aircraft 1 is traveling after the passenger operates the start point setting switch 221a.
  • the position Aa of the aircraft 1 at this timing may be sent to the reference direction calculation unit 233 again.
  • a button for erasing the memory of the position Aa and canceling the setting of the reference direction B may be displayed instead of the start point setting switch 221a.
  • the position Ab of the aircraft 1 at this timing is sent to the reference direction calculation unit 233.
  • the position Ab is calculated by the aircraft position calculation unit 231 at the timing when the end point setting switch 221b is operated.
  • the reference direction B for the work run is calculated by the reference direction calculation unit 233, and the calculated reference direction B is stored in the storage unit 234.
  • the reference direction calculation unit 233 calculates the reference direction B based on the positions of the plurality of aircraft calculated while the field is running.
  • the storage unit 234 is configured to be able to store a plurality of reference directions B for work running.
  • the storage unit 234 is not limited to the one that stores the reference direction B, and may be, for example, the one that stores the positions Aa and Ab.
  • control unit 230 is connected to the directional deviation setting unit 239.
  • the directional deviation setting unit 239 is configured so that the directional deviation amount ⁇ B can be set based on an artificial operation.
  • the directional deviation setting unit 239 is, for example, an icon button displayed on the general-purpose terminal VT provided on the boarding unit 12, but may be a dial-type switch or a lever.
  • the reference direction calculation unit 233 is configured to be able to calculate another reference direction B that is deviated by a "predetermined direction” from the calculated reference direction B.
  • the "predetermined direction” is the direction deviation amount ⁇ B set by human operation.
  • the selection unit 235 selects one of the plurality of reference directions B.
  • the selection unit 235 acquires the traveling direction of the aircraft 1 from the aircraft orientation calculation unit 232.
  • the selection unit 235 selects the reference direction B closest to the traveling direction of the aircraft 1 from the plurality of reference directions B stored in the storage unit 234.
  • the condition determination unit 238 receives signals from, for example, the main shift lever 222, the auxiliary shift switch 223, the cutting and threshing lever 224, the elevating detection unit 225, the threshing clutch 226, and the cutting clutch 227, and automatically steers based on these signals. It is configured so that "predetermined conditions" for control can be determined.
  • the determination result of the condition determination unit 238 is sent to the line setting unit 236.
  • the details of the processing of the condition determination unit 238 will be described later in [About the start determination routine].
  • the main shift lever 222, the auxiliary shift switch 223, the cutting and threshing lever 224, the elevating detection unit 225, the threshing clutch 226, and the cutting clutch 227 will also be described later in [About the start determination routine].
  • the line setting unit 236 constantly acquires the latest position coordinates of the aircraft 1 calculated by the aircraft position calculation unit 231.
  • the line setting unit 236 acquires the determination result from the condition determination unit 238. Then, if the determination result allows automatic steering control, the line setting unit 236 is a reference selected by the storage unit 234 from the left and right center portions of the harvesting device 15 based on the latest position coordinates. The traveling target line C extending forward along the direction B is constantly calculated.
  • the line setting unit 236 fixes (sets) the travel target line C calculated at that time as the travel target line C to be traveled by the aircraft 1.
  • This set travel target line C is fixed until the automatic steering mode is canceled.
  • the travel target line C extends from the aircraft 1 to the front of the aircraft and is parallel to the reference direction B selected by the storage unit 234.
  • the line setting unit 236 sets the travel target line C based on the selected reference direction B.
  • the control unit 230 changes from the automatic steering mode to the manual steering mode. It can be switched.
  • the line setting unit 236 cancels the setting of the traveling target line C.
  • the line setting unit 236 may be configured to calculate and set the travel target line C when the control unit 230 is switched to the automatic steering mode.
  • the steering control unit 237 can calculate the amount of positional deviation of the aircraft 1 in the lateral direction with respect to the traveling target line C.
  • the steering control unit 237 can calculate the angle deviation between the traveling direction of the aircraft 1 and the reference direction B selected by the storage unit 234, that is, the direction deviation.
  • the steering control unit 237 is based on the aircraft position information from the aircraft position calculation unit 231 and the directional information from the aircraft orientation calculation unit 232.
  • the traveling device 11 is controlled so that 1 travels along the traveling target line C.
  • This peripheral mowing area becomes a turning space for the machine 1 when the combine harvests crops in the field inner area (for example, the work target area CA in FIGS. 23 and 24) while reciprocating in the subsequent process. For this reason, it is desirable that the turning space be secured widely.
  • the passenger runs the combine two to three laps in the outer peripheral area of the field, and secures an area of about two to three times the harvest width of the combine as a turning space.
  • FIG. 14 is a flowchart showing the order of calculation of the reference direction B.
  • the end point setting switch 221b is automatically switched to the inoperable state (step # 101).
  • start point setting switch 221a and the end point setting switch 221b are icon buttons of the general-purpose terminal VT.
  • the inoperable state of the end point setting switch 221b is, for example, a state in which the icon button of the end point setting switch 221b is not displayed on the general-purpose terminal VT (including the gray out of the icon button), or the icon button of the end point setting switch 221b is general purpose. Even if it is displayed on the terminal VT, the operation of the passenger etc. may not be reflected.
  • the passenger When the passenger moves the combine to the ridge of the field and starts going straight (or substantially straight) along the ridge of the field, the passenger operates the start point setting switch 221a (step # 102).
  • the "operation” includes the icon operation of the start point setting switch 221a and the end point setting switch 221b, which are icon buttons.
  • the position Aa is stored as the position coordinates of the machine body 1 (step # 103).
  • the position Aa is the position coordinates of the machine 1 calculated by the machine position calculation unit 231 at the timing when the start point setting switch 221a is operated.
  • step # 104 whether or not the aircraft 1 is separated from the position Aa by a preset distance or more is determined by the reference direction calculation unit 233 (step # 104).
  • the “preset distance” is, for example, 5 meters from the position Aa.
  • step # 109 If the aircraft 1 is not farther than the preset distance from the position Aa (step # 104: No), the process of step # 109 is performed.
  • Step # 109 is a process of switching the end point setting switch 221b to the inoperable state when the end point setting switch 221b is in the operable state. That is, unless the aircraft 1 is farther than the preset distance from the position Aa (step # 104: No), the inoperable state of the end point setting switch 221b is maintained, and the passenger cannot operate the end point setting switch 221b.
  • step # 104 If the aircraft 1 is farther than the preset distance from the position Aa (step # 104: Yes), the end point setting switch 221b is switched to the operable state (step # 105), at this time, the end point setting switch 221b is set. If it is already in an operable state, the operable state of the end point setting switch 221b is maintained.
  • step # 106 it is determined whether or not the end point setting switch 221b has been operated.
  • step # 106 No
  • the processes of steps # 104 to # 105 are repeated.
  • step # 109 the end point setting switch 221b is switched to the inoperable state again.
  • the position Ab is stored as the position coordinates of the aircraft 1 (step # 107).
  • the position Ab is the position coordinates of the machine 1 calculated by the machine position calculation unit 231 at the timing when the end point setting switch 221b is operated.
  • the passenger runs the work while moving the combine straight (or substantially straight) along one side of the ridge of the field, and operates the start point setting switch 221a and the end point setting switch 221b to operate the positions Aa and Ab. Is obtained.
  • the reference direction calculation unit 233 calculates the reference direction B as the direction of the straight line connecting the two points of the positions Aa and Ab (step # 108).
  • the reference direction calculation unit 233 calculates the direction of the straight line connecting the two machine positions calculated by the machine position calculation unit 231 as the reference direction B. Further, in step # 108, the reference direction calculation unit 233 stores the calculated reference direction B in the storage unit 234. As a result, the calculation process of the reference direction B is completed.
  • the reference direction calculation unit 233 is configured to be able to acquire a plurality of reference directions B.
  • the passenger moves the combine to another ridge in the field and operates the start point setting switch 221a to drive the combine straight (or substantially straight) along one side of the other ridge.
  • the end point setting switch 221b is operated.
  • the reference direction calculation unit 233 performs the processes from step # 101 to step # 108 again to calculate another reference direction B.
  • one round of peripheral cutting is performed along the ridge of the field, and a plurality of reference directions B1, B2, B3, and B4 are calculated by the reference direction calculation unit 233, and the storage unit 234 is used.
  • a plurality of reference directions B1, B2, B3, and B4 having different directions are stored in the storage.
  • the reference direction B1 is calculated based on the positions A1 and A2
  • the reference direction B2 is calculated based on the positions A3 and A4
  • the reference direction B3 is calculated based on the positions A5 and A6, and the reference direction B3 is calculated based on the positions A7 and A8.
  • Direction B4 has been calculated.
  • Positions A1, A3, A5, and A7 are positions Aa (see FIGS. 13 and 14) at the timing when the start point setting switch 221a is operated, and positions A2, A4, A6, and A8 are positions A8 where the end point setting switch 221b is operated. Position Ab at the timing (see FIGS. 13 and 14).
  • the reference direction calculation unit 233 calculates the reference direction B based on the aircraft position calculated during the orbiting in the outer peripheral region of the field. At this time, the reference direction calculation unit 233 calculates a plurality of reference directions B along the extending directions of the outer periphery of the field.
  • the reference direction calculation unit 233 calculates a plurality of reference directions B along the extending direction of the outer periphery of the field based on the aircraft position calculated during the orbital running by the artificial operation in the outer peripheral region of the field.
  • Position A1 is the "first point” of the present invention
  • position A2 is the “second point” of the present invention
  • the reference direction B1 is the "first reference direction” of the present invention. That is, the reference directional direction calculation unit 233 has a plurality of reference directional directions B based on the aircraft positions calculated at the positions A1 and A2 in the two-point traveling over the positions A1 and A2 in the outer peripheral region of the field. The reference direction B1 is calculated as one.
  • Position A3 is the "third point” of the present invention
  • position A4 is the “fourth point” of the present invention
  • the reference direction B2 is the "second reference direction” of the present invention. That is, after traveling over the position A1 and the position A2, the reference direction calculation unit 233 reaches the position A3 and the position in the two-point traveling over the positions A3 and the position A4 which are different from the positions A1 and A2 in the outer peripheral region.
  • the reference direction B2 is calculated as one of the plurality of reference directions B based on the aircraft positions calculated for each of A4.
  • the reference direction B1 is calculated based on the positions A1 and A2, and the reference direction B2 is calculated based on the positions A3 and A4, but the present embodiment is not limited to this embodiment. ..
  • the reference orientation calculation unit 233 calculates the reference orientation B2 that is offset by 90 degrees from the calculated reference orientation B1. good. That is, when the reference direction B1 is calculated based on the positions A1 and A2, the reference direction B2 deviated by 90 degrees from the reference direction B1 without traveling between two points over the positions A3 and A4.
  • the configuration may be calculated automatically.
  • the position of the machine 1 calculated by the machine position calculation unit 231 is stored as the position Pa (step # 111).
  • step # 112 it is determined whether or not the predetermined conditions for automatic steering control are satisfied.
  • Whether or not the predetermined conditions for automatic steering control are satisfied is determined by the start determination routine shown in FIG. 25.
  • This start determination routine is a subroutine called in the process of step # 112 and is processed by the condition determination unit 238.
  • the start determination routine returns the return value of Yes to step # 112 if a predetermined condition for automatic steering control is satisfied.
  • start determination routine returns a return value of No to step # 112 if a predetermined condition for automatic steering control is not satisfied.
  • the start determination routine shown in FIG. 25 will be described later in [About the start determination routine].
  • step # 112 When the return value of No is returned to step # 112 from the start determination routine (step # 112: No), the processes of steps # 111 to # 112 are repeated, and the position Pa is continuously updated.
  • step # 112 When the return value of Yes is returned to step # 112 from the start determination routine (step # 112: Yes), the selection unit 235 acquires the traveling direction of the aircraft 1 from the aircraft orientation calculation unit 232 (step # 113).
  • the selection unit 235 selects the reference direction B closest to the traveling direction of the aircraft 1 among the plurality of reference directions B (step # 114).
  • the selection unit 235 selects the reference direction B1 from the plurality of reference directions B.
  • the line setting unit 236 calculates the difference ⁇ between the traveling direction of the aircraft 1 and the reference direction B (step # 115), and the difference ⁇ is within a preset threshold value (for example, within 5 °). ) (Step # 116).
  • step # 116 No
  • the processes of steps # 111 to # 115 are repeated, and the position Pa is continuously updated.
  • the same reference direction B may be repeatedly selected in step # 114, but in this case, the selection of the selection unit 235 is retained.
  • the selection unit 235 selects the other reference direction B.
  • step # 116 If the difference ⁇ is within the preset threshold value (step # 116: Yes), the line setting unit 236 determines whether or not the aircraft position is separated from the position Pa stored in step # 111 by a distance longer than the preset distance. Judgment (step # 117).
  • step # 117 If the determination in step # 117 is No, the processes in steps # 112 to # 117 are repeated. At this time, the process of step # 111 is not performed and the position Pa is not updated. When the machine body 1 moves forward in this state, the separation distance between the machine body position and the position Pa stored in step # 111 increases.
  • step # 118 the control unit 230 shifts to the automatic steering mode, and the steering control unit 237 performs automatic steering control (step # 118).
  • the aircraft 1 travels straight over a predetermined distance along the reference direction B selected by the selection unit 235 and the predetermined conditions are satisfied. If it is determined that the operation has been performed, the traveling device 11 is automatically steered and controlled.
  • the line setting unit 236 sets a linear traveling target line C parallel to the reference direction B in front of the aircraft 1.
  • the position information of the aircraft 1 is calculated over time by the aircraft position calculation unit 231, and the relative directional change angle is calculated over time by the aircraft orientation calculation unit 232.
  • the steering control unit 237 calculates the amount of lateral displacement of the aircraft 1 with respect to the travel target line C and the orientation deviation angle between the reference direction B and the travel direction of the aircraft 1, and the aircraft 1 travels.
  • the traveling device 11 is controlled so as to travel along the target line C.
  • the peripheral mowing run of the combine is performed over 2 to 3 laps.
  • one round of mowing is performed along the outer periphery of the field to calculate a plurality of reference directions B (see FIG. 15), and each of the reference directions B is stored in the storage unit 234. .. Therefore, each of these reference directions B can be used for the peripheral mowing run after the second lap.
  • the surrounding cutting run is performed adjacent to the cutting marks extending over the positions A1 and A2.
  • the selection unit 235 selects the reference direction B1 closest to the traveling direction of the aircraft 1, and the line setting unit 236 sets a linear traveling target line C1 parallel to the reference direction B1 ahead of the traveling direction of the aircraft 1. Generate. Then, in the region D1 over the cutting width of the combine, automatic steering control along the traveling target line C1 is performed.
  • the surrounding cutting run is performed adjacent to the cutting marks extending over the positions A3 and A4.
  • the selection unit 235 selects the reference direction B2 closest to the traveling direction of the aircraft 1, and the line setting unit 236 sets a linear traveling target line C2 parallel to the reference direction B2 in front of the traveling direction of the aircraft 1.
  • the line setting unit 236 sets a linear traveling target line C2 parallel to the reference direction B2 in front of the traveling direction of the aircraft 1.
  • the surrounding cutting run is performed adjacent to the cutting marks extending over the positions A5 and A6.
  • the selection unit 235 selects the reference direction B3 closest to the traveling direction of the aircraft 1, and the line setting unit 236 sets a linear traveling target line C3 parallel to the reference direction B3 in front of the traveling direction of the aircraft 1. Generate. Then, in the region D3 over the cutting width of the combine, automatic steering control along the traveling target line C3 is performed.
  • the surrounding cutting is performed adjacent to the cutting marks extending over the positions A6 and A7, and the traveling direction of the aircraft 1 is the same as or close to the reference direction B1. Therefore, the selection unit 235 selects the reference direction B1, and the line setting unit 236 generates a linear traveling target line C4 parallel to the reference direction B1 in front of the traveling direction of the aircraft 1. Then, in the region D4 over the cutting width of the combine, automatic steering control along the traveling target line C4 is performed.
  • the surrounding cutting is performed adjacent to the cutting marks extending over the positions A6 and A7, and the traveling direction of the aircraft 1 is the same as or close to the reference direction B2. Therefore, the selection unit 235 selects the reference direction B2, and the line setting unit 236 generates a linear traveling target line C5 parallel to the reference direction B2 in front of the traveling direction of the aircraft 1. Then, in the region D5 over the cutting width of the combine, automatic steering control along the traveling target line C5 is performed.
  • the surrounding cutting run is performed adjacent to the cutting marks extending over the positions A7 and A8.
  • the selection unit 235 selects the reference direction B4 closest to the traveling direction of the aircraft 1, and the line setting unit 236 sets a linear traveling target line C6 parallel to the reference direction B4 in front of the traveling direction of the aircraft 1. Generate. Then, in the region D6 over the cutting width of the combine, automatic steering control along the traveling target line C6 is performed.
  • the combine harvests the crop while reciprocating around the work target area CA left inside the work area left by the surrounding cutting.
  • the cutting run in which the crop is cut while advancing along the travel target line C and the direction change of 180 ° (or approximately 180 °) in the outer peripheral region outside the work target area CA are repeated. ..
  • the combine harvests the crop so as to cover the entire work area CA.
  • the traveling direction of the aircraft 1 is the same as or close to the reference direction B1. Therefore, the selection unit 235 selects the reference direction B1, and the line setting unit 236 generates linear traveling target lines C7, C8, etc. parallel to the reference direction B1 in front of the traveling direction of the aircraft 1.
  • the selection unit 235 selects the reference direction B1
  • the line setting unit 236 generates linear traveling target lines C7, C8, etc. parallel to the reference direction B1 in front of the traveling direction of the aircraft 1.
  • automatic steering control along the travel target line C7 is performed in the region D7 over the cutting width of the combine.
  • automatic steering control along the running target line C8 is performed in the region D8 over the cutting width of the combine.
  • the line setting unit 236 sets the travel target line C in the work target area CA based on the reference direction B calculated during the orbital travel in the outer peripheral region.
  • the work target area CA is cut around so as to be a polygon with unequal sides along the shape of the field, but the work target area CA is a quadrangle. Peripheral mowing may be carried out so as to be. The burden on the occupant is reduced by performing automatic steering control during reciprocating running after mowing around the combine.
  • the selection unit 235 selects one of the plurality of reference directions B based on the calculated travel direction of the aircraft 1, and the line setting unit 236 selects the travel target based on the selected reference direction B.
  • Set line C
  • step # 121 When the start determination routine is started by calling step # 112 in FIG. 25, the process of step # 121 is first executed.
  • step # 121 the condition determination unit 238 acquires information indicating the operation position of the main shift lever 222 shown in FIG.
  • the main shift lever 222 is configured to be swingable in the front-rear direction.
  • the range of motion of the main shift lever 222 is divided into three, a forward operation position FP, a neutral position NP, and a reverse operation position RP.
  • the main speed change lever 222 When the main speed change lever 222 is located at the neutral position NP, the main speed change device is in the neutral state and the traveling device 11 is not driven to travel.
  • the traveling device 11 travels forward at a high speed so that the main shift lever 222 tilts from the neutral position NP to the side where the forward operation position FP is located.
  • the traveling device 11 travels backward at a high speed so that the main shift lever 222 tilts from the neutral position NP to the side where the reverse operation position RP is located.
  • a signal from the sensor that detects the swing angle of the main shift lever 222 is input to the condition determination unit 238, and the condition determination unit 238 determines whether or not the main shift lever 222 is located at the forward operation position FP. ..
  • step # 121 If the main shift lever 222 is not located at the forward operation position FP, it is determined as No in step # 121, and the return value of No is returned to step # 112.
  • step # 121 when the main shift lever 222 is located at the forward operation position FP, it is determined as Yes in step # 121, and the process proceeds to step # 122.
  • the condition determination unit 238 is configured to receive the operation signal of the auxiliary shift switch 223 shown in FIG.
  • the auxiliary shift switch 223 is provided on the main shift lever 222. Each time the auxiliary transmission switch 223 is operated, the transmission state of the auxiliary transmission device (not shown) is alternately switched between working traveling (low speed state) and non-working (high speed state).
  • a signal from the sensor that detects the state of the auxiliary shift switch 223 is input to the condition determination unit 238.
  • the condition determination unit 238 is configured to be able to determine whether the shift state of the auxiliary shift switch 223 is for working or non-working.
  • step # 122 it is determined whether or not the state of the auxiliary shift switch 223 is for work driving. More specifically, it is determined whether or not the auxiliary transmission is in a low speed state.
  • step # 122 If the auxiliary transmission is not in the low speed state, it is determined as No in step # 122, and the return value of No is returned to step # 112.
  • step # 122 If the auxiliary transmission is in a low speed state, it is determined as Yes in step # 122, and the process proceeds to step # 123.
  • step # 123 the condition determination unit 238 acquires information indicating whether or not the FIX solution (known technique) necessary for RTK-GPS positioning is obtained from the aircraft position calculation unit 231 shown in FIG. Then, based on the acquired information, it is determined whether or not the positioning state of the aircraft position is at least a predetermined accuracy.
  • FIX solution known technique
  • condition determination unit 238 determines whether or not the FIX solution is obtained in the RTK-GPS positioning by the satellite positioning module 80 and the aircraft position calculation unit 231.
  • step # 123 If a FIX solution is obtained in RTK-GPS positioning by the satellite positioning module 80 and the aircraft position calculation unit 231, it is determined to be Yes in step # 123, and the process proceeds to step # 124.
  • step # 124 the condition determination unit 238 acquires information indicating the operation position of the harvesting threshing lever 224 shown in FIG.
  • the harvesting threshing lever 224 is provided on the boarding section 12.
  • the harvesting threshing lever 224 is configured to be swingable in the front-rear direction.
  • the harvesting threshing lever 224 is configured so that the operation position can be selectively switched between the first operation position M1, the second operation position M2, and the third operation position M3.
  • the on / off state of the threshing clutch 226 and the harvesting clutch 227 changes.
  • a signal from the sensor that detects the swing angle of the cutting and threshing lever 224 is input to the condition determination unit 238.
  • the condition determination unit 238 is configured to be able to determine whether the operation position of the cutting and threshing lever 224 is the first operation position M1, the second operation position M2, or the third operation position M3.
  • both the threshing clutch 226 and the harvesting clutch 227 are in the engaged state. In this state, the power from the engine is transmitted to the threshing device 13 and transmitted to the harvesting device 15 via the cutting clutch 227. As a result, the threshing device 13 and the harvesting device 15 operate.
  • the threshing clutch 226 When the operating position of the cutting threshing lever 224 is the second operating position M2, the threshing clutch 226 is in the on state and the cutting clutch 227 is in the off state. In this state, the power from the engine is transmitted to the threshing device 13 and not to the cutting clutch 227. As a result, the threshing device 13 operates and the harvesting device 15 does not operate.
  • both the threshing clutch 226 and the cutting clutch 227 are in the off state. In this state, the power from the engine is not transmitted to either the threshing device 13 or the cutting clutch 227. At this time, the threshing device 13 and the harvesting device 15 do not operate.
  • condition determination unit 238 determines whether or not the threshing clutch 226 is in the engaged state based on the acquired information.
  • step # 124 When the operation position of the harvesting threshing lever 224 is the third operation position M3, it is determined as No in step # 124, and the return value of No is returned to step # 112.
  • step # 124 when the operation position of the harvesting threshing lever 224 is the first operation position M1 or the second operation position M2, it is determined as Yes in step # 124, and the process proceeds to step # 125.
  • condition determination unit 238 determines whether or not the cutting clutch 227 is in the engaged state based on the acquired information (step # 125).
  • step # 125 When the operation position of the harvesting threshing lever 224 is the second operation position M2 or the third operation position M3, No is determined in step # 125, and the return value of No is returned to step # 112.
  • step # 125 when the operation position of the harvesting threshing lever 224 is the first operation position M1, it is determined as Yes in step # 125, and the process proceeds to step # 126.
  • step # 126 it is determined whether or not the harvesting device 15 is located at the working position.
  • the amount of descent from the highest position of the harvesting device 15 is equal to or more than a predetermined value, which corresponds to the position of the harvesting device 15 at the working position.
  • the combine harvester 1 is provided with an elevating detection unit 225.
  • the elevating detection unit 225 detects the expansion / contraction state of the harvesting device cylinder 15a.
  • the detection result by the elevating detection unit 225 is sent to the condition determination unit 238.
  • condition determination unit 238 determines whether or not the harvesting device 15 is located at the working position based on the detection result by the elevating detection unit 225.
  • step # 126 If the harvesting device 15 is not located at the working position, it is determined as No in step # 126, and the return value of No is returned to step # 112.
  • step # 126 When the harvesting device 15 is located at the working position, it is determined as Yes in step # 126. If it is determined to be Yes in step # 126, it is determined that a predetermined condition for automatic steering control is satisfied, and the return value of Yes is returned to step # 112.
  • the above-mentioned "predetermined condition" for automatic steering control includes the determination of Yes in all of steps # 121 to # 126. It has been. However, the present invention is not limited to this, and a part of steps # 121 to # 126 may not be provided.
  • the above-mentioned "predetermined conditions" for automatic steering control include that the main shift lever 222 is located at the forward operation position FP, that the auxiliary transmission is in a shift state for work, and that the aircraft is in a shift state for work.
  • the positioning state of the position is higher than the predetermined accuracy, the clutch for power transmission to the threshing device 13 is in the engaged state, and the clutch for power transmission to the harvesting device 15 is in the engaged state.
  • At least one of the fact that the harvesting device 15 is located at the working position is included.
  • the directional indexes RL1 and RL2 of the reference azimuth B and the combine are displayed on the general-purpose terminal VT so that the combine is tilted according to the difference ⁇ (see FIGS. 16, 27 and 28).
  • the directional indicators RL1 and RL2 are lines indicating the reference directional B selected by the selection unit 235. Therefore, the passenger can easily adjust the traveling direction of the aircraft 1 to the reference direction B while checking the general-purpose terminal VT before starting the automatic steering control.
  • the peripheral mowing run is performed along the reference direction B1, and then the peripheral mowing run is performed along the reference direction B2.
  • the directional indicators GL1 and GL2 shown in FIGS. 26 and 29 are lines indicating the traveling target line C set by the line setting unit 236.
  • the general-purpose terminal VT is an "direction display unit" capable of displaying the direction indexes GL1, GL2, RL1 and RL2.
  • the directional indicators GL1, GL2, RL1 and RL2 are displayed on the screen of the general-purpose terminal VT so that the combine rotates without rotating, but the combine does not rotate.
  • the azimuth index GL1, GL2, RL1 and RL2 may be rotated.
  • the directional indexes GL1, GL2, RL1, RL2 of the reference azimuth B and the combine are respectively tilted so that one of the directional indexes GL1, GL2, RL1, RL2 of the reference azimuth B and the combine is inclined according to the difference ⁇ . It may be displayed on the general-purpose terminal VT.
  • the reference direction B1 and the reference direction B2 deviated by 90 degrees from the reference direction B1 are set.
  • the selection unit 235 selects the reference direction B1.
  • the selection unit 235 selects the reference direction B2.
  • the selection unit 235 selects the reference direction B closest to the direction of the machine 1 from the plurality of reference directions B based on the direction of the machine 1 calculated by the machine direction calculation unit 232.
  • FIG. 26 shows a state in which the crops in the uncut area (the area where the crops in the field are not cut) are cut by the harvesting device 15 while the automatic steering control is performed along the reference direction B1.
  • the directional index GL1 of the traveling target line C is displayed on the general-purpose terminal VT, and automatic steering control is performed so that the aircraft 1 follows the traveling target line C.
  • the work area D is displayed on the general-purpose terminal VT with a width extending over the work width of the combine as an area where the crop is cut with automatic steering control.
  • the work area D is displayed on the general-purpose terminal VT as a travel locus of the combine by automatic steering control.
  • FIG. 27 shows a state in which the control unit 230 shifts from the automatic steering mode to the manual steering mode after the combine has cut through the uncut area, and turns 90 degrees to the left of the aircraft in the already cut area. There is.
  • the difference ⁇ between the reference direction B1 and the direction of the aircraft 1 is within 45 degrees.
  • the difference ⁇ between the reference direction B1 and the direction of the aircraft 1 is smaller than the difference between the reference direction B2 and the direction of the aircraft 1 (90 degrees ⁇ ). Therefore, the reference direction B1 is selected in the processes of steps # 113 and # 114 in FIG. 16, and as shown in FIG. 27, the direction index RL1 of the reference direction B1 is displayed on the general-purpose terminal VT.
  • FIG. 28 shows a state in which the airframe 1 is turning further to the left than in the case shown in FIG. 27.
  • the difference ⁇ between the reference direction B1 and the direction of the aircraft 1 is larger than 45 degrees.
  • the reference direction B2 is selected in the processes of steps # 113 and # 114 in FIG. 16, and as shown in FIG. 28, the direction index RL2 of the reference direction B2 is displayed on the general-purpose terminal VT.
  • a plurality of directional lines parallel to the reference azimuth B may be displayed on the general-purpose terminal VT at intervals of the working width of the combine, and the plurality of directional lines and the combine may be displayed.
  • the positional relationship with the general-purpose terminal VT may be displayed. In this case, it becomes easier for the passenger to adjust the position of the aircraft in the lateral direction as a reference when performing, for example, the mid-division traveling.
  • the traveling direction of the machine 1 may be automatically corrected so that the traveling direction of the machine 1 follows the reference direction B.
  • FIG. 29 shows a state in which the crop in the uncut area is cut by the harvesting device 15 while the 90-degree turn of the machine 1 is completed and the automatic steering control is performed along the reference direction B2.
  • the control unit 230 shifts to the automatic steering mode in step # 118 of FIG. 16
  • the directional index GL2 of the traveling target line C is displayed on the general-purpose terminal VT provided in the boarding unit 12, and the directional index GL2 is in front of the combine. It is displayed to extend to.
  • the work area D is displayed on the general-purpose terminal VT with a width extending over the work width of the combine.
  • the directional indicators GL1 and GL2 are displayed when the control unit 230 is in the automatic steering mode, and the directional indicators RL1 and RL2 are displayed when the control unit 230 is in the manual steering mode. Is displayed.
  • the directional indicators GL1 and GL2 are indicated by solid lines, and the directional indicators RL1 and RL2 are indicated by broken lines.
  • the directional indicators GL1 and GL2 and the directional indicators RL1 and RL2 may be displayed in different colors. That is, the general-purpose terminal VT as the "direction display unit" has the directional index GL1 depending on whether the traveling device 11 is artificially steered or controlled automatically. , GL2, RL1, RL2 display mode is changed.
  • the work area D is displayed on the general-purpose terminal VT as a width over the work width of the combine.
  • the work width may be input by the passenger or may be acquired via an external network.
  • an extra width that overlaps with the already cut area or the uncut area adjacent in the lateral direction may be taken into consideration in this working width.
  • the overlap margin may be input by the passenger or may be acquired via an external network.
  • the work area D along the travel target line C with a width extending over the work width of the combine is displayed on the general-purpose terminal VT, and the lateral deviation and the orientation deviation of the combine with respect to the travel target line C are displayed on the general-purpose terminal VT.
  • the areas D7 and D8 may be configured to be displayed on the general-purpose terminal VT as the work area D with a width extending over the work width of the combine.
  • the steering control unit 237 controls the traveling device 11 based on the aircraft position information from the aircraft position calculation unit 231 and the directional information from the aircraft orientation calculation unit 232. It is not limited to this embodiment.
  • the steering control unit 237 may control the traveling device 11 based on the aircraft position information from the aircraft position calculation unit 231, or may control the traveling device 11 based on the directional information from the aircraft orientation calculation unit 232. Is also good.
  • the steering control unit 237 may automatically control the steering of the traveling device 11 based on the position of the aircraft so as to follow the reference direction B.
  • the steering control unit 237 may automatically steer the traveling device 11 based on the aircraft position so as to follow the traveling target line C set based on the reference direction B.
  • the line setting unit 236 may not be provided.
  • the line setting unit 236 and the steering control unit 237 may be integrally configured.
  • the reference direction B1 is calculated based on the positions A1 and A2, and the reference direction B2 is calculated based on the positions A3 and A4. It is not limited to the form.
  • the reference direction B1 when the reference direction B1 is calculated based on the positions A1 and A2, the reference directions B2 and B3 deviated by a predetermined direction may be automatically calculated. At this time, the amount of misorientation may be set manually or automatically.
  • the position Aa is stored when the start point setting switch 221a is operated
  • the position Ab is stored when the end point setting switch 221b is operated
  • the reference direction calculation unit 233 is stored in the positions Aa and Ab.
  • the reference direction B is calculated based on this, but the present invention is not limited to this embodiment.
  • the reference direction B may be automatically calculated based on the straight section.
  • the reference direction B1 is automatically calculated when the machine 1 goes straight over the positions A1 and A2
  • the reference direction B2 is calculated when the machine 1 goes straight over the positions A3 and A4. Is also good.
  • reference direction B3 may be calculated automatically when the aircraft 1 travels straight over the positions A5 and A6, and the reference direction B4 may be calculated when the aircraft 1 travels straight over the positions A7 and A8.
  • the reference direction B is automatically calculated based on the straight section along at least one side of the outer periphery of the field. It may be a configuration calculated in.
  • the reference direction calculation unit 233 sets a plurality of reference directions B along the extending direction of at least one side of the outer periphery of the field based on the aircraft position calculated during the orbital traveling by human operation in the outer peripheral region of the field. You may calculate.
  • the position A1 is the "first point” of the present invention
  • the position A2 is the “second point” of the present invention
  • the reference direction B1 is the “second point” of the present invention.
  • it is a "first reference direction”, it is not limited to this embodiment.
  • the position A3 is the “third point” of the present invention
  • the position A4 is the “fourth point” of the present invention
  • the reference direction B2 is the “second reference direction” of the present invention. It is not limited to the embodiment.
  • the position A3 may be the "first point” of the present invention
  • the position A4 may be the “second point” of the present invention
  • the reference direction B2 is the "first reference direction” of the present invention.
  • the position A5 may be the "third point” of the present invention, and the position A6 may be the “fourth point” of the present invention.
  • the reference direction B3 is the "second reference direction” of the present invention.
  • the position A7 may be the "third point” of the present invention, and the position A8 may be the “fourth point” of the present invention.
  • the reference direction B4 is the "second reference direction” of the present invention.
  • the aircraft orientation calculation unit 232 for calculating the traveling orientation of the aircraft 1 is provided, and the selection unit 235 is among the plurality of reference orientations B based on the calculated traveling orientation of the aircraft 1.
  • the selection unit 235 is among the plurality of reference orientations B based on the calculated traveling orientation of the aircraft 1.
  • One is selected, but is not limited to this embodiment.
  • the selection unit 235 may select the reference direction B based on an artificial operation, or may select the reference direction B based on the reception from the external network.
  • the reference directional direction calculation unit 233 for calculating the reference directional direction B based on the plurality of aircraft positions calculated while traveling in the field is provided, but the embodiment is not limited to this embodiment.
  • the configuration may not include the reference direction calculation unit 233.
  • a plurality of reference directions B may be received from an external network and stored in the storage unit 234.
  • the "airframe position calculation unit” of the present invention may be an integral configuration of the airframe position calculation unit 231 and the satellite positioning module 80. Further, the aircraft orientation calculation unit 232 may be configured to calculate the traveling orientation of the aircraft 1 based on the position information of at least one of the aircraft position calculation unit 231 and the satellite positioning module 80.
  • the aircraft 1 can travel in one direction and in the direction 180 ° opposite to one direction along the reference direction B, but one along the reference direction B. It may be a unidirectional configuration in which the aircraft 1 can travel only in the direction.
  • another reference direction B having information in the direction 180 ° opposite to the one direction may be stored in the storage unit 234. Then, the selection unit 235 may select the other reference direction B when the automatic steering control for traveling straight in the direction opposite to the one direction is performed.
  • the steering control unit 237 starts automatic steering control when the aircraft 1 is separated from the position Pa by a predetermined distance or more. It is not limited to the embodiment.
  • the steering control unit 237 may start the automatic steering control.
  • the traveling device 11 may be configured to be in a state where the steering can be automatically controlled.
  • the "working device” of the present invention may be one of the threshing device 13 and the harvesting device 15.
  • the line setting unit 236 acquires the determination result from the condition determination unit 238, but is not limited to this embodiment.
  • condition determination unit 238 may not be provided, and the line setting unit 236 may not acquire the determination result from the condition determination unit 238. Further, the line setting unit 236 and the condition determination unit 238 may be integrally configured.
  • the configuration may not include the directional deviation setting unit 239 shown in the above embodiment.
  • the reference direction calculation unit 233 may be configured to calculate the reference direction B which is deviated by 90 degrees (fixed value whose setting cannot be changed) from the calculated reference direction B.
  • the reference direction calculation unit 233 may be configured to calculate the reference direction B which is deviated from the calculated reference direction B by a preset value.
  • the determination process of whether or not the push button switch is manually operated is performed, and when the push button switch is manually operated, the push button switch is manually operated. It may be configured to shift to the automatic steering mode in step # 118.
  • step # 112 of FIG. 16 it is determined whether or not a predetermined condition for automatic steering control is satisfied based on the start determination routine shown in FIG. 25, but the present invention is limited to this embodiment. Not done.
  • step # 111 of FIG. 16 After the position of the machine 1 is stored as the position Pa in step # 111 of FIG. 16, the traveling direction of the machine 1 may be acquired in step # 113 without the processing of step # 112.
  • control unit 230 may be a hardware circuit configured by, for example, an ASIC or FPGA, or may be a software program executed by a computer. Further, the control unit 230 may be configured by a combination of such hardware and software.
  • FIGS. 30-35 Another embodiment of the present invention will be described with reference to FIGS. 30-35.
  • the same reference numerals may be given to the same configurations as those of the above-described embodiments, and detailed description thereof may be omitted.
  • two combine harvesters H as agricultural work vehicles that is, a first combine H1 as a preceding combine (master combine) and a second combine H2 as a succeeding combine (slave combine) are introduced into one field and cooperate with each other. Then the harvesting work is done. Of course, a plurality of subsequent combines may be introduced.
  • These combine Hs are equipped with a general-purpose terminal VT, which is a tablet computer capable of data communication.
  • the first combine H1 and the second combine H2 can exchange information on running and harvesting work through the general-purpose terminal VT.
  • the first combine H1 starts the harvesting work from the vicinity of the upper left apex of the deformed quadrangle showing the field, and swirls to the left. Perform a run (orbital run).
  • the swirl running of the combine H consists of a straight running along each side (shore) of the field and a turning run performed at each corner of the field.
  • the combine H is automatically driven by using the reference direction obtained from the reference information or the automatic steering based on the travel path calculated based on the reference direction.
  • the reference direction is acquired by setting a part of the straight running by manual steering in the first lap running of the first combine H1 as teaching running.
  • a reference orientation may be acquired for each side of the field, or an orientation obtained by rotating the reference orientation acquired on one side may be used as the reference orientation for the other three sides.
  • the first combine H1 that has acquired the reference direction can run automatically.
  • the second combine H2 receives the reference direction acquired by the first combine H1 through data communication, so that automatic steering without teaching running becomes possible.
  • FIG. 31 shows how the first combine H1 and the second combine H2 perform harvesting work on each region formed by dividing a quadrangular field into two.
  • the first combine H1 acquires a reference direction extending along the vertical side and a reference direction extending along the horizontal side when traveling around the outermost circumference.
  • the direction obtained by rotating the reference direction acquired on the vertical side may be used as the reference direction in the running on the horizontal side.
  • the first combine H1 that has acquired the reference direction can perform straight running in two laps by automatic steering based on the reference direction or the running path calculated based on the reference direction. After that, the first combine H1 performs harvesting work by repeated running (straight reciprocating running) of straight running by automatic steering and direction change running (180 ° turning) by manual steering.
  • the second combine H2 receives the reference direction acquired by the first combine H1 through data communication, and by repeatedly traveling straight ahead with automatic steering and turning direction (180 ° turning) with manual steering. Perform harvesting work.
  • running data such as vehicle speed, work data such as harvest speed, and harvest such as yield per unit section running Data, etc. may be handled.
  • FIG. 31 is a functional block diagram of the travel control system showing the functions related to the automatic travel control of the combine H.
  • the combine H includes a control system similar to that of the conventional combine of the first embodiment shown in FIG. Hereinafter, a configuration different from the control system of the ordinary combine of the first embodiment will be described.
  • the first button 31 and the second button 32 which will be described in detail later, are arranged as software buttons in the operation image display area 3b of the touch panel 3 of the general-purpose terminal VT.
  • various applications for processing information regarding the harvesting work by the combine H are installed in the general-purpose terminal VT.
  • One of the applications is a display information generation unit 30 that generates information to be displayed in the support image display area 3a.
  • control unit 4 includes the above-mentioned functional units (airframe position calculation unit 40, first aircraft position acquisition unit 41, second aircraft position acquisition unit 42, reference direction calculation unit 43, and travel route.
  • the reference information management unit 47 is provided.
  • the first combine H1 When this combine H is put into the field as the first combine H1 (master combine), the first combine H1 performs teaching running to acquire the reference direction used for automatic running. For example, when the first combine H1 enters the field, the teaching run is performed immediately or after the necessary posture change.
  • the first machine position acquisition unit 41 receives the first signal generated by the driver clicking (touching) the first button 31 from the general-purpose terminal VT during the harvesting work.
  • the click operation of the first button 31 means the start of the teaching run.
  • the first airframe position acquisition unit 41 acquires the airframe position at the timing of receiving the first signal from the airframe position calculation unit 40, and stores the airframe position as the first airframe position.
  • the second machine position acquisition unit 42 continues the teaching run, and when the machine 1 makes a work run to a place away from the first machine position, the driver clicks (touches) the second button 32. The second signal generated by this is received.
  • the second machine position acquisition unit 42 acquires the machine position at the timing when the second signal is received from the general-purpose terminal VT from the machine position calculation unit 40, and stores the machine position as the second machine position.
  • the click operation of the second button 32 means the end of the teaching run.
  • the combine H can also perform teaching running in an already-worked area where the harvesting work has already been completed or in a mixed area including the already-worked area and the unworked area.
  • the reference direction calculation unit 43 uses the direction of a straight line connecting the first machine position read from the first machine position acquisition unit 41 and the second machine position read from the second machine position acquisition unit 42 as the reference direction. Calculated as.
  • the calculated reference direction is sent to the travel route creation unit 44 and, if necessary, to the travel control unit 50. Further, the reference orientation is sent to the reference information management unit 47 using the combination of the first aircraft position and the second aircraft position as reference information.
  • the reference information management unit 47 manages at least one of the combination of the first machine position and the second machine position and the reference direction which is the direction of the straight line connecting the first machine position and the second machine position as the reference information. ..
  • the reference information management unit 47 transfers the reference information to the combine H used as the second combine H2 via the reference information transmission unit 83a of the communication unit 83. And send.
  • the reference information management unit 47 of the second combine H2 which has received the reference information via the reference information receiving unit 83b of the communication unit 83, transfers the reference direction obtained from the reference information to the travel route creation unit 44 or the travel control unit 50. give.
  • this combine H is used both as the first combine H1 and as the second combine H2.
  • the reference information management unit 47 has a function of managing the reference information for each input field.
  • the travel control unit 50 controls the automatic travel of the combine H based on the reference direction obtained from the reference information or the travel route calculated based on the reference direction.
  • the first combine H1 is set to the first aircraft position (point A) with a part of the running along the vertical side (vertical side, short side of the field shown in FIG. 31) as a teaching run in the first lap work run. ) And the position of the second aircraft (point B), and the reference direction is calculated.
  • the reference direction When running along the horizontal side (horizontal side, long side of the field shown in FIG. 31), the reference direction is not calculated, and the direction obtained by rotating the reference direction obtained by the teaching run along the vertical side is horizontal. It is used as a reference direction for automatic driving along the sides.
  • the straight path that is traveling straight is automatically driven by the automatic steering according to the first steering mode described above.
  • the second combine H2 following the preceding first combine H1 performs automatic traveling by automatic steering by using the reference direction sent from the first combine H1.
  • the first combine H1 enters the field through the doorway (# 201) and starts the harvesting run by manual steering (# 202).
  • a teaching run is performed to obtain the reference direction required for automatic steering.
  • the driver clicks the first button 31 (see FIG. 31) displayed in the operation image display area 3b of the touch panel 3 (# 211).
  • the first aircraft position which is the aircraft position at that time, is acquired (# 212).
  • the point A indicating the position of the first machine is displayed in the support image display area 3a of the touch panel 3 (# 213).
  • a band-shaped line BL showing the running locus from the point A is displayed with the combine H icon in the harvest width (#). 214).
  • a sign line GL indicating a line parallel to the shore or the ridge of the field is displayed in order to perform accurate teaching running.
  • a line parallel to the planting strip may be displayed as a marker line GL.
  • the end condition of the teaching run is whether the combine H has traveled a predetermined distance (for example, 5 m) or more from the position of the first aircraft, or whether the predetermined time required for traveling the predetermined distance has elapsed.
  • a predetermined distance for example, 5 m
  • the second button 32 is displayed in the operation image display area 3b of the touch panel 3 (# 216).
  • the driver can confirm the teaching run by the points A and B displayed in the support image display area 3a and the running locus between them.
  • the direction of the straight line connecting the position of the first machine and the position of the second machine is calculated and stored as the reference direction (# 220).
  • the calculated reference direction is transmitted to the second combine H2 (# 221).
  • the first combine H1 can shift from manual steering to automatic steering.
  • the automatic steering starter 71 is used for the operation for starting the automatic running in the automatic steering. It is checked whether or not the automatic steering starter 71 has been operated (# 230).
  • step # 235Yes branch When the start of automatic steering is requested by the operation of the automatic steering starter 71 (# 235Yes branch), the vehicle jumps to step # 231 and a traveling route is formed based on the aircraft position and the reference direction at that time. Automatic steering is started.
  • the reference direction having a direction close to the direction of the aircraft 1 at the time when the start of automatic steering is requested is for forming the traveling path.
  • the driver selects the reference direction used for forming the travel path.
  • the resumption of automatic steering is usually performed from the harvesting work running in which the harvesting device 15 is lowered following the direction change running (non-harvesting work running) by the manual steering in which the harvesting device 15 is raised.
  • a harvesting start operating tool for starting the harvesting operation by the harvesting device may be used in combination with the automatic steering starter 71 or instead of the automatic steering starter 71.
  • the second combine H2 stands by at a position that does not interfere with the lap running by the first combine H1, for example, outside the catching area (# 250).
  • the second combine H2 checks whether or not the reference direction sent from the first combine H1 has been received while waiting (# 251).
  • the second combine H2 moves from the standby position to a position suitable for manually starting the harvesting work (# 252).
  • the driver determines that the aircraft 1 is in a position where automatic steering should be started and the automatic steering starter 71 is operated (# 260Yes branch), as described with reference to FIG. 6 of the first embodiment.
  • the travel route is determined and fixed based on the aircraft position and the reference direction at that time (# 261).
  • the second combine H2 also starts automatic steering in the first steering mode (# 262).
  • FIG. 34 shows the harvesting work by the combine H and the seedling planting work by the rice transplanter PM in the same field beyond the seasons.
  • the seedling planting work by the rice transplanter PM is performed by a lap running consisting of a straight running and a 90 ° turning running, and a straight reciprocating running consisting of a straight running running and a 180 ° turning running.
  • the rice transplanter PM acquires the reference direction during the first non-working run of about half a lap. After acquiring the reference direction, the straight running can be performed by automatic steering based on the reference direction or the running path calculated based on the reference direction.
  • the reference direction acquired by the rice transplanter PM is temporarily recorded in the memory medium. Seedlings planted in a certain row by the rice transplanter PM are harvested by combine H when they grow as planting grain rods in different seasons.
  • Combine H harvests the planted grain rod while running along the seedling planting row, that is, the planted grain rod row.
  • automatic steering based on the reference direction read from the memory medium or the running path calculated based on the reference direction becomes possible.
  • the reference information receiving unit 83b for receiving the reference information including the reference orientation, the reference information management unit 47 for managing the received reference information, and the reference information read from the reference information management unit 47 are transmitted.
  • An example of an automatic steering management system provided in a management computer 100 having a reference information transmission unit 83a and a server function is shown.
  • the management computer 100 can be connected to the agricultural work vehicle via a data communication line such as the Internet.
  • Agricultural work vehicles include all agricultural work vehicles that perform field work, such as combine H, rice transplanter PM, and tractor TR.
  • the management computer 100 includes an input / output data processing unit 101, an agricultural work management unit 102, and a database 103.
  • the input / output data processing unit 101 has a function of processing the data received from the agricultural work vehicle, transferring it to the agricultural work management unit 102, processing the data from the agricultural work management unit 102, and distributing it to the agricultural work vehicle.
  • the reference information transmission unit 83a and the reference information reception unit 83b are included in the input / output data processing unit 101.
  • the farm work management unit 102 has a function of processing the work run result information for each field sent from each farm work vehicle and evaluating the work run result, and the field work schedule plan information for each field to be sent to each farm work vehicle. Has the ability to create.
  • the standard information management unit 47 is included in the agricultural work management unit 102.
  • the database 103 stores data for which data is recorded and extracted by the agricultural work management unit 102.
  • the data stored in the database 103 includes field information, field work information, field evaluation information, etc. for each field and for each type of farm work vehicle.
  • Such data is stored in a layered structure, and the layered structure includes a field map A layer, a ridge formation map layer, a reference direction layer, a row formation map layer, a traveling locus map layer, a yield map layer, and the like. It has been.
  • the reference direction acquired by the agricultural work vehicle for example, the first reference direction, the second reference direction, and so on are recorded.
  • the reference orientation acquired by the rice transplanter PM is given to the combine H, which performs harvesting work in the same field in the same farming cycle, inside and outside the field.
  • the reference orientation acquired by the first combine H1 is given to the second combine H2, which performs the same cooperative harvesting work in the same field, inside and outside the field.
  • straight or straight path used in the above-described embodiment does not mean a strict straight path, but the phrase includes a straight path consisting of a polygonal line and a run that draws a large curve. Is also included.
  • Each functional unit shown in the functional block diagram of FIG. 32 may be combined with another functional unit, or one functional unit may be separated into a plurality of functional units.
  • the reference direction calculation unit 43 and the reference information management unit 47 may be integrated, the reference direction calculation unit 43 may create and manage the reference information, or the reference information management unit 47 may calculate the reference direction. It may be managed as reference information.
  • the second combine H2 receives the reference direction obtained by the first combine H1 via communication, transfers it to the traveling route creating unit 44 or the automatic steering module 51, and automatically steers it.
  • the driver may manually enter the machine gun siege into the control unit 4.
  • the traveling device 11 is composed of a crawler-type left traveling mechanism 11a and a right traveling mechanism 11b, and the aircraft 1 is due to a speed difference between the left traveling mechanism 11a and the right traveling mechanism 11b.
  • a traveling device 11 in which the aircraft 1 is steered by changing the steering angle of the steering wheel may be adopted.
  • the combine H and the rice transplanter PM perform teaching running to obtain a reference direction.
  • a drone that has been supporting various agricultural works in recent years may be used to acquire an image taken from the sky of the field, and a reference direction may be obtained from the acquired image. For example, by fixing the shooting camera to the drone so that the shooting axis of the shooting camera is in a predetermined direction and flying the drone in a predetermined direction, an accurate reference direction in a map coordinate system or a field coordinate system can be obtained.
  • the first embodiment can be applied not only to a normal combine harvester but also to other harvesters such as a self-removing combine harvester and a corn harvester.
  • the second embodiment can be applied to agricultural work machines such as self-removing combine harvesters, rice transplanters, direct seeding machines, tractors, and management machines, in addition to ordinary combine harvesters.
  • the third embodiment can be applied to agricultural work machines such as self-removing combine harvesters, rice transplanters, direct seeding machines, tractors, and management machines, in addition to ordinary combine harvesters.
  • the fourth embodiment can be applied to an automatic steering management system that manages information necessary for automatic steering of agricultural work vehicles.
  • Aircraft 3 Touch panel 3a: Support image display area 3b: Operation image display area 4: Control unit 13: Threshing device (working device) 15: Harvesting equipment (working equipment) 30: Display information generation unit 31: 1st button 32: 2nd button 40: Aircraft position calculation unit 41: 1st aircraft position acquisition unit 42: 2nd aircraft position acquisition unit 43: Reference orientation calculation unit 44: Travel route creation unit 45: Travel locus creation unit 46: Aircraft orientation calculation unit 50: Travel control unit 51: Automatic steering module 52: Manual steering module 53: Vehicle speed control module 71: Automatic steering starter 80: Satellite positioning module 81: Inertial measurement module BL: Belt-shaped line (running locus) GL: Marked line GS: Artificial satellite VT: General-purpose terminal [second embodiment] 42a: Teaching driving management unit [third embodiment] 226: Threshing clutch (clutch) 227: Mowing clutch (clutch) 231: Aircraft position calculation unit 232: Aircraft direction calculation unit 233: Reference direction calculation unit 234:

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  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Environmental Sciences (AREA)
  • Mechanical Engineering (AREA)
  • Soil Sciences (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Guiding Agricultural Machines (AREA)
PCT/JP2021/023511 2020-06-30 2021-06-22 収穫機、収穫機の自動走行方法、プログラム、記録媒体、システム、農作業機、農作業機の自動走行方法、方法、自動操舵管理システム WO2022004474A1 (ja)

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KR1020227034824A KR20230029589A (ko) 2020-06-30 2021-06-22 수확기, 수확기의 자동 주행 방법, 프로그램, 기록 매체, 시스템, 농작업기, 농작업기의 자동 주행 방법, 방법, 자동 조타 관리 시스템
CN202180024559.6A CN115361861A (zh) 2020-06-30 2021-06-22 收获机、收获机的自动行驶方法、程序、记录介质、系统、农作业机、农作业机的自动行驶方法、方法、自动操舵管理系统

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JP2020113236A JP7387544B2 (ja) 2020-06-30 2020-06-30 農作業車のための自動操舵管理システム
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