WO2022181071A1 - Autonomous travel control system, field work machine, autonomous travel control method, autonomous travel control program, and storage medium - Google Patents
Autonomous travel control system, field work machine, autonomous travel control method, autonomous travel control program, and storage medium Download PDFInfo
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- WO2022181071A1 WO2022181071A1 PCT/JP2022/000372 JP2022000372W WO2022181071A1 WO 2022181071 A1 WO2022181071 A1 WO 2022181071A1 JP 2022000372 W JP2022000372 W JP 2022000372W WO 2022181071 A1 WO2022181071 A1 WO 2022181071A1
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- travel
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- 238000001514 detection method Methods 0.000 claims abstract description 76
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Classifications
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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
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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
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D41/00—Combines, i.e. harvesters or mowers combined with threshing devices
- A01D41/12—Details of combines
- A01D41/127—Control or measuring arrangements specially adapted for combines
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D41/00—Combines, i.e. harvesters or mowers combined with threshing devices
- A01D41/12—Details of combines
- A01D41/127—Control or measuring arrangements specially adapted for combines
- A01D41/1278—Control or measuring arrangements specially adapted for combines for automatic steering
-
- 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 an automatic travel control system, a field work machine, an automatic travel control method, an automatic travel control program, and a recording medium.
- the automatic travel control system disclosed in Japanese Patent Application Laid-Open No. 2020-87196 is provided with a travel control unit, and the travel control unit controls the aircraft (“work vehicle” in the document) to travel along the travel route (document Then, control the flight of the aircraft so that it automatically travels along the “target travel route”). Further, when the determination unit (“retry determination unit” in the literature) determines that the aircraft cannot enter along the travel route, the travel control unit executes retry travel.
- the determination unit determines whether or not the aircraft can enter along the travel route based only on the position of the aircraft. In other words, in the automatic cruise control system disclosed in Japanese Patent Application Laid-Open No. 2020-87196, the determination by the determination unit does not take into account the orientation of the aircraft, so unnecessary retry running may be performed. From the viewpoint of efficiently traveling in an unworked area, it is desirable to have a configuration in which the determination unit can determine whether or not the aircraft can enter along the travel route based on the position and orientation of the aircraft.
- An object of the present invention is to provide an automatic travel control system, a field work machine, an automatic travel control method, an automatic travel control program, and a recording medium that can efficiently and automatically travel unworked areas.
- a route setting unit that sets a travel route in an unworked area inside the outer peripheral region of the field, and a travel control unit that controls the travel of the machine so that it travels along the travel route.
- a detection unit that detects the direction and position of the machine body, and when the machine body enters the unworked area from the outer peripheral area, the machine body follows the travel route based on the detection result of the detection unit.
- a determination unit that determines whether or not the vehicle can enter in such a manner, and when the determination unit determines that the aircraft cannot enter along the travel route, the travel control unit causes the aircraft to: It is configured to temporarily stop, move backward, and move forward toward the travel route again, such that retry travel is executed.
- the apparatus is configured to detect an inward-facing state in which the vehicle body faces the travel route, and an outward-facing state in which the aircraft body is displaced in the left-right direction with respect to the travel route and the aircraft body does not face the travel route, and the determination for determining whether the machine body can enter along the travel route when entering the unworked area, depending on whether the machine body is in the inward facing state or the outward facing state; It is characterized in that it is configured to change the conditions of
- the conditions used for determination by the determining unit are changed depending on whether the state is facing inward or facing outward. , it is possible to make a flexible determination, and the frequency of unnecessary retry running is reduced. As a result, an automatic travel control system capable of efficiently and automatically traveling in an unworked area is realized.
- the field work machine includes a route setting unit that sets a travel route in an unworked area inside the outer peripheral region of the farm field, and a travel control unit that controls travel of the machine body so as to travel along the travel route.
- a detection unit for detecting the direction and position of the machine body, and when the machine body enters the unworked area from the outer peripheral area, the machine body follows the travel route based on the detection result of the detection unit.
- a determination unit that determines whether or not it is possible to enter the vehicle, and when the determination unit determines that the aircraft cannot enter along the travel route, the travel control unit temporarily stops the aircraft.
- the determination unit is configured to detect an inward facing state in which the aircraft faces a route, and an outward facing state in which the aircraft is displaced in the lateral direction with respect to the travel route and the aircraft does not face the travel route, , a condition for determining whether or not the aircraft can enter along the travel route when entering the unworked area, depending on whether the aircraft is in the inward facing state or the outward facing state; is configured to change the
- the control method includes a route setting step of setting a travel route in an unworked area inside the outer peripheral region of the field, a travel control step of controlling travel of the machine body so as to travel along the travel route, a detection step of detecting the orientation and position of the aircraft, and when the aircraft enters the unworked area from the outer peripheral area, based on the detection result of the detection step, the aircraft is aligned along the travel route.
- a determination step of determining whether or not the vehicle can enter the vehicle, and when it is determined in the determination step that the aircraft cannot enter along the travel route, in the travel control step, the aircraft is temporarily stopped.
- Retry traveling is performed by moving backward and moving forward toward the travel route again, and in the detection step, the body is laterally displaced with respect to the travel route, and the body faces inward toward the travel route. and an outward-facing state in which the aircraft is laterally displaced with respect to the travel route and the aircraft does not face the travel route, and in the determination step, the aircraft is in the inward-facing state. It is characterized in that a condition for determining whether or not the machine body can enter along the travel route when entering the unworked area is changed depending on whether the machine body is in the outward facing state or not.
- the technical features of the automatic travel control system described above can also be applied to control programs for field work machines. Furthermore, recording media such as optical discs, magnetic discs, and semiconductor memories in which control programs having this technical feature are recorded are also included in the configuration of the present invention.
- the control program in this case includes a route setting function that sets a travel route in an unworked area inside the outer peripheral region of the field, a travel control function that controls travel of the machine so that it travels along the travel route, a detection function for detecting the direction and position of the machine body, and when the machine body enters the unworked area from the outer peripheral area, the machine body is guided along the travel route based on the detection result of the detection function.
- the travel control function causes the aircraft to: It is configured to temporarily stop, move backward, and then move forward toward the travel route again, such that retry travel is executed.
- the apparatus is configured to detect an inward-facing state in which the vehicle body faces the travel route, and an outward-facing state in which the aircraft body is displaced in the left-right direction with respect to the travel route and the aircraft body does not face the travel route, and the determination The function is to determine whether or not the aircraft can enter along the travel route when entering the unworked area depending on whether the aircraft is in the inward facing state or the outward facing state. It is characterized in that it is configured to change the conditions of
- the condition used when the aircraft is facing inward is less likely to cause the retry running than the condition used when the aircraft is facing outward. It is preferable that it is set to the value on the side.
- the travel control unit can make the aircraft follow the travel route with a smaller turning amount than when the aircraft is facing outward. For this reason, with this configuration, the conditions used in the inward state are set looser than the conditions used in the outward state, so unnecessary retry running is performed in the inward state. difficult to do. In addition, since the conditions used in the outward state are stricter than the conditions used in the inward state, retry travel is quickly executed when necessary. This shortens the time required for retry running.
- the detection unit includes a deviation calculation unit that calculates an azimuth deviation amount of the aircraft with respect to the extension direction of the travel route and a position deviation amount of the aircraft body in a direction orthogonal to the extension direction of the travel route.
- the conditions include a first condition that the amount of misalignment is greater than a certain threshold of misalignment, and a second condition that the amount of misalignment is greater than a certain threshold of misalignment, and the determination
- the unit is configured to determine, when at least one of the first condition and the second condition is satisfied, that the aircraft cannot enter along the travel route when entering the unworked area. It is preferable to have
- the detection unit includes a first state in which the aircraft is located at a position a certain distance before the starting point of the traveling route on which the vehicle is about to enter, a second state in which the aircraft is located at the starting point,
- the determination unit is configured to determine whether the aircraft can enter along the travel route in each of the first state and the second state, Further, it is configured to use different conditions for determination in the first state and determination in the second state, and whether the aircraft is in the inward facing state or in the outward facing state, the It is preferable that the condition used in the first state is set to a value that makes it more difficult to execute the retry running than the condition used in the second state.
- retry travel is executed in a state in which the aircraft is located at a position a fixed distance before the starting point of the travel route. That is, it is possible to restore the attitude of the aircraft at an early stage compared to a configuration in which the determination is made by the determination unit only when the second state is determined.
- the condition used in the first state is set to a value that makes retry running more difficult than the condition used in the second state. It is Therefore, unnecessary retry travel is avoided when the orientation or position of the aircraft does not deviate greatly from the planned route, for example, when the aircraft turns.
- the conditions in the second state are suddenly too loose, retry running will not be performed in a situation where retry running is really necessary. Since the conditions are always stricter than those used in the state, retry running is performed firmly in situations where retry running is really necessary.
- a harvesting device that performs harvesting work on a farm field and a harvesting control section that controls driving of the harvesting device are provided, and the harvesting control section controls the outer side even if the machine body is in the inward state. It is preferable to stop the harvesting device when the fuselage is in the first state and to drive the harvesting device when the fuselage is in the second state even in the oriented state.
- the harvesting control unit stops the harvesting device when the machine body is in the first state, so in the first region where harvesting work is not required, the harvesting device is stopped and the retry run is quickly executed. becomes possible.
- the harvesting control unit controls the harvesting control unit during the transition of the machine body from the first state to the second state, regardless of whether the machine body is in the inward-facing state or the outward-facing state. It is preferable to start driving the device.
- a route setting unit that sets a travel route in an unworked area inside the outer peripheral region of the field, and a travel control unit that controls the travel of the machine so that it travels along the travel route.
- a detection unit that detects at least one of the orientation and position of the machine body;
- a determination unit that determines whether or not the aircraft can enter along the route, and when the determination unit determines that the aircraft cannot enter along the travel route, the travel control unit an operating tool that is configured to cause the machine body to temporarily stop, move backward, and then move forward toward the travel route again to perform retry travel, and that is manually operated; and a changing unit that changes conditions for determining whether or not the aircraft can enter along the travel route when entering the vehicle.
- the determining unit determines whether or not the machine body can enter the unworked area from the outer peripheral area so as to follow the traveling route, and retry traveling is executed when the machine body cannot enter along the traveling route. be. For this reason, compared with the configuration in which the machine body enters the unworked area from the outer peripheral area without following the traveling route and continues forward traveling, it is less likely that inconvenience will occur in the work in the field. Further, according to the present invention, for example, a farm field manager or a machine operator can change the conditions for executing retry running via an operation tool.
- the field work machine includes a route setting unit that sets a travel route in an unworked area inside the outer peripheral region of the farm field, and a travel control unit that controls travel of the machine body so as to travel along the travel route.
- a detection unit that detects at least one of the direction and position of the machine body; and when the machine body enters the unworked area from the outer peripheral area, the machine body moves along the travel route based on the detection result of the detection unit.
- the travel control unit determines whether the aircraft can enter is configured to temporarily stop, move backward, and then retry travel in which the vehicle moves forward toward the travel route again, and is configured to perform a retry travel, and an operation tool that is manually operated; and a changing unit that changes conditions for determining whether or not the aircraft can enter along the travel route when the vehicle is moving.
- the control method includes a route setting step of setting a travel route in an unworked area inside the outer peripheral region of the field, a travel control step of controlling travel of the machine body so as to travel along the travel route, a detection step of detecting at least one of the orientation and position of the aircraft; and when the aircraft enters the unworked area from the outer peripheral area, the aircraft moves along the travel route based on the detection result of the detection step.
- a determination step of determining whether or not it is possible to enter along the travel route a determination step of determining whether or not it is possible to enter along the travel route; and a changing unit for changing the conditions for determining in the determination step whether the vehicle body cannot enter along the travel route in the determination step, in the travel control step, the It is characterized by executing retry traveling in which the machine body is temporarily stopped, reversed, and then moved forward toward the traveling route again.
- the technical features of the automatic travel control system described above can also be applied to control programs for field work machines. Furthermore, recording media such as optical discs, magnetic discs, and semiconductor memories in which control programs having this technical feature are recorded are also included in the configuration of the present invention.
- the control program in this case includes a route setting function that sets a travel route in an unworked area inside the outer peripheral region of the field, a travel control function that controls travel of the machine so that it travels along the travel route, a detection function that detects at least one of the orientation and position of the aircraft; and when the aircraft enters the unworked area from the outer peripheral area, the aircraft moves along the travel route based on the detection result of the detection function.
- the traveling control function is characterized in that, when it is determined that the vehicle cannot enter, the machine body temporarily stops, moves backward, and then executes retry traveling to move forward toward the traveling route again.
- the conditions include a plurality of indices of different types
- a condition storage unit for storing the plurality of conditions is provided
- the change unit changes the plurality of indicators when the operating tool is manually operated. It is preferable to select the condition according to the operation of the operation tool from among the conditions.
- the detection unit includes a first state in which the aircraft is located at a position a certain distance before the starting point of the traveling route on which the vehicle is about to enter, a second state in which the aircraft is located at the starting point,
- the determination unit is configured to determine whether the aircraft can enter along the travel route in each of the first state and the second state, And, it is configured to use different conditions for determination in the first state and determination in the second state, and the condition used in the first state is greater than the condition used in the second state. is preferably set to a value that makes it difficult to execute the retry running.
- retry travel is executed in a state in which the aircraft is located at a position a fixed distance before the starting point of the travel route. That is, it is possible to restore the attitude of the aircraft at an early stage compared to a configuration in which the determination is made by the determination unit only when the second state is determined.
- the condition used in the first state is set to a value that makes it more difficult to execute retry running than the condition used in the second state. Therefore, unnecessary retry travel is avoided when the orientation or position of the aircraft does not deviate greatly from the planned route, for example, when the aircraft turns.
- condition used in the first state is a fixed value
- the changing section changes the condition used in the second state according to the operation of the operating tool.
- a harvesting device that performs a harvesting operation on a field and a harvesting control section that controls driving of the harvesting device are provided, and the harvesting control section controls the harvesting device when the machine body is in the first state. is stopped and the harvesting device is driven when the machine is in the second state.
- the harvesting control unit stops the harvesting device when the machine body is in the first state, so in the first region where harvesting work is not required, the harvesting device is stopped and the retry run is quickly executed. becomes possible.
- the harvesting control section starts driving the harvesting device while the machine body is shifting from the first state to the second state.
- FIG. 4 is a block diagram showing the configuration of a control unit;
- FIG. 4 is a figure which shows the 1st state and 2nd state of an airframe.
- FIG. 4 is a diagram showing an inward facing state of the airframe;
- FIG. 4 is a diagram showing an outward facing state of the airframe;
- FIG. 4 is a diagram showing a plurality of conditions and positional deviation thresholds and azimuth deviation thresholds included in the conditions;
- FIG. 10 is a flowchart showing determination processing regarding retry running;
- FIG. 1 a normal type combine harvester 1 (corresponding to the "body” according to the present invention) is equipped with a crawler type traveling device 11, an operation unit 12, a threshing device 13, a grain tank 14, a harvesting device H, A conveying device 16, a grain discharging device 18, a satellite positioning module 80, and an engine E are provided.
- the direction of the arrow “F” shown in FIG. 1 is the "front of the fuselage", the direction of the arrow "B” shown in FIG. , and the direction of the arrow “D” shown in FIG. 1 is defined as “downward".
- the right hand side and the left hand side when facing the front of the fuselage are referred to as "right” and “left", respectively. The same applies to the following description of front, rear, up, down, left, and right.
- the travel device 11 is provided in the lower part of the combine harvester 1. Further, the travel device 11 is driven by power from the engine E. As shown in FIG. The combine 1 can be self-propelled by the travel device 11 .
- the driving unit 12, the threshing device 13, and the grain tank 14 are provided above the traveling device 11.
- An operator who monitors the work of the combine harvester 1 can board the operation section 12 .
- the operator may monitor the work of the combine harvester 1 from outside the combine harvester 1 .
- the grain discharging device 18 is provided above the grain tank 14.
- the satellite positioning module 80 is attached to the top surface of the cabin 10 covering the operation section 12 .
- an inertial measurement device 81 (see FIG. 4) incorporating a gyro acceleration sensor and a magnetic direction sensor is incorporated in the satellite positioning module 80.
- the inertial measurement device 81 may be arranged at a location other than the satellite positioning module 80 in the combine 1 .
- the harvesting device H is provided at the front of the combine 1.
- the conveying device 16 is provided on the rear side of the harvesting device H. As shown in FIG.
- the harvesting device H has a harvesting device 15 and a reel 17 .
- the reaping device 15 reaps planted grain culms in the field.
- the reel 17 rakes in the planted culms to be harvested while being driven to rotate.
- the harvesting device H harvests the grain in the field.
- the combine 1 is capable of harvesting travel in which the traveling device 11 travels while the reaping device 15 reaps planted grain stalks in a field.
- the harvested culms harvested by the harvesting device 15 are conveyed to the threshing device 13 by the conveying device 16 .
- harvested grain culms are threshed.
- Grains obtained by the threshing process are stored in the grain tank 14 .
- the grains stored in the grain tank 14 are discharged out of the machine by the grain discharging device 18 as required.
- the communication terminal 4 is arranged in the operation unit 12.
- the communication terminal 4 has a touch panel monitor, is configured to be able to display various information, and is configured to be able to perform various setting operations.
- the communication terminal 4 may be provided with a push-button type switch, a dial type switch, or the like, in addition to the touch panel type monitor.
- the communication terminal 4 is fixed to the operating section 12 .
- the present invention is not limited to this, and the communication terminal 4 may be configured to be detachable from the operation section 12, or the communication terminal 4 may be positioned outside the combine harvester 1. .
- the touch panel type monitor, the push button type switch, the dial type switch, and the like in the communication terminal 4 correspond to the "operating tool" of the present invention.
- FIG. FIGS. 2 and 3 show an example in which the outer shape of the farm field is rectangular.
- a harvesting run is performed so as to circle along the boundary line of the farm field in the outer peripheral region of the farm field.
- the area that has already been worked by this initial round trip is set as the outer peripheral area SA, and the unworked area inside the outer peripheral area SA is set as the work target area CA.
- the outer peripheral area SA is used as a space for the combine 1 to change direction when harvesting the planted grain culms in the work target area CA by automatic travel.
- the outer peripheral area SA is also used as a space for movement to the discharge stop position PP adjacent to the transport vehicle CV and for movement to a refueling location.
- the initial lap run is performed for about 2 to 3 laps in order to secure the width of the outer peripheral area SA to some extent.
- the initial lap running may be performed by manual running or may be performed by automatic running.
- the planted culms in the work target area CA are harvested by automatic traveling.
- an automatic harvester that harvests planted grain culms while automatically traveling on a harvest travel route LI (an example of a travel route) set in the work area CA.
- a run and a turn run between one auto-harvesting run and the next auto-harvesting run are repeated.
- Turn driving is automatic driving on a turning driving path TN that connects two harvesting driving paths LI.
- the automatic cruise control system 2 includes a control section 20 , a satellite positioning module 80 and an inertial measurement device 81 .
- the control unit 20 is provided in the combine 1 .
- Power output from the engine E is input to the traveling device 11 and the harvesting device H, respectively.
- the satellite positioning module 80 receives signals from artificial satellites GS used in GNSS (global navigation satellite system such as GPS, QZSS, Galileo, GLONASS, BeiDou, etc.). Then, as shown in FIG. 4, the satellite positioning module 80 sends positioning data indicating the position of the combine harvester 1 to the position calculator 21A based on the received signal.
- GNSS global navigation satellite system
- the satellite positioning module 80 sends positioning data indicating the position of the combine harvester 1 to the position calculator 21A based on the received signal.
- the inertial measurement device 81 temporally detects the angular velocity of the yaw angle of the combine harvester 1 and the acceleration in three mutually orthogonal directions. A result of detection by the inertial measurement device 81 is sent to the vehicle direction calculator 21B.
- the control unit 20 includes a detection unit 21 , an area calculation unit 22 , a route calculation unit 23 (route setting unit), and a travel control unit 25 .
- the detector 21 detects the orientation and position of the combine 1 .
- the detection unit 21 includes a vehicle position calculation unit 21A, a vehicle direction calculation unit 21B, and a deviation calculation unit 21C.
- the own vehicle position calculation unit 21A calculates the position coordinates of the combine harvester 1 over time based on the positioning data output by the satellite positioning module 80.
- the calculated temporal position coordinates of the combine harvester 1 are sent to the area calculating section 22 and the deviation calculating section 21C.
- the vehicle direction calculation unit 21B receives the position coordinates of the combine harvester 1 from the vehicle position calculation unit 21A. Then, the vehicle azimuth calculation unit 21B calculates the posture azimuth of the combine harvester 1 based on the detection result of the inertial measurement device 81 and the position coordinates of the combine harvester 1 .
- the own vehicle direction calculation unit 21B calculateate the initial attitude heading.
- the vehicle orientation calculation unit 21B integrates the angular velocity detected by the inertial measurement device 81 during the travel for the certain period of time. , to calculate the amount of change in attitude direction.
- the own vehicle direction calculation unit 21B updates the calculation result of the attitude direction. After that, the amount of change in the posture direction is similarly calculated at regular time intervals, and the calculation result of the posture direction is sequentially updated.
- the posture azimuth of the combine harvester 1 calculated by the own vehicle azimuth calculation section 21B is sent to the deviation calculation section 21C.
- the deviation calculator 21C receives information about the harvest travel route LI from the route calculator 23, and calculates the calculation result of the vehicle position calculator 21A and the vehicle direction. Based on the calculation results of the section 21B, the amount of positional deviation Wd and the amount of azimuth deviation ⁇ d of the combine harvester 1 with respect to the harvesting travel route LI are calculated. That is, the deviation calculator 21C calculates the amount of misalignment ⁇ d of the combine 1 with respect to the extending direction of the harvesting travel route LI and the amount of misalignment Wd of the combine 1 with respect to the harvesting travel route LI in the direction orthogonal to the extending direction. .
- the area calculation unit 22 calculates the outer peripheral area SA and the work target area CA shown in FIG. 2 based on the temporal position coordinates of the combine harvester 1 received from the own vehicle position calculation unit 21A. More specifically, the region calculation unit 22 calculates the traveling locus of the combine 1 in the round traveling on the outer circumference side of the field based on the temporal position coordinates of the combine 1 received from the own vehicle position calculation unit 21A. . Then, based on the calculated travel locus of the combine 1, the area calculation unit 22 calculates an area on the outer peripheral side of the field where the combine 1 traveled around while harvesting the grain as an outer peripheral area SA. Further, the area calculation unit 22 calculates an area inside the agricultural field from the calculated outer peripheral area SA as the work target area CA. For example, in FIG. 2, arrows indicate the traveling route of the combine 1 for traveling around the outer circumference of the field. As described above, the combine 1 performs three laps. Then, when the harvest travel along this travel route is completed, the field will be in the state shown in FIG.
- the area calculation unit 22 calculates the area on the outer peripheral side of the field where the combine harvester 1 traveled around while harvesting the grain as the outer peripheral area SA. Further, the area calculation unit 22 calculates an area inside the agricultural field from the calculated outer peripheral area SA as the work target area CA.
- the work area CA corresponds to the "unworked area" of the present invention. Then, as shown in FIG. 4 , the calculation result by the area calculation unit 22 is sent to the route calculation unit 23 and the travel control unit 25 .
- the route calculation unit 23 calculates the harvest travel route LI in the work target area CA and the turning travel route TN in the outer peripheral area SA, as shown in FIGS. ,
- the harvest travel route LI corresponds to the "travel route" of the present invention. That is, the route calculation unit 23 sets the travel route in the work target area CA inside the outer peripheral area SA in the farm field.
- a plurality of harvest travel routes LI parallel to the short sides of the work area CA and a plurality of harvest travel routes LI parallel to the long sides are calculated.
- the harvest travel route LI may not be straight, and may be curved.
- the route calculation unit 23 calculates the harvest travel route LI passing through the work target area CA.
- the harvest travel route LI and the turning travel route TN set by the route calculation unit 23 are sent to the travel control unit 25 and the harvest control unit 30 .
- the route calculation unit 23 is configured to be able to receive a signal from the communication terminal 4. For example, when a grain discharge button (not shown) of the communication terminal 4 is operated, a travel route from the harvesting travel route LI or the turning travel route TN to the discharge stop position PP and from the discharge stop position PP to the harvest travel route LI. are set by the route calculation unit 23 .
- the communication terminal 4 has a touch panel monitor that is manually operated, is configured to be able to display various information, and is configured to be able to perform various setting operations.
- the communication terminal 4 is provided with a changing unit 4a, and the changing unit 4a can change the determination mode regarding retry running, which will be described later, according to a human operation input to the touch panel of the communication terminal 4. It is configured.
- the changing unit 4a sets conditions for determining whether or not the combine harvester 1 can enter along the harvest travel route LI when entering the work area CA according to the operation of the touch panel monitor. change.
- the travel control unit 25 is configured to be able to control the travel device 11 . Based on the position coordinates of the combine harvester 1 received from the vehicle position calculation unit 21A, the calculation result received from the area calculation unit 22, and the harvest travel route LI received from the route calculation unit 23, the travel control unit 25 to control the automatic running of the combine harvester 1. Specifically, the travel control unit 25 controls travel of the combine 1 so as to travel along the harvest travel route LI as shown in FIGS. 2 and 3 .
- an automatic travel start button (not shown)
- automatic travel along the harvest travel route LI and the turning travel route TN is started.
- the travel control unit 25 controls retry travel.
- the retry travel is travel in which the combine 1 temporarily stops, moves backward, and moves forward again toward the harvest travel route LI.
- the travel control unit 25 travels harvest travel routes LI1, LI2, LI3, and LI4 as harvest travel routes LI parallel to the four sides of the rectangular work area CA. set as the route of The route calculation unit 23 calculates turning travel routes TN1, TN2, and TN3 for ⁇ -turn travel.
- the ⁇ -turn travel is performed by forward travel along the direction in which the previous harvest travel route LI extends, reverse travel including turning travel, and forward travel along the direction in which the next harvest travel route LI extends.
- the travel control unit 25 controls the travel device 11 to control the harvest travel route LI1, the turning travel route TN1, the harvest travel route LI2, the turn travel route TN2, the harvest travel route LI3, the turn travel route TN3, and the harvest travel route LI4.
- the combine 1 is automatically run in order. As a result, the automatic traveling becomes a spiral traveling as shown in FIG. 2 .
- the traveling control unit 25 sets the harvesting travel routes LI5, LI6, LI7, and LI8. Set as a route for driving.
- the route calculation unit 23 calculates turning travel routes TN4, TN5, and TN6 for U-turn turns.
- the travel control unit 25 controls the travel device 11 to perform the harvest travel route LI5, the turning travel route TN4, the harvest travel route LI6, the turn travel route TN5, the harvest travel route LI7, the turn travel route TN6, and the harvest travel route LI8 in this order. Let the combine 1 run automatically.
- the harvest travel routes LI parallel to the two opposing sides of the rectangular work area CA are alternately traveled from the outside, and a U-turn travel is performed over the two harvest travel routes LI.
- U-turn travel is performed only by forward travel including turning travel.
- Automatic travel by ⁇ -turn travel is performed when the width of the outer peripheral area SA is narrow and automatic travel by U-turn travel is difficult to execute.
- the width of the outer peripheral area SA is sufficiently large and automatic travel by U-turn travel is possible, automatic travel by U-turn travel may be executed and automatic travel by ⁇ -turn travel may not be executed.
- the harvesting control unit 30 drives and controls the harvesting device H based on the information on the harvesting travel route LI and the turning travel route TN sent from the route calculation unit 23 . While the combine 1 is automatically traveling along the harvesting travel route LI, the harvesting control unit 30 unloads the harvesting device H and drives and controls the harvesting device 15, the reel 17, and the like. Further, while the combine harvester 1 is automatically traveling along the turning travel route TN, the harvesting control unit 30 raises the harvesting device H to stop the harvesting device 15, the reel 17, and the like.
- the combine harvester 1 After the combine harvester 1 completes harvesting travel on one harvesting travel route LI, it automatically travels toward the next harvesting travel route LI by ⁇ -turn travel or U-turn travel. However, when the combine harvester 1 shifts to the left or right with respect to the next harvesting travel route LI at the end of ⁇ -turn travel or U-turn travel, or the azimuth shifts relative to the extension direction of the next harvesting travel route LI. can be considered. If the automatic traveling is performed with a large positional or azimuth deviation with respect to the next harvesting travel route LI, the combine 1 may meander left and right with respect to the harvesting travel route LI, and there is a risk of leaving uncut crops in the field. be. Therefore, in this embodiment, the travel control unit 25 is configured to be able to control the retry travel.
- a determination unit 27 and a condition storage unit 29 are provided in the control unit 20 shown in FIG.
- the determination unit 27 determines whether or not the combine harvester 1 can enter along the harvest travel route LI based on the detection result of the detection unit 21. do.
- the determination unit 27 sends a retry travel instruction signal to the travel control unit 25 .
- the travel control unit 25 is configured to cause the combine harvester 1 to perform retry travel according to the instruction signal.
- the condition storage unit 29 stores conditions for determining whether or not the combine harvester 1 can enter the work target area CA along the traveling route.
- a plurality of conditions are stored in the condition storage unit 29 .
- the condition contains multiple different metrics. Each of the plurality of conditions has a positional deviation threshold Wt and an azimuth deviation threshold ⁇ t as a plurality of indices of different types.
- the determination unit 27 performs determination processing at two locations before the automatic harvesting travel is started along the next harvesting travel route LI. Specifically, the determination unit 27 determines whether the combine 1 enters a location separated by a certain distance D1 from the start point of the next harvest travel route LI, the start point of the next harvest travel route LI, and the combine 1 along the harvest travel route LI. Determine if it is possible.
- the starting point of the next harvesting travel route LI is indicated by the second retry determination position P2
- the location separated from the starting point of the next harvesting travel route LI by a certain distance D1 is indicated by the first retry determination position P1.
- the second retry determination position P2 is a position where the combine harvester 1 is about to enter the work target area CA from the outer peripheral area SA.
- the detector 21 detects a state in which the combine harvester 1 is positioned at the first retry determination position P1 (hereinafter referred to as "first state”) and a state in which the combine harvester 1 is positioned at the second retry determination position P2 (hereinafter referred to as "second state"). (referred to as "state”) and to detect.
- the constant distance D1 is set to 1 meter, for example.
- the first retry determination position P1 is located on the turning travel route TN.
- the turning travel routes TN at this time may be the turning travel routes TN1, TN2, and TN3 for ⁇ -turn travel, or the turning travel routes TN4, TN5, and TN6 for U-turn travel.
- the turning travel route TN shown in FIG. 5 is the turning travel routes TN1, TN2, and TN3 for ⁇ -turn travel
- the combine 1 makes a turn along the turning travel route TN toward the next harvest travel route LI.
- the harvesting device H is lowered at the first retry determination position P1, the harvesting device H may not be lowered yet at the first retry determination position P1.
- the harvesting device 15 and the reel 17 are not driven. That is, at the first retry determination position P1, the combine 1 turns while the harvesting device H is not working. In the first state, the combine 1 is located at a position ahead of the second retry determination position P2 by a constant distance D1.
- the combine harvester 1 starts automatically traveling along the next harvest traveling route LI.
- the harvesting device H is lowered, and the harvesting device 15 and the reel 17 are in a driving state. Note that the harvest control unit 30 starts driving the harvesting device H during the transition from the first retry determination position P1 to the second retry determination position P2.
- the determination unit 27 is configured to determine whether or not the combine harvester 1 can enter along the harvest travel route LI in each of the first state and the second state.
- the harvest control unit 30 is configured to stop the harvesting device H in the first state and to drive the harvesting device H in the second state.
- the deviation calculation unit 21C calculates the lateral positional deviation amount Wd of the combine harvester 1 with respect to the travel route and the azimuth deviation amount ⁇ d of the combine harvester 1 relative to the travel route, as shown in FIGS.
- the determining unit 27 selects the positional deviation threshold value Wt and the azimuth deviation threshold value ⁇ t according to the detection result of the deviation calculating unit 21 ⁇ /b>C from among the multiple positional deviation threshold values Wt and the multiple azimuth deviation threshold values ⁇ t stored in the condition storage unit 29 . are selected one by one.
- the determination unit 27 determines that at least one of the positional deviation amount Wd is larger than the positional deviation threshold value Wt (first condition) and the orientation deviation amount ⁇ d is larger than the orientation deviation threshold value ⁇ t (second condition). When it is satisfied, it is determined that the combine 1 cannot enter along the harvest travel route LI when entering the target work area CA.
- the positional deviation threshold Wt and the azimuth deviation threshold ⁇ t change depending on the position and azimuth of the combine harvester 1 .
- W1 to W6 are shown as positional deviation threshold values Wt
- ⁇ 1 to ⁇ 6 are shown as azimuth deviation threshold values ⁇ t.
- the determination unit 27 sets the positional deviation threshold Wt to W1 or W2, and sets the azimuth deviation threshold ⁇ t to ⁇ 1 or ⁇ 2.
- the determination unit 27 sets the positional deviation threshold Wt to any one of W3 to W6, and sets the azimuth deviation threshold ⁇ t to any one of ⁇ 3 to ⁇ 6. That is, the determination unit 27 is configured to use different conditions when determining in the first state and when determining in the second state.
- the positional deviation thresholds Wt (W1, W2) selected for determination in the first state are set larger than the positional deviation thresholds Wt (W3 to W6) selected for determination in the second state.
- W1 is set larger than each of W3 and W5, and W2 is set larger than each of W4 and W6.
- the orientation deviation threshold ⁇ t ( ⁇ 1, ⁇ 2) selected for determination in the first state is set larger than the orientation deviation threshold ⁇ t ( ⁇ 3 to ⁇ 6) selected for determination in the second state.
- .theta.1 is set larger than each of .theta.3 and .theta.5, and .theta.2 is set larger than each of .theta.4 and .theta.6.
- the condition used in the first state is set to a value that makes retry running more difficult to execute than the condition used in the second state.
- FIG. 6 shows a case where the more the combine 1 moves straight ahead, the closer it gets to the harvest travel path LI and the smaller the positional deviation Wd.
- the state shown in FIG. called. In the inward-facing state, if the position of the combine 1 is displaced to one of the left and right sides with respect to the harvesting travel path LI and the direction of the combine 1 is displaced to the other left and right sides of the extending direction of the harvesting travel path LI and goes straight. It intersects with the harvest travel path LI.
- FIG. 7 shows a case where the more the combine 1 goes straight ahead, the farther away it is from the harvest travel route LI and the larger the positional deviation Wd.
- the state shown in FIG. the state shown in FIG. ].
- the outward state if the position of the combine 1 is displaced to one of the left and right sides with respect to the harvesting travel path LI and the orientation of the combine 1 is displaced to one of the left and right sides of the extending direction of the harvesting travel path LI and goes straight. Move away from the harvesting travel path LI.
- the detection unit 21 detects the inward-facing state in which the combine 1 is displaced in the left-right direction with respect to the harvesting travel route LI and the combine 1 faces the harvesting travel route LI, and , and the combine 1 is configured to detect an outward state in which the combine 1 does not face the harvest travel route LI.
- the values of the positional deviation threshold Wt and the azimuth deviation threshold ⁇ t are changed depending on whether the combine harvester 1 is facing inward or facing outward.
- the positional deviation threshold value Wt is set to W1
- the azimuth deviation threshold value ⁇ t is set to ⁇ 1.
- the determination unit 27 sets the position deviation threshold as shown in FIG. Wt is set to W1
- the orientation deviation threshold ⁇ t is set to ⁇ 1.
- the determination unit 27 sets the position deviation threshold value Wt to W3 or W5.
- the orientation deviation threshold ⁇ t is set to ⁇ 3 or ⁇ 5.
- the positional deviation threshold Wt is set to W2, and the azimuth deviation threshold ⁇ t is set to ⁇ 2.
- the determination unit 27 determines the position A deviation threshold value Wt is set to W2, and an orientation deviation threshold value ⁇ t is set to ⁇ 2.
- the determination unit 27 sets the position deviation threshold value Wt to W4 or W6.
- the orientation deviation threshold ⁇ t is set to ⁇ 4 or ⁇ 6. That is, the determination unit 27 selects different positional deviation threshold values Wt and azimuth deviation threshold values ⁇ t for the inward-facing state and the outward-facing state, respectively.
- the determination unit 27 determines whether the combine 1 can enter the work area CA along the harvest travel route LI depending on whether the combine 1 is facing inward or facing outward. It is configured to change the conditions for determining whether
- the positional deviation thresholds Wt (W2, W4, W6) selected in the outward state are set smaller than the positional deviation thresholds Wt (W1, W3, W5) selected in the inward state.
- the azimuth deviation thresholds ⁇ t ( ⁇ 2, ⁇ 4, ⁇ 6) selected in the outward state are set smaller than the azimuth deviation thresholds ⁇ t ( ⁇ 1, ⁇ 3, ⁇ 5) selected in the inward state.
- W2 is set smaller than W1
- .theta.2 is set smaller than .theta.1.
- W4 is set smaller than W3, W6 is set smaller than W5, .theta.4 is set smaller than .theta.3, and .theta.6 is set smaller than .theta.5.
- the condition used when the combine 1 is facing inward is set to a value that makes retry running more difficult than the condition used when the combine 1 is facing outward.
- the condition used in the first state is set to a value on the side where retry running is less likely to be executed than the condition used in the second state. is set.
- the positional deviation threshold value Wt and the azimuth deviation threshold value ⁇ t at the second retry determination position P2 are configured to be able to be changed artificially. Specifically, as shown in FIG. 8, it is configured such that a "standard mode" and a "relaxed mode” can be set as determination modes for retry running.
- the determination mode is configured to be manually changed via the change unit 4a of the communication terminal 4.
- FIG. As described above, the communication terminal 4 has a touch panel monitor, and the monitor of the communication terminal 4 can display the determination mode selection screen.
- the changing unit 4a of the communication terminal 4 is configured to be able to select and set a plurality of judgment modes.
- the changing unit 4a of the communication terminal 4 can change the index of the conditions for determining whether or not the combine 1 can enter the work target area CA along the harvest travel route LI in a plurality of stages. It is configured.
- the determination unit 27 selects the positional deviation threshold Wt and the azimuth deviation threshold ⁇ t corresponding to the selected determination mode from among the multiple positional deviation thresholds Wt and the multiple azimuth deviation thresholds ⁇ t.
- W5 is set larger than W3, and W6 is set larger than W4.
- ⁇ 5 is set larger than ⁇ 3, and ⁇ 6 is set larger than ⁇ 4. That is, in the "relaxed mode", the positional deviation amount Wd and the azimuth deviation amount ⁇ d are allowed to be larger than in the "standard mode", so it is difficult to execute the retry running. It is conceivable that some users feel annoyed by frequent retry running, and in such a case, setting the determination mode to the "relaxed mode" reduces the annoyance of the user. be.
- W1 is set larger than each of W3 and W5, and W2 is set larger than each of W4 and W6.
- ⁇ 1 is set larger than each of ⁇ 3 and ⁇ 5, and ⁇ 2 is set larger than each of ⁇ 4 and ⁇ 6.
- the changing unit 4a of the communication terminal 4 changes the positional deviation thresholds Wt (W3 to W6) used in the first state to values smaller than the positional deviation thresholds Wt (W1, W2) used in the second state. .
- the changing unit 4a of the communication terminal 4 sets the azimuth deviation threshold ⁇ t ( ⁇ 3 to ⁇ 6) used in the second state to a smaller value than the azimuth deviation threshold ⁇ t ( ⁇ 1, ⁇ 2) used in the first state. change.
- the positional deviation threshold Wt and the azimuth deviation threshold ⁇ t used in the first state are set larger than the positional deviation threshold Wt and the azimuth deviation threshold ⁇ t used in the second state.
- the determination of retry travel is made under less stringent conditions than in the second state, and the risk of unexpectedly frequent retry travel in the first state is reduced.
- the changing unit 4a is configured so that the positional deviation threshold Wt and the azimuth deviation threshold ⁇ t used in the first state cannot be changed, and the positional deviation threshold Wt and the azimuth deviation threshold ⁇ t used in the second state are set to It is configured to be changeable between "standard mode” and "relaxed mode".
- the condition used in the first state is a fixed value
- the changing unit 4a of the communication terminal 4 changes the condition used in the second state according to the operation of the monitor.
- the changing unit 4a compared to the configuration in which the changing unit 4a can change the positional deviation threshold value Wt and the azimuth deviation threshold value ⁇ t in each of the first state and the second state, the user does not have to think about complicated combinations of determination modes. , and it is easy to operate the changing unit 4a. This makes it easier for field managers and operators to change the conditions, and the configuration of the changing unit 4a becomes user-friendly.
- the changing unit 4a may be configured to change the conditions used in the first state according to the operation of a touch panel monitor as an operation tool.
- the determination processing of the determination unit 27 will be described based on FIG. Based on the branching process of steps #02 to #06, the values of the positional deviation threshold Wt and the azimuth deviation threshold ⁇ t are set to different values in steps #11 to #16, respectively.
- the vehicle position and vehicle direction are acquired by the vehicle position calculation unit 21A and the vehicle direction calculation unit 21B (step #01). Then, it is determined whether the vehicle position is the first retry determination position P1 or the second retry determination position P2 shown in FIG. 9 (step #02).
- step #03 determines that the vehicle orientation is inward or outward with respect to the harvest travel route LI. If the vehicle is oriented inward (step #03: inward), the positional deviation threshold Wt is set to W1 and the azimuth deviation threshold .theta.t is set to .theta.1 (step #11). If the azimuth of the vehicle is outward (step #03: outward), the positional deviation threshold Wt is set to W2 and the azimuth deviation threshold ⁇ t is set to ⁇ 2 (step #12).
- step #02: P2 the determination unit 27 determines that the vehicle orientation is inward or outward with respect to the harvest travel route LI. (step #04).
- step #04 determines whether the azimuth of the vehicle is inward (step #04: inward) and the determination mode is "standard mode" (step #05: standard mode).
- step #05 standard mode
- the positional deviation threshold value Wt is set to W3.
- the azimuth deviation threshold value ⁇ t is set to ⁇ 3 (step #13).
- step #05 loosening mode
- the positional deviation threshold value Wt is set to W4.
- the azimuth deviation threshold .theta.t is set to .theta.4 (step #14).
- step #04 outward
- step #06 standard mode
- the positional deviation threshold value Wt is set to W5.
- the orientation deviation threshold value ⁇ t is set to ⁇ 5 (step #15).
- step #06 loosening mode
- the positional deviation threshold value Wt is set to W6. is set, and the azimuth deviation threshold value .theta.t is set to .theta.6 (step #16).
- step #21 it is determined whether or not the positional deviation amount Wd is equal to or less than the positional deviation threshold value Wt (step #21), and it is determined whether or not the orientation deviation amount ⁇ d is equal to or less than the orientation deviation threshold value ⁇ t (step #22). That is, if the positional deviation amount Wd is within the range of the positional deviation threshold value Wt (step #21: Yes) and the orientation deviation amount ⁇ d is within the range of the orientation deviation threshold value ⁇ t (step #22: Yes), The travel control unit 25 controls the combine 1 to travel forward along the travel route (step #23). If at least one of the positional deviation amount Wd and the azimuth deviation amount ⁇ d is outside the threshold range (step #21: No, step #22: No), the travel control unit 25 starts control of retry travel. (Step #24).
- the harvesting control unit 30 stops the harvesting device H when retry running is executed in the second state.
- the travel control unit 25 controls travel of the combine harvester 1 after the harvesting device H is stopped when controlling retry travel. Note that when the combine harvester 1 is in the first state, the harvesting device H is stopped, so the travel control unit 25 can control the retry travel as it is. That is, regardless of whether the combine 1 is facing inward or facing outward, the harvesting control unit 30 stops the harvesting device H when the combine 1 is in the first state, and stops the harvesting device H when the combine 1 is in the second state. drives the harvesting device H. Also, the harvest control unit 30 starts driving the harvesting device H while the combine 1 is shifting from the first state to the second state, regardless of whether the combine 1 is facing inward or facing outward.
- the conditions include the positional deviation threshold value Wt and the azimuth deviation threshold value ⁇ t as a plurality of indices of different types, but the conditions are not limited to this embodiment.
- the conditions may include a threshold for velocity, a threshold for acceleration, and a threshold for unit time change amount of misalignment.
- the determining unit 27 satisfies at least the first condition in which the amount of misalignment Wd is greater than the threshold value of misalignment Wt and the second condition in which the amount of misalignment ⁇ d is greater than the threshold value of misalignment ⁇ t. If one of the conditions is satisfied, it is determined that the combine 1 cannot enter along the harvest travel route LI when entering the target work area CA, but the present invention is not limited to this embodiment. For example, when both the first condition and the second condition are satisfied, the determination unit 27 is configured to determine that the combine 1 cannot enter along the harvest travel route LI when entering the work area CA. May be.
- condition used in the first state is set to a value that makes retry running less likely to be executed than the condition used in the second state.
- the conditions used in the first state and the conditions used in the second state may be the same.
- the positional deviation threshold Wt and the azimuth deviation threshold ⁇ t used in the inward facing state are set to values larger than the positional deviation threshold Wt and the azimuth deviation threshold ⁇ t used in the outward facing state. is not limited to this embodiment.
- the positional deviation threshold Wt used in the inward facing state is set to a value larger than the positional deviation threshold Wt used in the outward facing state, and the orientation deviation threshold ⁇ t is the same for both the inward facing state and the outward facing state. May be set to a value.
- orientation deviation threshold ⁇ t used in the inward-facing state is set to a value larger than the orientation deviation threshold ⁇ t used in the outward-facing state, and the positional deviation threshold Wt is the same for both the inward-facing state and the outward-facing state. May be set to a value.
- the positional deviation threshold Wt and the azimuth deviation threshold ⁇ t used in the first state are set to values larger than the positional deviation threshold Wt and the azimuth deviation threshold ⁇ t used in the second state. is not limited to this embodiment.
- the positional deviation threshold Wt used in the first state is set to a value larger than the positional deviation threshold Wt used in the second state
- the orientation deviation threshold ⁇ t used in the first state is the "standard value" of the second state. It may be set to the same value as the azimuth deviation threshold ⁇ t used in the "mode” or "relaxed mode".
- the azimuth deviation threshold ⁇ t used in the first state is set to a value larger than the azimuth deviation threshold ⁇ t used in the second state, and the position deviation threshold Wt used in the first state is the “standard” of the second state. It may be set to the same value as the positional deviation threshold value Wt used in "mode” or "loosening mode".
- the harvest travel route LI shown in FIGS. 6 and 7 may be the turning travel route TN.
- the traveling route of the present invention may include a turning traveling route TN.
- the deviation calculator 21C may calculate the azimuth deviation amount ⁇ d of the combine harvester 1 with respect to the turning travel route TN and the positional deviation amount Wd of the combine harvester 1 relative to the turning travel route TN.
- the present invention can be applied to an automatic travel control system for agricultural machinery that automatically travels along a travel route. Therefore, the technical features of the present invention are: common combine harvester, self-throwing combine harvester, corn harvester, sugarcane harvester, soybean harvester, green soybean harvester, root vegetable harvester (e.g. carrot harvester, radish harvester) , and the like, as well as field work machines such as rice transplanters, tractors, and management machines. Therefore, the above-described embodiment can be configured as a field work machine. Additionally, the technical features of the automatic cruise control system of the present invention can also be applied to the control method. Therefore, the above-described embodiment can be configured as an automatic travel control method.
- the technical features of the automatic cruise control system of the present invention can also be applied to control programs. Therefore, the above-described embodiment can be configured as an automatic cruise control program. Furthermore, recording media such as optical discs, magnetic discs, and semiconductor memories in which control programs having this technical feature are recorded are also included in the configurations of the above-described embodiments.
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Abstract
Description
本発明の実施形態を図面に基づいて説明する。図1に示されるように、普通型のコンバイン1(本発明に係る『機体』に相当)に、クローラ式の走行装置11、運転部12、脱穀装置13、穀粒タンク14、収穫装置H、搬送装置16、穀粒排出装置18、衛星測位モジュール80、エンジンEが備えられている。なお、図1に示される矢印「F」の方向を「機体前方」、図1に示される矢印「B」の方向を「機体後方」、図1に示される矢印「U」の方向を「上方」、図1に示される矢印「D」の方向を「下方」とする。また、左右を示す場合には、機体前方を向いた状態における右手側を「右」、左手側を「左」とする。以下の前後上下左右に関する説明においても同様である。 [Overall configuration of combine harvester]
An embodiment of the present invention will be described based on the drawings. As shown in FIG. 1, a normal type combine harvester 1 (corresponding to the "body" according to the present invention) is equipped with a crawler
コンバイン1による圃場での収穫作業について、図2及び図3を参照しながら説明する。図2及び図3には、圃場の外形が矩形である例が示される。最初に、図2に示されるように、圃場における外周側の領域において圃場の境界線に沿って周回するように収穫走行が行われる。この初期周回走行によって既作業地となった領域は外周領域SAとして設定され、外周領域SAの内側の未作業地は作業対象領域CAとして設定される。 [Harvesting with a combine harvester]
A harvesting operation in a field by the
この自動走行においては、図2及び図3に示されるように、作業対象領域CAに設定された収穫走行経路LI(走行経路の一例)上を自動走行しながら植立穀稈を収穫する自動収穫走行と、1つの自動収穫走行と次の自動収穫走行との間に行われるターン走行とが繰り返し行われる。ターン走行は、2つの収穫走行経路LIの間を繋ぐ旋回走行経路TN上の自動走行である。 Following the initial round trip, the planted culms in the work target area CA are harvested by automatic traveling.
In this automatic travel, as shown in FIGS. 2 and 3, an automatic harvester that harvests planted grain culms while automatically traveling on a harvest travel route LI (an example of a travel route) set in the work area CA. A run and a turn run between one auto-harvesting run and the next auto-harvesting run are repeated. Turn driving is automatic driving on a turning driving path TN that connects two harvesting driving paths LI.
図4に示されるように、自動走行制御システム2に、制御部20と衛星測位モジュール80と慣性計測装置81が備えられている。なお、制御部20は、コンバイン1に備えられている。また、エンジンEから出力された動力は、走行装置11と収穫装置Hとの夫々に入力される。 [Configuration of automatic driving control system]
As shown in FIG. 4 , the automatic cruise control system 2 includes a
コンバイン1が、一つの収穫走行経路LIで収穫走行を終えた後、次の収穫走行経路LIへ向けてαターン走行またはUターン走行による自動走行を行う。しかし、αターン走行またはUターン走行の終了時に、コンバイン1が次の収穫走行経路LIに対して左右に位置ズレしたり、次の収穫走行経路LIの延び方向に対して方位ズレしたりする場合が考えられる。次の収穫走行経路LIに対する位置ズレや方位ズレが大きいまま自動走行が行われると、コンバイン1が収穫走行経路LIに対して左右に蛇行することが考えられ、圃場に刈残しが発生する虞がある。このため、本実施形態では、走行制御部25はリトライ走行を制御可能に構成されている。 [Regarding retry running]
After the
本発明は、上述の実施形態に例示された構成に限定されるものではなく、以下、本発明の代表的な別実施形態を例示する。 [Another embodiment]
The present invention is not limited to the configurations exemplified in the above-described embodiments, and other representative embodiments of the present invention will be exemplified below.
H :収穫装置
2 :自動走行制御システム
4 :通信端末(操作具)
4a :変更部
21 :検出部
21C :偏差算出部
23 :経路設定部
25 :走行制御部
27 :判定部
29 :条件記憶部
30 :収穫制御部
CA :作業対象領域(未作業領域)
D1 :一定距離
LI :収穫走行経路(走行経路)
P1 :第一リトライ判定位置(走行経路の始点よりも一定距離だけ手前の位置)
P2 :第二リトライ判定位置(走行経路の始点)
SA :外周領域
Wd :位置ズレ量
Wt :位置ズレ閾値
θd :方位ズレ量
θt :方位ズレ閾値
1: Combine (body)
H: Harvesting device 2: Automatic driving control system 4: Communication terminal (operating tool)
4a: change unit 21:
D1: Fixed distance LI: Harvesting travel route (travel route)
P1: First retry determination position (a position a certain distance before the starting point of the travel route)
P2: Second retry determination position (starting point of travel route)
SA: Outer peripheral area Wd: Positional deviation amount Wt: Positional deviation threshold θd: Orientation deviation amount θt: Orientation deviation threshold
Claims (21)
- 圃場における外周領域よりも内側の未作業領域に走行経路を設定する経路設定部と、
前記走行経路に沿って走行するように機体の走行を制御する走行制御部と、
前記機体の向き及び位置を検出する検出部と、
前記機体が前記外周領域から前記未作業領域に進入する際に、前記検出部による検出結果に基づいて、前記機体が前記走行経路に沿うように進入できるか否かを判定する判定部と、が備えられ、
前記判定部が、前記機体が前記走行経路に沿うように進入できないと判断したとき、前記走行制御部は、前記機体に、一旦停止して後進し、再度前記走行経路に向けて前進するリトライ走行を実行させるように構成され、
前記検出部は、前記機体が前記走行経路に対して左右方向に位置ズレするとともに前記機体が前記走行経路を向く内向き状態と、前記機体が前記走行経路に対して左右方向に位置ズレするとともに前記機体が前記走行経路を向かない外向き状態と、を検出するように構成され、
前記判定部は、前記機体が前記内向き状態であるか前記外向き状態であるかによって、前記未作業領域に進入する際に前記機体が前記走行経路に沿うように進入できるか否かを判定するための条件を変更するように構成されている自動走行制御システム。 a route setting unit that sets a travel route in an unworked area inside the outer peripheral area of the field;
a travel control unit that controls travel of the aircraft so that it travels along the travel route;
a detection unit that detects the orientation and position of the aircraft;
a determination unit that determines whether or not the aircraft can enter along the travel route based on the detection result of the detection unit when the aircraft enters the unworked area from the outer peripheral area; prepared,
When the determination unit determines that the aircraft cannot enter along the travel route, the travel control unit instructs the aircraft to temporarily stop, move backward, and then retry travel to move forward toward the travel route again. is configured to run
The detection unit detects an inward facing state in which the body is displaced in the left-right direction with respect to the travel route and faces the travel route, and a state in which the body is displaced in the left-right direction with respect to the travel route. configured to detect an outward state in which the machine body does not face the travel route,
The determination unit determines whether or not the aircraft can enter along the travel route when entering the unworked area, depending on whether the aircraft is in the inward facing state or the outward facing state. an automated cruise control system configured to change the conditions for - 前記判定部において、前記機体が前記内向き状態のときに用いられる前記条件は、前記機体が前記外向き状態のときに用いられる前記条件よりも、前記リトライ走行の実行がされ難い側の値に設定されている請求項1に記載の自動走行制御システム。 In the determining unit, the condition used when the aircraft is facing inward is set to a value on the side where execution of the retry running is more difficult than the condition used when the aircraft is facing outward. The automatic cruise control system according to claim 1, wherein the automatic cruise control system is set.
- 前記検出部に、前記走行経路の延び方向に対する前記機体の方位ズレ量と、前記走行経路に対する前記延び方向に直交する方向における前記機体の位置ズレ量と、を算出する偏差算出部が備えられ、
前記条件に、前記位置ズレ量が一定の位置ズレ閾値よりも大きい第一条件、及び、前記方位ズレ量が一定の方位ズレ閾値よりも大きい第二条件、が含まれ、
前記判定部は、前記第一条件と前記第二条件との少なくとも一つが満たされると、前記未作業領域に進入する際に前記機体が前記走行経路に沿うように進入できないと判定するように構成されている請求項1または2に記載の自動走行制御システム。 The detection unit is provided with a deviation calculation unit that calculates an azimuth deviation amount of the aircraft with respect to the extension direction of the travel route and a position deviation amount of the aircraft body in a direction orthogonal to the extension direction of the travel route,
The conditions include a first condition that the amount of misalignment is greater than a certain threshold of misalignment, and a second condition that the amount of misalignment is greater than a certain threshold of misalignment,
The determination unit is configured to determine that the aircraft cannot enter along the travel route when entering the unworked area when at least one of the first condition and the second condition is satisfied. 3. The automatic cruise control system according to claim 1 or 2. - 前記検出部は、進入しようとしている前記走行経路の始点よりも一定距離だけ手前の位置に前記機体が位置する第一状態と、前記始点に前記機体が位置する第二状態と、を検出するように構成され、
前記判定部は、前記第一状態と前記第二状態との夫々において、前記機体が前記走行経路に沿うように進入できるか否かを判定するように構成され、かつ、前記第一状態における判定時と前記第二状態における判定時とで異なる前記条件を用いるように構成され、
前記機体が前記内向き状態であっても前記外向き状態であっても、前記第一状態で用いられる前記条件は、前記第二状態で用いられる前記条件よりも、前記リトライ走行の実行がされ難い側の値に設定されている請求項1から3の何れか一項に記載の自動走行制御システム。 The detection unit detects a first state in which the aircraft is positioned a certain distance before the starting point of the travel route on which the vehicle is about to enter, and a second state in which the aircraft is positioned at the starting point. configured to
The determination unit is configured to determine whether or not the aircraft can enter along the travel route in each of the first state and the second state, and determines in the first state configured to use different conditions at time and at the time of determination in the second state,
Regardless of whether the aircraft is in the inward facing state or in the outward facing state, the condition used in the first state causes the retry running to be executed more than the condition used in the second state. 4. The automatic cruise control system according to any one of claims 1 to 3, which is set to a value on the difficult side. - 圃場に対する収穫作業を行う収穫装置と、前記収穫装置の駆動を制御する収穫制御部と、が備えられ、
前記収穫制御部は、前記機体が前記内向き状態であっても前記外向き状態であっても、前記機体が前記第一状態のときは前記収穫装置を停止させ、前記機体が前記第二状態のときは前記収穫装置を駆動させる請求項4に記載の自動走行制御システム。 A harvesting device that performs harvesting work on a field, and a harvesting control unit that controls driving of the harvesting device,
The harvesting control unit stops the harvesting device when the machine body is in the first state, regardless of whether the machine body is in the inward-facing state or the outward-facing state, and stops the harvesting device when the machine body is in the second state. 5. The automatic travel control system according to claim 4, wherein the harvesting device is driven when . - 前記収穫制御部は、前記機体が前記内向き状態であっても前記外向き状態であっても、前記機体が前記第一状態から前記第二状態に移行する間に、前記収穫装置を駆動させ始める請求項5に記載の自動走行制御システム。 The harvesting control unit drives the harvesting device while the fuselage is shifting from the first state to the second state, regardless of whether the fuselage is facing inward or facing outward. 6. The automatic cruise control system of claim 5, starting with.
- 自動走行を可能な圃場作業機であって、
圃場における外周領域よりも内側の未作業領域に走行経路を設定する経路設定部と、
前記走行経路に沿って走行するように機体の走行を制御する走行制御部と、
前記機体の向き及び位置を検出する検出部と、
前記機体が前記外周領域から前記未作業領域に進入する際に、前記検出部による検出結果に基づいて、前記機体が前記走行経路に沿うように進入できるか否かを判定する判定部と、が備えられ、
前記判定部が、前記機体が前記走行経路に沿うように進入できないと判断したとき、前記走行制御部は、前記機体を一旦停止して後進し、再度前記走行経路に向けて前進するリトライ走行を実行するように構成され、
前記検出部は、前記機体が前記走行経路に対して左右方向に位置ズレするとともに前記機体が前記走行経路を向く内向き状態と、前記機体が前記走行経路に対して左右方向に位置ズレするとともに前記機体が前記走行経路を向かない外向き状態と、を検出するように構成され、
前記判定部は、前記機体が前記内向き状態であるか前記外向き状態であるかによって、前記未作業領域に進入する際に前記機体が前記走行経路に沿うように進入できるか否かを判定するための条件を変更するように構成されている圃場作業機。 A field work machine capable of automatic travel,
a route setting unit that sets a travel route in an unworked area inside the outer peripheral area of the field;
a travel control unit that controls travel of the aircraft so that it travels along the travel route;
a detection unit that detects the orientation and position of the aircraft;
a determination unit that determines whether or not the aircraft can enter along the travel route based on the detection result of the detection unit when the aircraft enters the unworked area from the outer peripheral area; prepared,
When the determination unit determines that the aircraft cannot enter along the travel route, the travel control unit temporarily stops the aircraft, moves backward, and performs retry travel in which the aircraft moves forward toward the travel route again. configured to run
The detection unit detects an inward facing state in which the body is displaced in the left-right direction with respect to the travel route and faces the travel route, and a state in which the body is displaced in the left-right direction with respect to the travel route. configured to detect an outward state in which the machine body does not face the travel route,
The determination unit determines whether or not the aircraft can enter along the travel route when entering the unworked area, depending on whether the aircraft is in the inward facing state or the outward facing state. A field implement that is configured to change the conditions for - 自動走行を可能な圃場作業機の自動走行制御方法であって、
圃場における外周領域よりも内側の未作業領域に走行経路を設定する経路設定ステップと、
前記走行経路に沿って走行するように機体の走行を制御する走行制御ステップと、
前記機体の向き及び位置を検出する検出ステップと、
前記機体が前記外周領域から前記未作業領域に進入する際に、前記検出ステップによる検出結果に基づいて、前記機体が前記走行経路に沿うように進入できるか否かを判定する判定ステップと、を備え、
前記判定ステップで、前記機体が前記走行経路に沿うように進入できないと判定したとき、前記走行制御ステップにおいて、前記機体を一旦停止して後進し、再度前記走行経路に向けて前進するリトライ走行を実行し、
前記検出ステップにおいて、前記機体が前記走行経路に対して左右方向に位置ズレするとともに前記機体が前記走行経路を向く内向き状態と、前記機体が前記走行経路に対して左右方向に位置ズレするとともに前記機体が前記走行経路を向かない外向き状態と、を検出し、
前記判定ステップにおいて、前記機体が前記内向き状態であるか前記外向き状態であるかによって、前記未作業領域に進入する際に前記機体が前記走行経路に沿うように進入できるか否かを判定するための条件を変更する自動走行制御方法。 An automatic travel control method for a field work machine capable of automatic travel, comprising:
a route setting step of setting a travel route in an unworked area inside an outer peripheral area in a field;
a travel control step of controlling travel of the aircraft so as to travel along the travel route;
a detection step of detecting the orientation and position of the aircraft;
a determination step of determining whether or not the aircraft can enter along the travel route based on the detection result of the detection step when the aircraft enters the unworked area from the outer peripheral area; prepared,
When it is determined in the determination step that the aircraft cannot enter along the travel route, in the travel control step, the aircraft is temporarily stopped, reversed, and retry travel is performed to move forward toward the travel route again. run,
In the detecting step, the position of the machine body is displaced in the left-right direction with respect to the travel route and the inward-facing state in which the machine body faces the travel route; Detecting an outward state in which the aircraft does not face the travel route,
In the determination step, it is determined whether or not the aircraft can enter along the travel route when entering the unworked area, depending on whether the aircraft is in the inward facing state or the outward facing state. An automatic driving control method that changes the conditions for - 圃場における外周領域よりも内側の未作業領域に走行経路を設定する経路設定機能と、
前記走行経路に沿って走行するように機体の走行を制御する走行制御機能と、
前記機体の向き及び位置を検出する検出機能と、
前記機体が前記外周領域から前記未作業領域に進入する際に、前記検出機能による検出結果に基づいて、前記機体が前記走行経路に沿うように進入できるか否かを判定する判定機能と、をコンピュータに実行させる圃場作業機の自動走行制御プログラムであって、
前記判定機能が、前記機体が前記走行経路に沿うように進入できないと判断したとき、前記走行制御機能は、前記機体に、一旦停止して後進し、再度前記走行経路に向けて前進するリトライ走行を実行させるように構成され、
前記検出機能は、前記機体が前記走行経路に対して左右方向に位置ズレするとともに前記機体が前記走行経路を向く内向き状態と、前記機体が前記走行経路に対して左右方向に位置ズレするとともに前記機体が前記走行経路を向かない外向き状態と、を検出するように構成され、
前記判定機能は、前記機体が前記内向き状態であるか前記外向き状態であるかによって、前記未作業領域に進入する際に前記機体が前記走行経路に沿うように進入できるか否かを判定するための条件を変更するように構成されている自動走行制御プログラム。 A route setting function that sets a running route in an unworked area inside the outer peripheral area in the field;
A travel control function that controls travel of the aircraft so that it travels along the travel route;
a detection function that detects the orientation and position of the aircraft;
a determination function that determines whether or not the aircraft can enter along the travel route based on the detection result of the detection function when the aircraft enters the unworked area from the outer peripheral area; An automatic travel control program for a field work machine to be executed by a computer,
When the determination function determines that the aircraft cannot enter along the travel route, the travel control function instructs the aircraft to temporarily stop, move backward, and then retry travel to move forward toward the travel route again. is configured to run
The detection function includes two states, namely, an inward facing state in which the machine body is displaced in the horizontal direction with respect to the traveling route and the machine body faces the traveling route, and a state in which the machine body is displaced in the horizontal direction with respect to the traveling route. configured to detect an outward state in which the machine body does not face the travel route,
The determination function determines whether or not the aircraft can enter along the travel route when entering the unworked area, depending on whether the aircraft is in the inward facing state or the outward facing state. An automatic cruise control program that is configured to change the conditions for - 自動走行を可能な圃場作業機の自動走行制御プログラムが記録されている記録媒体において、
圃場における外周領域よりも内側の未作業領域に走行経路を設定する経路設定機能と、
前記走行経路に沿って走行するように機体の走行を制御する走行制御機能と、
前記機体の向き及び位置を検出する検出機能と、
前記機体が前記外周領域から前記未作業領域に進入する際に、前記検出機能による検出結果に基づいて、前記機体が前記走行経路に沿うように進入できるか否かを判定する判定機能と、をコンピュータに実行させるプログラムが記憶され、
前記判定機能が、前記機体が前記走行経路に沿うように進入できないと判断したとき、前記走行制御機能は、前記機体に、一旦停止して後進し、再度前記走行経路に向けて前進するリトライ走行を実行させるように構成され、
前記検出機能は、前記機体が前記走行経路に対して左右方向に位置ズレするとともに前記機体が前記走行経路を向く内向き状態と、前記機体が前記走行経路に対して左右方向に位置ズレするとともに前記機体が前記走行経路を向かない外向き状態と、を検出するように構成され、
前記判定機能は、前記機体が前記内向き状態であるか前記外向き状態であるかによって、前記未作業領域に進入する際に前記機体が前記走行経路に沿うように進入できるか否かを判定するための条件を変更するように構成されている記録媒体。 In a recording medium in which an automatic travel control program for a field work machine capable of automatic travel is recorded,
A route setting function that sets a running route in an unworked area inside the outer peripheral area in the field;
A travel control function that controls travel of the aircraft so that it travels along the travel route;
a detection function that detects the orientation and position of the aircraft;
a determination function that determines whether or not the aircraft can enter along the travel route based on the detection result of the detection function when the aircraft enters the unworked area from the outer peripheral area; Stores programs to be executed by a computer,
When the determination function determines that the aircraft cannot enter along the travel route, the travel control function instructs the aircraft to temporarily stop, move backward, and then retry travel to move forward toward the travel route again. is configured to run
The detection function includes two states, namely, an inward facing state in which the machine body is displaced in the horizontal direction with respect to the traveling route and the machine body faces the traveling route, and a state in which the machine body is displaced in the horizontal direction with respect to the traveling route. configured to detect an outward state in which the machine body does not face the travel route,
The determination function determines whether or not the aircraft can enter along the travel route when entering the unworked area, depending on whether the aircraft is in the inward facing state or the outward facing state. A recording medium configured to change the conditions for - 圃場における外周領域よりも内側の未作業領域に走行経路を設定する経路設定部と、
前記走行経路に沿って走行するように機体の走行を制御する走行制御部と、
前記機体の向き及び位置の少なくとも一方を検出する検出部と、
前記機体が前記外周領域から前記未作業領域に進入する際に、前記検出部による検出結果に基づいて、前記機体が前記走行経路に沿うように進入できるか否かを判定する判定部と、が備えられ、
前記判定部が、前記機体が前記走行経路に沿うように進入できないと判断したとき、前記走行制御部は、前記機体に、一旦停止して後進し、再度前記走行経路に向けて前進するリトライ走行を実行させるように構成され、
人為操作される操作具と、
前記操作具の操作に応じて、前記未作業領域に進入する際に前記機体が前記走行経路に沿うように進入できるか否かを判定するための条件を変更する変更部と、が備えられている自動走行制御システム。 a route setting unit that sets a travel route in an unworked area inside the outer peripheral area of the field;
a travel control unit that controls travel of the aircraft so that it travels along the travel route;
a detection unit that detects at least one of the orientation and position of the aircraft;
a determination unit that determines whether or not the aircraft can enter along the travel route based on the detection result of the detection unit when the aircraft enters the unworked area from the outer peripheral area; prepared,
When the determination unit determines that the aircraft cannot enter along the travel route, the travel control unit instructs the aircraft to temporarily stop, move backward, and then retry travel to move forward toward the travel route again. is configured to run
an operating tool that is artificially operated;
a changing unit that changes conditions for determining whether or not the machine body can enter along the travel route when entering the unworked area according to the operation of the operating tool. automatic cruise control system. - 前記条件に、異なる種類の複数の指標が含まれ、
複数の前記条件を記憶する条件記憶部が備えられ、
前記変更部は、前記操作具が人為操作されると、前記複数の条件のうち前記操作具の操作に応じた前記条件を選択する請求項11に記載の自動走行制御システム。 the conditions include multiple indicators of different types;
A condition storage unit that stores a plurality of the conditions is provided,
12. The automatic cruise control system according to claim 11, wherein when the operating tool is manually operated, the changing unit selects the condition according to the operation of the operating tool from among the plurality of conditions. - 前記検出部に、前記走行経路の延び方向に対する前記機体の方位ズレ量と、前記走行経路に対する前記延び方向に直交する方向における前記機体の位置ズレ量と、を算出する偏差算出部が備えられ、
前記条件に、前記位置ズレ量が一定の位置ズレ閾値よりも大きい第一条件、及び、前記方位ズレ量が一定の方位ズレ閾値よりも大きい第二条件、が含まれ、
前記判定部は、前記第一条件と前記第二条件との少なくとも一つが満たされると、前記未作業領域に進入する際に前記機体が前記走行経路に沿うように進入できないと判定するように構成されている請求項11または12に記載の自動走行制御システム。 The detection unit is provided with a deviation calculation unit that calculates an azimuth deviation amount of the aircraft with respect to the extension direction of the travel route and a position deviation amount of the aircraft body in a direction orthogonal to the extension direction of the travel route,
The conditions include a first condition that the amount of misalignment is greater than a certain threshold of misalignment, and a second condition that the amount of misalignment is greater than a certain threshold of misalignment,
The determination unit is configured to determine that the aircraft cannot enter along the travel route when entering the unworked area when at least one of the first condition and the second condition is satisfied. The automatic cruise control system according to claim 11 or 12. - 前記検出部は、進入しようとしている前記走行経路の始点よりも一定距離だけ手前の位置に前記機体が位置する第一状態と、前記始点に前記機体が位置する第二状態と、を検出するように構成され、
前記判定部は、前記第一状態と前記第二状態との夫々において、前記機体が前記走行経路に沿うように進入できるか否かを判定するように構成され、かつ、前記第一状態における判定時と前記第二状態における判定時とで異なる前記条件を用いるように構成され、
前記第一状態で用いられる前記条件は、前記第二状態で用いられる前記条件よりも、前記リトライ走行の実行がされ難い側の値に設定されている請求項11から13の何れか一項に記載の自動走行制御システム。 The detection unit detects a first state in which the aircraft is positioned a certain distance before the starting point of the travel route on which the vehicle is about to enter, and a second state in which the aircraft is positioned at the starting point. configured to
The determination unit is configured to determine whether or not the aircraft can enter along the travel route in each of the first state and the second state, and determines in the first state configured to use different conditions at time and at the time of determination in the second state,
14. The condition according to any one of claims 11 to 13, wherein the condition used in the first state is set to a value on the side where execution of the retry running is more difficult than the condition used in the second state. The described automatic cruise control system. - 前記第一状態で用いられる前記条件は固定値であり、
前記変更部は、前記操作具の操作に応じて、前記第二状態において用いられる前記条件を変更する請求項14に記載の自動走行制御システム。 the condition used in the first state is a fixed value;
The automatic cruise control system according to claim 14, wherein the change unit changes the condition used in the second state according to the operation of the operation tool. - 圃場に対する収穫作業を行う収穫装置と、前記収穫装置の駆動を制御する収穫制御部と、が備えられ、
前記収穫制御部は、前記機体が前記第一状態のときは前記収穫装置を停止させ、前記機体が前記第二状態のときは前記収穫装置を駆動させる請求項14または15に記載の自動走行制御システム。 A harvesting device that performs harvesting work on a field, and a harvesting control unit that controls driving of the harvesting device,
16. The automatic travel control according to claim 14 or 15, wherein the harvest control unit stops the harvesting device when the machine body is in the first state, and drives the harvesting device when the machine body is in the second state. system. - 前記収穫制御部は、前記機体が前記第一状態から前記第二状態に移行する間に、前記収穫装置を駆動させ始める請求項16に記載の自動走行制御システム。 The automatic cruise control system according to claim 16, wherein the harvesting control unit starts driving the harvesting device while the machine body transitions from the first state to the second state.
- 自動走行を可能な圃場作業機であって、
圃場における外周領域よりも内側の未作業領域に走行経路を設定する経路設定部と、
前記走行経路に沿って走行するように機体の走行を制御する走行制御部と、
前記機体の向き及び位置の少なくとも一方を検出する検出部と、
前記機体が前記外周領域から前記未作業領域に進入する際に、前記検出部による検出結果に基づいて、前記機体が前記走行経路に沿うように進入できるか否かを判定する判定部と、が備えられ、
前記判定部が、前記機体が前記走行経路に沿うように進入できないと判断したとき、前記走行制御部は、前記機体を一旦停止して後進し、再度前記走行経路に向けて前進するリトライ走行を実行するように構成され、
人為操作される操作具と、
前記操作具の操作に応じて、前記未作業領域に進入する際に前記機体が前記走行経路に沿うように進入できるか否かを判定するための条件を変更する変更部と、が備えられている圃場作業機。 A field work machine capable of automatic travel,
a route setting unit that sets a travel route in an unworked area inside the outer peripheral area of the field;
a travel control unit that controls travel of the aircraft so that it travels along the travel route;
a detection unit that detects at least one of the orientation and position of the aircraft;
a determination unit that determines whether or not the aircraft can enter along the travel route based on the detection result of the detection unit when the aircraft enters the unworked area from the outer peripheral area; prepared,
When the determination unit determines that the aircraft cannot enter along the travel route, the travel control unit temporarily stops the aircraft, moves backward, and performs retry travel in which the aircraft moves forward toward the travel route again. configured to run
an operating tool that is artificially operated;
a changing unit that changes conditions for determining whether or not the machine body can enter along the travel route when entering the unworked area according to the operation of the operating tool. field work machine. - 自動走行を可能な圃場作業機の自動走行制御方法であって、
圃場における外周領域よりも内側の未作業領域に走行経路を設定する経路設定ステップと、
前記走行経路に沿って走行するように機体の走行を制御する走行制御ステップと、
前記機体の向き及び位置の少なくとも一方を検出する検出ステップと、
前記機体が前記外周領域から前記未作業領域に進入する際に、前記検出ステップによる検出結果に基づいて、前記機体が前記走行経路に沿うように進入できるか否かを判定する判定ステップと、
人為操作される操作具の操作に応じて、前記未作業領域に進入する際に前記機体が前記走行経路に沿うように進入できるか否かを前記判定ステップで判定するための条件を変更する変更部と、を備え、
前記判定ステップで、前記機体が前記走行経路に沿うように進入できないと判断したとき、前記走行制御ステップにおいて、前記機体を一旦停止して後進し、再度前記走行経路に向けて前進するリトライ走行を実行する自動走行制御方法。 An automatic travel control method for a field work machine capable of automatic travel, comprising:
a route setting step of setting a travel route in an unworked area inside an outer peripheral area in a field;
a travel control step of controlling travel of the aircraft so as to travel along the travel route;
a detection step of detecting at least one of orientation and position of the aircraft;
a determination step of determining whether or not the aircraft can enter along the travel route based on the detection result of the detection step when the aircraft enters the unworked area from the outer peripheral area;
Modification to change the conditions for determining in the determination step whether or not the machine body can enter along the travel route when entering the unworked area according to the operation of the manipulator operated manually. and
When it is determined in the determination step that the aircraft cannot enter along the travel route, in the travel control step, the aircraft is temporarily stopped, moved backward, and then retry travel is performed to move forward toward the travel route again. Automatic cruise control method to be executed. - 圃場における外周領域よりも内側の未作業領域に走行経路を設定する経路設定機能と、
前記走行経路に沿って走行するように機体の走行を制御する走行制御機能と、
前記機体の向き及び位置の少なくとも一方を検出する検出機能と、
前記機体が前記外周領域から前記未作業領域に進入する際に、前記検出機能による検出結果に基づいて、前記機体が前記走行経路に沿うように進入できるか否かを判定する判定機能と、
人為操作される操作具の操作に応じて、前記未作業領域に進入する際に前記機体が前記走行経路に沿うように進入できるか否かを前記判定機能で判定するための条件を変更する変更機能と、をコンピュータに実行させる圃場作業機の自動走行制御プログラムであって、
前記判定機能が、前記機体が前記走行経路に沿うように進入できないと判断したとき、前記走行制御機能は、前記機体に、一旦停止して後進し、再度前記走行経路に向けて前進するリトライ走行を実行させるように構成されている自動走行制御プログラム。 A route setting function that sets a running route in an unworked area inside the outer peripheral area in the field;
A travel control function that controls travel of the aircraft so that it travels along the travel route;
a detection function that detects at least one of the orientation and position of the aircraft;
a determination function that determines whether or not the aircraft can enter along the travel route based on the detection result of the detection function when the aircraft enters the unworked area from the outer peripheral area;
Modification to change the condition for determining whether or not the aircraft can enter along the travel route by the determination function when entering the unworked area according to the operation of the manipulator operated manually. An automatic travel control program for a field work machine that causes a computer to execute a function,
When the determination function determines that the aircraft cannot enter along the travel route, the travel control function instructs the aircraft to temporarily stop, move backward, and then retry travel to move forward toward the travel route again. Automatic cruise control program configured to execute - 自動走行を可能な圃場作業機の自動走行制御プログラムが記録されている記録媒体において、
圃場における外周領域よりも内側の未作業領域に走行経路を設定する経路設定機能と、
前記走行経路に沿って走行するように機体の走行を制御する走行制御機能と、
前記機体の向き及び位置の少なくとも一方を検出する検出機能と、
前記機体が前記外周領域から前記未作業領域に進入する際に、前記検出機能による検出結果に基づいて、前記機体が前記走行経路に沿うように進入できるか否かを判定する判定機能と、
人為操作される操作具の操作に応じて、前記未作業領域に進入する際に前記機体が前記走行経路に沿うように進入できるか否かを前記判定機能で判定するための条件を変更する変更機能と、をコンピュータに実行させる自動走行制御プログラムが記憶され、
前記判定機能が、前記機体が前記走行経路に沿うように進入できないと判断したとき、前記走行制御機能は、前記機体に、一旦停止して後進し、再度前記走行経路に向けて前進するリトライ走行を実行させるように構成されている記録媒体。 In a recording medium in which an automatic travel control program for a field work machine capable of automatic travel is recorded,
A route setting function that sets a running route in an unworked area inside the outer peripheral area in the field;
A travel control function that controls travel of the aircraft so that it travels along the travel route;
a detection function that detects at least one of the orientation and position of the aircraft;
a determination function that determines whether or not the aircraft can enter along the travel route based on the detection result of the detection function when the aircraft enters the unworked area from the outer peripheral area;
Modification to change the condition for determining whether or not the aircraft can enter along the travel route by the determination function when entering the unworked area according to the operation of the manipulator operated manually. An automatic driving control program that causes a computer to execute a function is stored,
When the determination function determines that the aircraft cannot enter along the travel route, the travel control function instructs the aircraft to temporarily stop, move backward, and then retry travel to move forward toward the travel route again. A recording medium configured to execute
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JP2020087196A (en) * | 2018-11-29 | 2020-06-04 | 株式会社クボタ | Automatic travel control system |
JP2020099225A (en) * | 2018-12-20 | 2020-07-02 | 株式会社クボタ | Travelling working machine |
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JP2020031568A (en) * | 2018-08-29 | 2020-03-05 | 株式会社クボタ | Harvesting machine |
JP2020087196A (en) * | 2018-11-29 | 2020-06-04 | 株式会社クボタ | Automatic travel control system |
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