CN112868367A

CN112868367A - Automatic driving control system, combine harvester and harvester

Info

Publication number: CN112868367A
Application number: CN202011361299.5A
Authority: CN
Inventors: 渡边俊树; 佐野友彦; 吉田脩; 川畑翔太郎
Original assignee: Kubota Corp
Current assignee: Kubota Corp
Priority date: 2019-11-29
Filing date: 2020-11-27
Publication date: 2021-06-01
Anticipated expiration: 2040-11-27
Also published as: CN112868367B; KR20210067924A

Abstract

Provided are an automatic travel control system, a combine harvester and a harvester. One of the automatic travel control systems is an automatic travel control system for a combine harvester that performs turning travel in a harvested area, and includes: a reciprocating travel path setting unit capable of setting a plurality of reciprocating travel paths parallel to each other in an unharvested area; and a turning path setting unit capable of setting a turning path into which the combine harvester enters the end of the following reciprocating travel path after harvesting the reciprocating travel path in the harvested region. The turning path includes a path for the combine to perform forward turning travel and a path for the combine to perform backward turning travel. The turning path setting unit can set the turning path as follows: the combine is driven to make forward turning to one side and then backward turning to the other side. This enables the combine harvester to quickly perform turning travel in the harvested region.

Description

Automatic driving control system, combine harvester and harvester

Technical Field

The present invention relates to an automatic travel control system for a combine harvester that cuts a crop while performing reciprocating travel in an unharvested region of a field and performs turning travel for the reciprocating travel in a harvested region outside the unharvested region, and to a combine harvester.

The present invention relates to a harvester that automatically travels along a set travel path.

Background

< background art 1>

For example, patent document 1 discloses a turning path for a combine to perform U-turn running in a harvested region outside an unharvested region. Fig. 18 of patent document 1 shows a turning path that the combine harvester has already harvested a reciprocating travel path (a "walking road element" in the document) and then has entered the end of the next reciprocating travel path. The turning path includes a path for the combine to travel forward in a turning manner and a path for the combine to travel backward in a turning manner.

< background art 2>

A combine harvester for harvesting standing grain stalks in a field as described in patent document 2 performs harvesting work while automatically traveling along a set travel path. The travel route is set so that harvesting work can be efficiently performed over the entire field.

Documents of the prior art

Patent document

Patent document 1: japanese patent laid-open publication No. 2018-92620

Patent document 2: japanese laid-open patent publication No. 2002-358122

Disclosure of Invention

Technical problem to be solved by the invention

< technical problem 1>

In the technique of background art 1, a backward travel path in a turning path shown in fig. 18 of patent document 1 is a path in which a combine harvester travels backward along the outer peripheral shape of an unharvested area. However, if the configuration of patent document 1 is adopted, the combine does not turn on the backward travel path, and the combine turns only on the forward travel path, so the turning path tends to become long. Therefore, there is still room for improvement in the turning path from the viewpoint of shortening the turning travel of the combine.

The first object of the present invention is to: provided is an automatic travel control system for a combine harvester to quickly perform turning travel in a harvested region.

< technical problem 2>

However, in the technique of background art 2, during automatic travel, the actual position of the machine body traveling on the set travel path may be inappropriate with respect to the situation of the field such as the position of the worked place formed along with the work travel and the planting situation of the planted straw.

For example, if the position information of the machine body cannot be accurately acquired during the work traveling, the position of the machine body actually traveling deviates from the set traveling path. In addition, when setting the travel route, there are cases where an operation error occurs, where there is a problem with the equipment that sets the travel route, and where the travel route itself is inappropriate with respect to the situation of the field.

In the case where the position of the machine body actually traveling is inappropriate with respect to the situation of the field as described above, the traveling direction of the machine body can be manually changed to make the position of the machine body traveling appropriate, but in general, if a steering operation is performed during automatic traveling, the machine body stops. Then, after the travel route is manually corrected, it is necessary to stop the automatic travel and restart the automatic travel.

Therefore, a second object of the present invention is: it is desirable to adjust the travel path by a simple operation so that the position of the machine body actually traveling becomes appropriate for the situation of the field while continuing the automatic travel.

Means for solving the problems

< means for solving 1>

In order to achieve the first object, the present invention provides an automatic travel control system for a combine harvester that cuts a crop while reciprocating in an unharvested area of a field and performs turning travel for the reciprocating travel in a harvested area outside the unharvested area, the automatic travel control system including: a reciprocating travel path setting unit capable of setting a plurality of reciprocating travel paths parallel to each other in the unharvested area; a turning path setting part capable of setting a turning path into which the combine harvester enters the end of the following reciprocating travel path after finishing harvesting the reciprocating travel path in the harvested region; the turning path includes a path for the combine to perform forward turning travel and a path for the combine to perform backward turning travel, and the turning path setting unit may set the turning path as follows: the combine is caused to perform the forward turning travel to one of the left and right sides and thereafter perform the backward turning travel to the other of the left and right sides.

According to the present invention, since the combine performs the backward turning travel by reversing the turning direction after performing the forward turning travel, the combine can perform the turning more quickly than the structure in which the combine performs the turning only during the forward travel. Further, by the configuration in which the combine can turn while traveling backward, the turning space can be made smaller than that of the configuration in which the combine does not turn while traveling backward. Thus, an automatic travel control system for allowing the combine harvester to quickly perform turning travel in the harvested region can be realized. A combine harvester equipped with the automatic travel control system of the present invention is also included in the scope of claims.

In the present invention, it is preferable that the turning path setting unit sets the turning path as follows: when the combine harvester finishes the backward turning travel, the combine harvester is positioned on an extension line of the next reciprocating travel path.

With this configuration, when the combine harvester completes the backward turning travel, the combine harvester is located on the extension line of the following reciprocating travel path, and therefore the combine harvester can easily enter the non-harvesting area along the following reciprocating travel path. Note that, in the present invention, the meaning of "the combine is located on the extension line of the next reciprocating path" is not limited to the meaning that the position of the combine is in a state of completely coinciding with the extension line of the next reciprocating path. The present invention also includes a meaning that the position of the combine harvester is in a state of approximately overlapping the extension line of the following reciprocating path, and a meaning that the position of the combine harvester is in a state of approximately overlapping the extension line of the following reciprocating path.

In the present invention, it is preferable that the turning path setting unit sets the turning path as follows: a travel orientation of the combine along the next reciprocating travel path when the combine ends the backward turn travel.

With this configuration, when the combine harvester completes the backward turning travel, the forward direction of the combine harvester follows the travel direction of the following reciprocating travel path, and therefore the combine harvester can easily enter the non-harvesting area along the following reciprocating travel path. Note that, in the present invention, the meaning of "the travel direction of the combine harvester along the next reciprocating travel path" is not limited to the meaning that the travel direction of the combine harvester completely coincides with the travel direction of the next reciprocating travel path. The present invention also includes the meaning that the forward direction of the combine harvester substantially coincides with the traveling direction of the next reciprocating travel path, and the meaning that the forward direction of the combine harvester substantially coincides with the traveling direction of the next reciprocating travel path.

In the present invention, it is preferable that the automatic travel control system includes a plurality of turning modes for setting the turning route, and the turning route setting unit switches the plurality of turning modes according to a situation of a field.

With this configuration, the turning path setting unit can select the turning mode in accordance with the shape of the unharvested region and the space of the harvested region. This enables the combine harvester to more quickly perform turning travel in the harvested region.

In the present invention, it is preferable that the plurality of turning modes include a mode in which the combine harvester turns to the side of the next reciprocating travel path in the first forward turning travel after the combine harvester finishes harvesting the reciprocating travel path.

In the present configuration, the turning mode includes a mode in which the combine harvester turns to the side on which the next reciprocating travel path is located during the first forward turning travel. Therefore, the turning travel distance during backward turning travel is shortened, and when the combine harvester finishes backward turning travel, the position of the combine harvester is easily located on the extension line of the next reciprocating travel path, and the forward direction of the combine harvester is easily along the travel direction of the next reciprocating travel path. Thus, the combine harvester can easily enter the non-harvesting area along the following reciprocating travel path during the forward travel after the backward turning travel.

In the present invention, it is preferable that the plurality of turning modes include a mode in which the combine harvester turns to a side opposite to a side where the next reciprocating travel path is located in the first forward turning travel after the combine harvester finishes harvesting the reciprocating travel path.

In the present configuration, the turning mode includes a mode in which the combine harvester turns to the opposite side to the side on which the following reciprocating travel path is located during the first forward turning travel. Therefore, even when there is no space for turning on the side where the following reciprocating travel path is located, the combine harvester can quickly perform turning travel in the already harvested region.

< means for solving 2>

In order to achieve the second object, a harvester according to an embodiment of the present invention is a harvester having a harvesting unit and automatically performing harvesting operation travel, the harvester including: a route setting unit that sets a travel route for performing the harvesting operation; an automatic travel control unit that controls the harvesting operation travel along the travel path; and a route correction unit that moves the travel route in parallel by a predetermined distance when a predetermined correction condition is satisfied.

With this configuration, even when the position of the machine body actually traveling deviates from the field situation, the travel path for automatic travel can be easily corrected, and work travel can be continued appropriately by automatic travel.

The harvester may further include a route changing operation unit for manually selecting a direction in which the travel route is moved in parallel from any one of left and right directions of the body, wherein the correction condition is a selection operation of the route changing operation unit, and the route correction unit may move the travel route in parallel in the direction selected by the route changing operation unit.

With this configuration, the direction in which the travel path is moved in parallel can be easily selected manually according to the positional relationship of the machine body actually traveling according to the field situation, and the work traveling can be continued more easily and appropriately by the automatic traveling.

In addition, the harvester may be configured to be capable of selectively performing either automatic travel or manual travel, the harvester may be provided with a steering lever that performs a steering operation during the manual travel, the route changing operation unit may be the steering lever, and the route correction unit may be configured to move the travel route in parallel in a direction selected by the steering lever, with the set pivot angle having a predetermined range, as the correction condition that the steering lever is operated at the set pivot angle.

With this configuration, the travel path can be adjusted by using the steering lever without providing a new path change operation unit. In general, the operation of the steering lever is often prohibited during automatic traveling, and the steering lever prohibited from being operated can be used for adjustment of the travel path by performing the parallel movement of the travel path only when the steering lever is operated within the range of the set pivot angle.

Preferably, the automatic travel control unit stops the machine body when the steering lever is operated at an angle greater than a maximum value of the set pivot angle.

In order to cope with an emergency, an emergency situation or the like, in general, when the steering lever is operated during automatic traveling, the machine body is stopped. With the above-described configuration, the parallel movement of the travel path is performed only when the steering lever is operated within the range of the set pivot angle, and when the steering lever is operated beyond the set pivot angle, it is possible to determine that an abnormality has occurred and stop the machine body, and it is possible to easily cope with the abnormality during automatic travel, and to shift the steering lever to the adjustment of the travel path and continue the work travel appropriately by the automatic travel.

The harvester may further include a route change operation unit that requests a parallel movement of the travel route, the correction condition may be an operation of the route change operation unit, and the route correction unit may cause the operation of the route change operation unit to move the travel route in parallel in a predetermined direction.

In this way, by providing the route change operation unit for the parallel movement of the travel route as a dedicated member, the operability of the route change operation tool can be freely set, and the operability of the parallel movement of the travel route can be improved.

Further, the route correction unit may be configured to move the travel path in parallel in a direction opposite to the predetermined direction when the route change operation unit is operated again after the travel path is moved in parallel.

With this configuration, when the established grain straw is established in a staggered manner in a part of the field, the travel route is corrected only within the range, and when the range is exceeded, the travel route can be easily returned to the original travel route.

Further, the route setting unit may set the travel route including a travel route along a traveling direction, and the direction of the parallel movement may be a direction orthogonal to the travel route.

When the standing grain stalks form a row, a travel route is set so that the machine body follows the row and the standing grain stalks at both ends in the row direction are harvested. Therefore, in a field where row planting is performed by a rice transplanter or the like, harvesting work can be performed with reduced harvesting loss efficiently.

However, in such a field where row planting is performed, since the row pitch is not so wide (generally, about 30 cm), if the path is slightly deviated, there is a possibility that the crop divider provided at the front end of the machine body penetrates the roots of the standing grain stalks and pulls out or topples down the standing grain stalks.

With this configuration, since the guide rail is moved in parallel in the direction intersecting the row direction, the parallel movement amount is set in consideration of the row pitch, and the penetration of the crop divider into the standing grain stalks can be easily avoided without changing the path greatly.

Further, the travel route may include a plurality of travel routes substantially parallel to any one side of the field, and when the travel route is moved in parallel while traveling on any one of the travel routes, the route correction unit may move all of the travel routes in parallel in the same direction by the same distance.

With this configuration, when the travel route deviates from the entire field, the travel route can be rationalized in the entire field by one correction operation, and the work travel can be continued appropriately by the automatic travel.

The travel route after the parallel movement may be corrected to the same position as the travel route set by the route setting unit or may be corrected to a position deviated to one direction side from the travel route set by the route setting unit.

By always positioning the travel route after the parallel movement on one direction side with respect to the travel route at the time of the initial setting, the travel routes do not move in parallel in directions away from each other in the adjacent travel routes. Therefore, it is possible to suppress the remaining of the area that is not harvested between the areas where harvesting travel is performed in each travel route, that is, the harvested areas. If the unharvested region remains, the work travel only needs to be performed in the region, but the remaining unharvested region is suppressed, so that the work travel can be suppressed again, and the work travel can be performed efficiently.

The harvester may further include a driving unit having a riding hole on which the driver rides, the riding hole being provided eccentrically with respect to the left-right direction of the machine body, and the first parallel movement may be performed in the left-right direction of the machine body in a direction opposite to the riding hole.

In the harvesting operation, the turning direction is largely deviated to one side in the left-right direction, and the already-worked region is often present on the other side in the left-right direction of the machine body. Therefore, the riding section is often eccentric to the other side of the machine body, and the working machine is often constructed so that the standing grain stalks are easily harvested in this direction (the other side). Since the standing grain stalks on the other side are easily harvested, even if the first parallel movement is performed in one of the left and right directions of the machine body, the overlap between the lateral end of the harvestable region and the already-worked region in the travel route after the parallel movement is reduced, the harvest operation can be performed with the omission of harvesting suppressed.

Further, the travel route may include a plurality of travel routes substantially parallel to any one side of the field, and the route correction unit may perform the parallel movement of the travel routes at most once in each of the left and right directions during the harvest operation travel along each of the travel routes.

If the travel route is excessively corrected, the travel route may be deviated from the appropriate travel route. On the contrary, when there is some error in the positional information of the machine body and the travel route, the error may be substantially eliminated over the entire field by correcting the travel route once. In addition, some of the field may have a partially planted straw that is partially planted. In this case, the travel path is corrected only in the range, and when the range is passed, it is sufficient to return to the original travel path. In the above case, according to the above configuration, the work traveling can be performed on the appropriate traveling route according to the standing state of the standing grain straw, and the work traveling can be continued appropriately by the automatic traveling.

In addition, the harvester may be provided with a warning device that issues a first warning when the correction condition is first satisfied in each of the travel routes in the left-right direction, the path correction unit may perform the parallel movement of the travel routes, and the warning device may issue a second warning different from the first warning when the correction condition is second satisfied and later, and may maintain the travel route during travel.

With this configuration, when the correction condition is satisfied, such as when the route change operation unit is operated, the driver can easily grasp whether or not the correction is actually performed. As a result, the driver can reliably prepare for correcting the travel path and respond to the situation when the travel path is not corrected, and can continue the work travel appropriately by the automatic travel.

Further, the harvester may be provided with a warning device that issues a warning when the travel path is moved in parallel.

With this configuration, the driver can accurately correct the travel route, and can continue the work travel by the automatic travel appropriately.

Drawings

Fig. 1 is a left side view of the combine harvester of embodiment 1.

Fig. 2 is a diagram showing the circle traveling in the field of embodiment 1.

Fig. 3 is a diagram showing a reciprocating travel path in the inner region of embodiment 1.

Fig. 4 is a block diagram showing a configuration related to the control unit according to embodiment 1.

Fig. 5 is a diagram showing a turning path between reciprocating travel paths in the related art.

Fig. 6 is a diagram showing a turning path between reciprocating travel paths according to embodiment 1 of the present invention.

Fig. 7 is a diagram showing a turning path between reciprocating travel paths according to embodiment 1 of the present invention.

Fig. 8 is a diagram showing a turning path between reciprocating travel paths according to embodiment 1 of the present invention.

Fig. 9 is a diagram showing a turning path between reciprocating travel paths according to embodiment 1 of the present invention.

Fig. 10 is a diagram showing a turning path between reciprocating travel paths in the related art.

Fig. 11 is a diagram showing a turning path between reciprocating travel paths according to embodiment 1 of the present invention.

Fig. 12 is a diagram showing a turning path between reciprocating travel paths according to embodiment 1 of the present invention.

Fig. 13 is a diagram showing a turning path between reciprocating travel paths in the related art.

Fig. 14 is a diagram showing a turning path between reciprocating travel paths according to embodiment 1 of the present invention.

Fig. 15 is a left side view showing a combine harvester according to embodiment 2.

Fig. 16 is a plan view showing a combine harvester according to embodiment 2.

Fig. 17 is a diagram showing an outline of automatic travel of the combine harvester according to embodiment 2.

Fig. 18 is a diagram showing a travel route in automatic travel according to embodiment 2.

Fig. 19 is a functional block diagram showing the configuration of a control system of the combine harvester according to embodiment 2.

Fig. 20 is a conceptual diagram illustrating correction of the travel route according to embodiment 2.

Fig. 21 is a diagram for explaining the operation angle of the steering lever for correcting the travel path according to embodiment 2.

Fig. 22 is a diagram illustrating a change in overlap of the acquired regions in embodiment 2.

Description of the reference numerals

< embodiment 1>

1: combine harvester

23A: reciprocating travel route setting unit

23B: turning path setting unit

LS: reciprocating path of travel

LS 1: reciprocating path of travel

LS 2: reciprocating path of travel

< embodiment 2>

3: cutting part

5: driving part

13: combine harvester (harvester)

18: nearside divider

20: path correcting part

54: travel route setting unit (route setting unit)

62: reporting device (Warning equipment)

73: automatic travel control unit

92: steering column (operation path)

S1: travel route

SL 1: driving route

Detailed Description

< embodiment 1>

Embodiments of the present invention will be described based on the drawings. Note that in the following description, unless otherwise specified, the direction of arrow F shown in fig. 1 is referred to as "front" and the direction of arrow B is referred to as "rear".

[ integral structure of combine harvester ]

As shown in fig. 1, a half-feed type combine harvester 1 is an embodiment of a combine harvester to which the automatic travel control system of the present invention can be applied, and the half-feed type combine harvester 1 includes a pair of left and right crawler

type travel devices

11 and 11, a steering unit 12, a threshing device 13, a grain tank 14, a harvesting unit H, a grain discharge device 18, and a satellite positioning module 80.

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

The driving unit 12, the threshing device 13, and the grain tank 14 are disposed above the traveling device 11. An operator who monitors the work of the combine harvester 1 can ride on the cab 12. Note that the operator may also monitor the operation of the combine harvester 1 from outside the body of the combine harvester 1.

A grain discharge device 18 is connected to the grain tank 14. In addition, the satellite positioning module 80 is mounted on the ceiling of the cab covering the cab portion 12.

The harvesting unit H is provided in the front of the body of the combine harvester 1 to harvest crops in the field, specifically, the planted grain stalks. The cutting section H includes a pusher-type cutting device 15 and a conveying device 16. Note that the present embodiment includes a harvesting unit H that harvests 6 rows.

The cutting device 15 cuts the roots of the crops in the field. Then, the conveying device 16 conveys the grain stalks cut by the cutting device 15 to the rear side.

With this configuration, the harvesting portion H harvests the crop in the field. The combine harvester 1 can perform harvesting travel in which the travel device 11 travels while harvesting crops in a field by the harvesting unit H.

The grain and straw conveyed by the conveyor 16 is subjected to threshing in the threshing device 13. Grains obtained by the threshing process are stored in a grain tank 14. The grains stored in the grain tank 14 are discharged to the outside of the machine body by the grain discharging device 18 as needed.

The communication terminal 4 (see fig. 4) is disposed in the driver unit 12. The communication terminal 4 is, for example, an information terminal having a touch panel screen, and is configured to be capable of displaying various information. In the present embodiment, the communication terminal 4 is fixed to the driver unit 12. However, the present invention is not limited to this, and the communication terminal 4 may be detachably configured to the cab 12, or the communication terminal 4 may be located outside the body of the combine harvester 1.

Here, as shown in fig. 2 and 3, the combine harvester 1 is configured to perform circle-around travel while harvesting grains in the outer peripheral area SA in the field, and then perform harvest travel in the inner area CA to harvest grains in the field.

In addition, a main shift lever 19 (see fig. 4) is provided in the steering unit 12. The main gear lever 19 can be operated manually. When the operator operates the main shift lever 19 while the combine harvester 1 is manually running, the vehicle speed of the combine harvester 1 changes. That is, when the combine harvester 1 is manually driven, the operator can operate the main shift lever 19 to change the vehicle speed of the combine harvester 1.

Note that the rotational speed of the engine can be changed by operating the communication terminal 4 by an operator.

The appropriate operation speed varies depending on the state of the crop. If the operator operates the communication terminal 4 to set the rotational speed of the engine to an appropriate rotational speed, the operator can perform work at a work speed appropriate for the state of the crop.

In fig. 2, a travel path along which the combine harvester 1 travels around the outer circumferential side of the field is shown by an arrow. In the example shown in fig. 2, the combine harvester 1 performs a circle travel of 3 revolutions. When the cutting travel is completed along the travel route, the field is in the state shown in fig. 3.

That is, the combine harvester 1 first performs the mowing travel while performing the spiral circling travel in the outer peripheral area SA. Thereafter, as shown in fig. 3, the combine harvester 1 repeats the mowing travel in which the combine harvester 1 performs mowing while traveling along the reciprocating travel path LS in the inner area CA inside the outer area SA and the direction change in which the combine harvester 1 travels along the turning path in the outer area SA. In this way, the combine harvester 1 cuts the crop so as to cover the entire outer peripheral area SA and the inner side area CA. In the present invention, the travel in which the cutting travel and the direction change accompanied with the forward travel are repeated is referred to as "reciprocating travel".

In the present embodiment, the circle traveling shown in fig. 2 is performed by manual traveling. The cutting travel in the inner area shown in fig. 3 is performed by the automatic travel. Note that the present invention is not limited to this, and the circle traveling shown in fig. 2 may be performed by automatic traveling.

Of the pair of left and right traveling

devices

11, 11 of the combine harvester 1, the left traveling device 11 is often biased inward in the lateral direction of the machine body than the right traveling device 11. Therefore, when the harvesting travel is performed in a state where the left side of the left side portion of the machine body has the non-harvested region and the right side of the right side portion of the machine body has the harvested region, the risk of rolling the crops in the non-harvested region by the travel device 11 can be reduced. In the present embodiment, the reciprocating path LS is set such that the right side of the machine body is adjacent to the harvested region as much as possible. That is, during the reciprocating travel, the combine harvester 1 alternately performs the mowing travel on the portions of both sides in the row direction in the outer peripheral shape of the non-mowing area, and the combine harvester 1 travels counterclockwise on the paper surface of fig. 3.

In fig. 3, the inner area CA is divided into partial work areas CA1, CA2, and CA 3. The combine harvester 1 travels to cut the reciprocating travel paths LS from the upper and lower end portions of the paper surface of each of the partial working areas CA1, CA2, and CA3 to the reciprocating travel paths LS on the upper and lower inner sides of the paper surface in order. Therefore, if the U-turn distance when the combine harvester 1 moves from the first reciprocating travel path LS to the second reciprocating travel path LS becomes longer, the idle travel distance of the combine harvester 1 becomes longer, and the work efficiency becomes worse. Further, when the grain tank 14 is filled during the cutting travel of the combine harvester 1 in the partial working areas CA1, CA2, and CA3 and the combine harvester 1 is out of the reciprocating travel path LS for discharging the grains, the work efficiency is deteriorated. Therefore, the width of each of the partial work areas CA1, CA2, and CA3 and the number of lines to be worked are determined in consideration of the distance between both sides in the line direction in the outer peripheral shape of the inner area CA, the capacity of the grain box 14, and the like.

In this manner, when the combine harvester 1 performs the harvesting travel in the inner region CA, the combine harvester 1 automatically travels in the harvested region of the outer peripheral portion of the field, and harvests the planted straw in the unharvested region while automatically traveling in the unharvested region inside the harvested region.

[ Structure relating to control section ]

The control system of the combine harvester 1 in the present embodiment includes a plurality of electronic control units called ECUs, various operating devices, a sensor group, a switch group, and a wiring network such as an on-vehicle LAN for transmitting data therebetween. The combine harvester 1 includes a control unit 20, and the control unit 20 constitutes a part of the control system. The control unit 20 includes a vehicle position calculation unit 21, a field data acquisition unit 22, a travel route setting unit 23, an automatic travel control unit 24, a vehicle speed setting unit 25, a storage unit 26, and the like.

The satellite positioning module 80 receives GPS signals from artificial satellites used in GPS (global positioning system). Then, the satellite positioning module 80 transmits the positioning data indicating the vehicle position of the combine harvester 1 to the vehicle position calculating unit 21 based on the received GPS signal.

The vehicle position calculating unit 21 calculates the position coordinates of the combine harvester 1 with the passage of time based on the positioning data output from the satellite positioning module 80. Note that the position coordinates of the combine harvester 1 represent the position of the body of the combine harvester 1. The calculated position coordinates of the combine harvester 1 with the passage of time are transmitted to the automatic travel control unit 24, the vehicle speed calculation unit 21B, and the travel locus calculation unit 21A.

Note that the vehicle position calculating section 21 obtains the position coordinates of the combine harvester 1 by calculating the position coordinates of the combine harvester 1. That is, the combine harvester 1 includes the vehicle position calculating unit 21, and the vehicle position calculating unit 21 acquires the position coordinates indicating the position of the body. The vehicle position calculating unit 21 includes a traveling path calculating unit 21A and a vehicle speed calculating unit 21B.

The travel locus calculation unit 21A calculates a travel locus when the combine harvester 1 performs circle travel on the outer peripheral side of the field based on the position coordinates of the combine harvester 1 with the passage of time. The calculated travel locus is transmitted to the travel route setting unit 23.

The vehicle speed setting unit 25 sets a vehicle speed, which is a driving speed of the traveling device 11, based on the operation amount of the main shift lever 19. The vehicle speed calculation unit 21B calculates a variation amount of the position coordinates per unit time based on the position coordinates of the combine harvester 1 over time, and detects the vehicle speed of the combine harvester 1 from the variation amount. The vehicle speed detected by the vehicle speed calculation unit 21B is sent to the automatic travel control unit 24.

The field data acquisition unit 22 acquires field shape data, crop planting information, and the like from the management computer 5 via the communication unit 30.

The travel route setting unit 23 receives the field shape and the crop planting information from the field data acquisition unit 22, and sets a travel route for automatic travel. The travel route setting unit 23 determines the outer peripheral area SA and the inner area CA based on the field shape data, and sets a reciprocating travel route LS for cutting the crop while reciprocating the inner area CA.

The travel route setting unit 23 includes a reciprocating travel route setting unit 23A and a turning route setting unit 23B. The reciprocating travel route setting unit 23A sets a plurality of reciprocating travel routes LS for automatic travel, which perform reciprocating travel in the inner area CA, and the plurality of reciprocating travel routes LS are parallel to each other. That is, the reciprocating travel route setting unit 23A can set a plurality of reciprocating travel routes LS parallel to each other in the unharvested area. The turning path setting unit 23B can set a turning path for the combine harvester 1 to enter the end of the next reciprocating travel path LS after the inner area CA has been harvested along the reciprocating travel path LS in the harvested region.

The travel route setting unit 23 can receive the travel route data of the combine harvester 1 calculated by the travel route calculation unit 21A, and can change the reciprocating travel route LS and the turning route based on the travel route data.

The turning path uses a plurality of turning modes, and fig. 5 to 14 show turning modes of the turning path entering from the reciprocating traveling path LS1 of the turning start point to the reciprocating traveling path LS2 of the turning target. The plurality of turning patterns are stored in the storage unit 26 of the control unit 20 shown in fig. 4. That is, a plurality of turning modes for setting a turning route are provided. These turning patterns will be described in detail later.

The communication terminal 4 includes a first setting switch 4A and a second setting switch 4B. The first setting switch 4A is an on-off switch for switching between activation and deactivation of a first turning mode described later. The second setting switch 4B is an on-off switch for switching between on and off of a second turning mode, which will be described later. The first setting switch 4A and the second setting switch 4B are, for example, setting buttons displayed on a screen of a touch panel.

The automatic travel control unit 24 can control the travel device 11. The automatic travel control unit 24 controls the automatic travel of the combine harvester 1 based on the position coordinates and the detected vehicle speed of the combine harvester 1 received from the vehicle position calculating unit 21, the reciprocating travel route LS and the turning route received from the travel route setting unit 23, and the set vehicle speed received from the vehicle speed setting unit 25. More specifically, as shown in fig. 3, the automatic travel control unit 24 controls the travel of the combine harvester 1 to perform the mowing travel by the automatic travel along the reciprocating travel path LS. That is, the combine harvester 1 can travel automatically.

[ concerning turning path ]

In the inner area CA shown in fig. 5 to 14, reciprocating travel paths LS1, LS2 are set, and the reciprocating travel paths LS1, LS2 are parallel to each other and adjacent to each other. The inner area CA shown in fig. 5 to 14 is, for example, an unharvested area remaining after harvesting in any one of the partial working areas CA1, CA2, CA3 shown in fig. 3, which unharvested area is 2 times the working width of the combine harvester 1. In this unharvested region, a reciprocating travel path LS2 on which the combine harvester 1 travels last and a reciprocating travel path LS1 adjacent to the reciprocating travel path LS2 are set. Since the separation distance between the reciprocating travel paths LS1 and LS2 does not allow the combine harvester 1 to complete a turn at the minimum turning radius, the combine harvester 1 travels backward temporarily in the middle of the turn. That is, during turning traveling shown in fig. 5 to 14, turning traveling by turning back is performed in the outer peripheral area SA, that is, the harvested area.

The turning path set by the prior art is shown in fig. 5. A circle CF1 that is tangent to the extension line of the reciprocating travel path LS1 on the arc and a circle CF2 that is tangent to the extension line of the reciprocating travel path LS2 on the arc are set by the turning path setting unit 23B (see fig. 4, the same applies hereinafter). The tangent CF1 is tangent to the extension of the reciprocating travel path LS1 at the tangent point PS from the side of the reciprocating travel path LS 2. In addition, the tangent CF2 is tangent to the extension line of the reciprocating travel path LS2 at the tangent point PE from the side of the reciprocating travel path LS 1.

The tangent point PE is set at a position separated by a set distance D1 from a side portion S1 intersecting the reciprocating paths LS1 and LS2 in the outer peripheral shape of the inner area CA. The region spanned by the set distance D1 is secured as a margin region for the automatic travel control unit 24 to correct the positional deviation and the orientation deviation of the combine harvester 1 when the combine harvester 1 completes the turning travel and starts the travel along the turning target reciprocating travel path LS 2.

The centers of the tangent circles CF1 and CF2 are set in parallel at a position separated from the side portion S1 by a set distance D1. The tangent circles CF1, CF2 each have a radius equal to the minimum turning radius of the combine harvester 1. The radii of the tangent circles CF1 and CF2 are set to be the same as each other. The minimum turning radius of the combine harvester 1 is a prescribed value, and the value of the minimum turning radius of the combine harvester 1 differs depending on the specification of the combine harvester 1. Note that the radii of the tangent circles CF1 and CF2 may not be the same as the minimum turning radius, and for example, an operator may set a proper turning radius in advance using the communication terminal 4 (see fig. 4). This is also the same as in fig. 6 to 14 described later.

A forward turning path LC1 is set on the arc of the tangent circle CF1, and a forward turning path LC2 is set on the arc of the tangent circle CF 2. As a straight path connecting the forward turning path LC1 and the forward turning path LC2, a reverse intermediate path LM is set. Forward turning path LC1 is tangent to reverse neutral path LM at tangent point P1, and forward turning path LC2 is tangent to reverse neutral path LM at tangent point P2. The backward intermediate path LM is a path parallel to the side S1 intersecting the reciprocating paths LS1 and LS2 in the outer peripheral shape of the inner area CA. The receding intermediate path LM is a path extending in the tangential direction with respect to the tangent circles CF1 and CF 2.

When the combine harvester 1 has already harvested the inner region CA along the reciprocating travel path LS1 at the turning start point and then has traveled to reach the tangent point PS, the turning travel is started. The turning travel continues until the combine harvester 1 reaches the tangent point PE. Before the combine harvester 1 reaches the tangent point PE, the combine harvester 1 performs forward turning along the forward turning path LC1, then performs backward driving along the backward intermediate path LM, and finally performs forward turning along the forward turning path LC 2.

In this way, the combine harvester 1 performs the returning travel through the forward turning path LC1, the backward intermediate path LM, and the forward turning path LC2 in this order. Then, in the vicinity of the tangent point PE, if the difference between the orientation of the combine harvester 1 and the orientation of the reciprocating travel path LS2 of the turning target falls within the allowable value, the turning travel is ended.

Further, by performing steering control based on the distance and the bearing difference from the turning target reciprocating travel path LS2, the combine harvester 1 can enter the turning target reciprocating travel path LS 2. Therefore, when the combine harvester 1 performs the turning travel, the travel paths of the forward turning travel and the backward travel may not strictly coincide with the forward turning paths LC1, LC2, the backward intermediate path LM, and the like. This is also the same as in fig. 6 to 14 described later.

Fig. 6 shows an example of the configuration of the turning path in the present invention. The turning mode shown in fig. 6 is a mode in which the combine harvester 1 is turned to the side where the next reciprocating travel path LS2 is located in the first forward turning travel after the combine harvester 1 has harvested the inner area CA along the reciprocating travel path LS 1. This turning mode is referred to as a "first turning mode".

The turning path setting unit 23B sets a tangent circle CF1 that is tangent to the extension line of the reciprocating travel path LS1 on the arc and a tangent circle CB1 that is tangent to the extension line of the reciprocating travel path LS2 on the arc. The forward turning paths LC1, LC2 and the reverse intermediate path LM shown in fig. 5 are shown in fig. 6 by broken lines LC0, so that it is easy to compare the turning path of the present invention shown in fig. 6 with the turning path of the related art shown in fig. 5. In fig. 7 to 9 described later, the forward turning paths LC1 and LC2 and the reverse intermediate path LM shown in fig. 5 are also shown by broken lines LC 0.

The circle CF1 is tangent to the extension of the reciprocating travel path LS1 at the tangent point PS from the side of the reciprocating travel path LS 2. In addition, the tangent circle CB1 is tangent to the extension line of the reciprocating travel path LS2 at the tangent point PE from the side opposite to the side on which the reciprocating travel path LS1 is located. In this state, the respective circular arcs of the tangent circle CF1 and the tangent circle CB1 are tangent to each other at a tangent point P1. The tangent point P1 is located at a side closer to the inner area CA than the tangent point PE, and is located at a side opposite to the side where the reciprocating travel path LS1 is located with respect to the extension line of the reciprocating travel path LS 2. That is, the circle CB1 is tangent to both the extension line of the reciprocating path LS2 and the circle CF1 on the circular arc.

The virtual point PS0 is the tangent point PS shown in fig. 5. The tangent point PS shown in fig. 6 is located on the inner side area CA side of the virtual point PS0, and the turning start point of the combine harvester 1 is set on the inner side area CA side of the turning path shown in fig. 5. The tangent point PS is set at a position where the crop in the non-harvesting area is not crushed by the inside part of the turn of the running gear 11 when the combine harvester 1 starts to turn.

The tangent point PE shown in fig. 6 is set to be farther from the inner area CA than the tangent point PE shown in fig. 5. That is, the tangent point PE shown in fig. 6 is set to be farther from the inner region CA than the position distant from the side portion S1 by the set distance D1.

A forward turning path LC1 is set on the arc of the tangent circle CF1, and a reverse turning path LB is set on the arc of the tangent circle CB 1. Forward turning path LC1 is tangent to reverse turning path LB at tangent point P1. The forward turning path LC1 spans between the tangent point PS and the tangent point P1, and the backward turning path LB spans between the tangent point P1 and the tangent point PE.

When the combine harvester 1 has already harvested the inner region CA along the reciprocating travel path LS1 at the turning start point and then has traveled to reach the tangent point PS, the turning travel is started. The combine harvester 1 makes forward turning along the forward turning path LC1 to the tangent point P1, and crosses the extension line of the reciprocating path LS2 halfway. The forward turning path LC1 is a path that turns left, and the combine harvester 1 turns to the side where the next reciprocating travel path LS2 is located in the forward turning travel after the inner area CA is harvested along the reciprocating travel path LS 1.

When the combine harvester 1 reaches the contact point P1, the turning direction of the combine harvester 1 is reversed in the direction opposite to the turning direction of the forward turning path LC1, and the combine harvester 1 performs backward turning along the backward turning path LB. When the combine harvester 1 reaches the tangent point PE, the combine harvester 1 is located on the extension of the next reciprocating path LS2, and the forward direction of the combine harvester 1 is along the forward direction of the reciprocating path LS 2.

The tangent point PE shown in fig. 6 is set to be farther from the inside area CA than the tangent point PE shown in fig. 5, but the distance traveled by the combine harvester 1 along the backward turning path LB is approximately the same as or less than the distance traveled by the combine harvester 1 along the backward intermediate path LM in fig. 5. Therefore, the travel distance of the turning path based on the first turning pattern shown in fig. 6 becomes shorter than the travel distance of the turning path shown in fig. 5 by the amount by which the forward turning path LC1 approaches the side where the inner area CA is located.

Fig. 7 shows an example of the configuration of the turning path in the present invention. The turning mode shown in fig. 7 is a mode in which the combine harvester 1 is turned to the side opposite to the side where the next reciprocating travel path LS2 is located in the first forward turning travel after the combine harvester 1 has harvested the inner area CA along the reciprocating travel path LS 1. This turning mode is referred to as "second turning mode". As described above with reference to fig. 6, the turning path setting unit 23B sets the tangent circle CF1 that is tangent to the extension line of the reciprocating travel path LS1 on the arc and the tangent circle CB1 that is tangent to the extension line of the reciprocating travel path LS2 on the arc.

The circle CF1 is tangent to the extension of the reciprocating travel path LS1 at a tangent point PS from the side opposite to the side on which the reciprocating travel path LS2 is located. In addition, the tangent circle CB1 is tangent to the extension line of the reciprocating travel path LS2 at the tangent point PE from the side of the reciprocating travel path LS 1. In this state, the respective circular arcs of the tangent circle CF1 and the tangent circle CB1 are tangent to each other at a tangent point P1. The tangent point P1 is located at a side closer to the inner area CA than the tangent point PE, and is located at a side opposite to the side where the reciprocating travel path LS2 is located with respect to the extension line of the reciprocating travel path LS 1. That is, the circle CB1 is tangent to both the extension line of the reciprocating path LS2 and the circle CF1 on the circular arc.

The virtual point PS0 is the tangent point PS shown in fig. 5. The tangent point PS shown in fig. 7 is located on the inner side area CA side of the virtual point PS0, and the turning start point of the combine harvester 1 is set on the inner side area CA side of the turning path shown in fig. 5. A forward turning path LC1 is set on the arc of the tangent circle CF1, and the forward turning path LC1 is located across between the tangent point PS and the tangent point P1. The forward turning path LC1 is a right-turn path, and the combine harvester 1 turns to the side opposite to the side where the next reciprocating travel path LS2 is located in the forward turning travel after the inner area CA is harvested along the reciprocating travel path LS 1. The tangent point PS is set at a position where the crop in the non-harvesting area is not crushed by the turning outside portion of the running gear 11 when the combine harvester 1 starts to turn.

The tangent point PE shown in fig. 7 is set to be farther from the inner area CA than the tangent point PE shown in fig. 5. That is, the tangent point PE shown in fig. 7 is set to be farther from the inner region CA than the position distant from the side portion S1 by the set distance D1.

A backward turning path LB is set on the arc of the tangent circle CB 1. Forward turning path LC1 is tangent to reverse turning path LB at tangent point P1. The reverse turning path LB spans between the tangent point P1 and the tangent point PE. In the area in the middle of the route of the reverse turning route LB shown in fig. 7, there is an area closer to the inner area CA than the tangent point P1. Therefore, in the embodiment shown in fig. 7, the set positions of the tangent points PS and P1 are taken into consideration so as to avoid the crop remaining in the inner area CA from being crushed by the turning outer portion of the traveling device 11 when the combine harvester 1 travels in a backward turn along the backward turning path LB.

When the combine harvester 1 has completed harvesting the inner area CA along the reciprocating travel path LS1 at the turning start point and then has directly advanced to reach the tangent point PS, the turning travel is started. The combine harvester 1 makes a forward turn along the forward turning path LC1 to the tangent point P1.

When the combine harvester 1 reaches the contact point P1, the turning direction of the combine harvester 1 is reversed in the direction opposite to the turning direction of the forward turning path LC1, and the combine harvester 1 performs backward turning along the backward turning path LB. At this time, the combine harvester 1 passes halfway through the extension line of the reciprocating travel path LS 1. When the combine harvester 1 reaches the tangent point PE, the combine harvester 1 is located on the extension of the next reciprocating path LS2, and the forward direction of the combine harvester 1 is along the forward direction of the reciprocating path LS 2.

The travel distance of the turning path based on the second turning pattern shown in fig. 7 is substantially equal to the travel distance of the turning path based on the first turning pattern shown in fig. 6. Therefore, the travel distance of the turning path based on the second turning pattern shown in fig. 7 becomes shorter than the travel distance of the turning path shown in fig. 5 by the amount of approaching the side where the inner area CA is located in the whole turning path.

In the embodiment shown in fig. 6 and 7, when the backward turning travel of the combine harvester 1 along the backward turning path LB is completed, the position of the combine harvester 1 coincides or substantially coincides with the extension line of the next reciprocating travel path LS2, and the forward heading of the combine harvester 1 coincides or substantially coincides with the travel heading of the next reciprocating travel path LS 2. Therefore, the automatic travel control unit 24 can perform the automatic travel control along the reciprocating travel path LS2 only by causing the combine harvester 1 to travel forward as it is from the tangent point PE. That is, in the embodiment shown in fig. 6 and 7, the automatic travel control unit 24 corrects the positional deviation and the azimuth deviation of the combine harvester 1 before entering the inside area CA more easily than the turning path shown in fig. 5.

If the first setting switch 4A (see fig. 4, the same applies hereinafter) is set to off, the turning path setting unit 23B does not select the first turning mode shown in fig. 6. Further, if the second setting switch 4B (see fig. 4, the same applies hereinafter) is set to off, the turning path setting unit 23B does not select the second turning mode shown in fig. 7. The first setting switch 4A and the second setting switch 4B are operated by the operator, and the operator can set the validity/invalidity of each of the first turning mode and the second turning mode according to his/her preference.

If the first setting switch 4A and the second setting switch 4B are set to off, the turning path setting unit 23B selects the conventional turning mode shown in fig. 5. If at least one of the first setting switch 4A and the second setting switch 4B is turned on, the turning route setting unit 23B switches the plurality of turning modes according to the field situation. The field situation may be exemplified by the width of the peripheral area SA in which turning travel is performed, the possibility that the combine harvester 1 comes into contact with the ridge of the field during turning travel of the combine harvester 1, the possibility that the combine harvester 1 may press down crops in the area where no harvesting is performed during turning travel of the combine harvester 1, and the like.

The priority order when the turning path setting unit 23B selects the turning mode is the first turning mode, the second turning mode, and the turning mode in the related art in order from the highest priority order to the lowest priority order, and when all three turning modes can be selected, the first turning mode is selected by the turning path setting unit 23B in principle. Note that, when the turning distance of the second turning mode is shorter than the turning distance of the first turning mode, the second turning mode may be selected by the turning path setting unit 23B.

The first turning mode and the second turning mode described based on fig. 6 and 7 may be the modes shown in fig. 8 and 9. The first mode of turning is shown in fig. 8 and the second mode of turning is shown in fig. 9. In the first turning mode shown in fig. 6 and the second turning mode shown in fig. 7, at the end of the backward turning travel of the combine harvester 1, the combine harvester 1 is located on the extension of the next reciprocating travel path LS 2. On the other hand, in the first turning mode shown in fig. 8 and the second turning mode shown in fig. 9, after the backward turning travel of the combine harvester 1 is finished, the forward turning travel of the combine harvester 1 is performed again.

In the embodiment shown in fig. 8 and 9, as described above with reference to fig. 5, the turning path setting unit 23B sets the tangent circle CF1 that is tangent to the extension line of the reciprocating travel path LS1 on the arc and the tangent circle CF2 that is tangent to the extension line of the reciprocating travel path LS2 on the arc. Then, the turning path setting unit 23B sets a circle of tangency CB1 that is tangent to the circle of tangency CF1, CF2, respectively, as arcs.

The circle CF1 in fig. 8 is tangent to the extension of the reciprocating travel path LS1 at the tangent point PS from the side of the reciprocating travel path LS2, and the circle CF1 in fig. 9 is tangent to the extension of the reciprocating travel path LS1 at the tangent point PS from the side opposite to the side of the reciprocating travel path LS 2. Further, the circle CF2 in fig. 8 is tangent to the extension line of the reciprocating travel path LS2 at the tangent point PE from the side where the reciprocating travel path LS1 is located, and the circle CF2 in fig. 9 is tangent to the extension line of the reciprocating travel path LS2 at the tangent point PE from the side opposite to the side where the reciprocating travel path LS1 is located.

In this state, the respective circular arcs of the tangent circle CF1 and the tangent circle CB1 are tangent to each other at the tangent point P1, and the respective circular arcs of the tangent circle CF2 and the tangent circle CB1 are tangent to each other at the tangent point P2. In fig. 8, the tangent point P1 is located on the opposite side of the extension line of the reciprocating travel path LS2 from the side on which the reciprocating travel path LS1 is located, and the tangent point P2 is located on the side on which the reciprocating travel path LS1 is located. In fig. 9, the tangent point P1 is located on the opposite side of the extension line of the reciprocating travel path LS1 from the side on which the reciprocating travel path LS2 is located, and the tangent point P2 is located on the opposite side of the extension line of the reciprocating travel path LS2 from the side on which the reciprocating travel path LS1 is located.

In fig. 8 and 9, a virtual point PS0 is the tangent point PS shown in fig. 5. The tangent point PS is located on the inner side area CA side of the virtual point PS0, and the turning start point of the combine harvester 1 is set on the inner side area CA side of the turning path shown in fig. 5. The tangent point PS is set at a position where the crop in the non-harvesting area is not crushed by the inside part of the turn of the running gear 11 when the combine harvester 1 starts to turn. Further, on the arc of the tangent circle CF1, a forward turning path LC1 is set that spans between the tangent point PS and the tangent point P1.

The tangent point PE shown in fig. 8 and 9 is set at the same position as the tangent point PE shown in fig. 5. That is, the tangent point PE shown in fig. 8 and 9 is set at a position separated from the side portion S1 by the set distance D1. Further, a forward turning path LC2 extending between the tangent point PE and the tangent point P2 is set on the arc of the tangent circle CF 2. Further, a backward turning path LB extending between the tangent point P1 and the tangent point P2 is set on the arc of the tangent circle CB 1.

In fig. 8, when the combine harvester 1 has already advanced to the tangent point PS after having harvested the inner region CA along the reciprocating travel path LS1 at the turning start point, turning travel is started. The combine harvester 1 makes a left-hand turn along the forward turning path LC1, travels to the tangent point P1, and crosses the extension line of the reciprocating travel path LS2 halfway.

When the combine harvester 1 reaches the tangent point P1, the turning direction of the combine harvester 1 is reversed in the direction opposite to the turning direction of the forward turning path LC1, and the combine harvester 1 performs backward turning travel along the backward turning path LB and crosses the extension line of the reciprocating travel path LS2 in the middle. When the combine harvester 1 reaches the cut point P2, the turning direction of the combine harvester 1 is turned in the direction opposite to the turning direction of the backward turning path LB, that is, in the same turning direction as the turning direction of the forward turning path LC1, and the combine harvester 1 makes a forward turning left-hand turn along the forward turning path LC2 to reach the cut point PE.

In fig. 9, when the combine harvester 1 has already advanced to the tangent point PS after harvesting the inner area CA along the reciprocating travel path LS1 at the turning start point, turning travel is started. The combine harvester 1 makes a right-hand forward turn along the forward turning path LC1 to the tangent point P1.

When the combine harvester 1 reaches the tangent point P1, the turning direction of the combine harvester 1 is turned in the direction opposite to the turning direction of the forward turning path LC1, and the combine harvester 1 performs backward turning travel along the backward turning path LB and crosses the extension lines of the reciprocating travel paths LS1 and LS2 in the middle. When the combine harvester 1 reaches the tangent point P2, the turning direction of the combine harvester 1 is turned in the direction opposite to the turning direction of the backward turning path LB, that is, in the same turning direction as the turning direction of the forward turning path LC1, and the combine harvester 1 makes a forward turning, which is turned along the forward turning path LC2, and reaches the tangent point PE.

In the area in the middle of the route of the reverse turning route LB shown in fig. 9, there is an area closer to the inner area CA than the tangent point P1. Therefore, in the embodiment shown in fig. 9, the set positions of the tangent points PS and P1 are taken into consideration so as to avoid the crop remaining in the inner area CA from being crushed by the turning outer portion of the traveling device 11 when the combine harvester 1 travels in a backward turning along the backward turning path LB.

In the embodiment shown in fig. 8 and 9, when the backward turning travel of the combine harvester 1 along the backward turning path LB is completed, the position of the combine harvester 1 substantially coincides with the extension line of the next reciprocating travel path LS2, and the forward heading of the combine harvester 1 substantially coincides with the travel heading of the next reciprocating travel path LS 2. Further, the position of the tangent point P2 shown in fig. 8 and 9 is closer to the side where the inner area CA is located than the position of the tangent point PE shown in fig. 6 and 7. Therefore, in the embodiment shown in fig. 8 and 9, the turning travel of the combine harvester 1 can be performed in a more compact area and the travel distance of the turning travel is shorter than in the embodiment shown in fig. 6 and 7.

In the embodiment shown in fig. 8 and 9, the degree of azimuth deviation of the forward direction of the combine harvester 1 at the tangent point P2 is also smaller than the azimuth deviation of the forward direction of the combine harvester 1 at the tangent point P2 shown in fig. 5. Therefore, the direction change of the combine harvester 1 on the forward turning path LC2 is easier compared to the prior art shown in fig. 5.

As described above, the turning paths shown in fig. 6 to 9 include a path for the combine harvester 1 to perform forward turning travel and a path for the combine harvester 1 to perform backward turning travel. The turning path setting unit 23B is configured to set the turning path in the outer peripheral area SA so that the combine harvester 1 can perform forward turning travel to one of the left and right sides and thereafter perform backward turning travel to the other of the left and right sides. Then, the turning path setting unit 23B sets the turning path to: when the combine harvester 1 finishes the backward turning travel, the combine harvester 1 is located on the extension of the next reciprocating travel path LS 2. Further, the turning route setting unit 23B sets the turning route to: when the combine harvester 1 finishes the backward turning travel, the forward direction of the combine harvester 1 follows the travel direction of the next reciprocating travel path LS 2.

Note that the radii of the tangent circles CF1 and CB1 shown in fig. 6 to 9 are set to be the same as each other, but the radii of the tangent circles CF1 and CB1 may be set to be special radii. The tangent circle CF2 shown in fig. 8 and 9 may be set to a special radius different from the respective radii of the tangent circles CF1 and CB 1.

In fig. 10 to 14, a side S1 of the outer peripheral shape of the inner area CA intersecting the reciprocating travel paths LS1, LS2 is not orthogonal to the reciprocating travel paths LS1, LS2, but intersects the reciprocating travel paths LS1, LS2 in an oblique direction.

In side S1 shown in fig. 10 to 12, the side on which reciprocating travel path LS2 is located on the right side of the paper surface with respect to the side on which reciprocating travel path LS1 is located. Therefore, when the combine harvester 1 finishes harvesting the reciprocating travel path LS1, the combine harvester 1 needs to straightly cut along the reciprocating travel path LS1 to travel to the boundary indicated by the line S11 in order to avoid the left harvesting residue in the traveling direction of the combine harvester 1. When the combine harvester 1 starts the cutting travel along the reciprocating travel path LS2, the cutting of the crop on the right side in the traveling direction of the combine harvester 1 starts earlier than the cutting of the crop on the left side in the traveling direction of the combine harvester 1. Therefore, it is necessary to cause the combine harvester 1 to travel straight along the reciprocating travel path LS2 until reaching the boundary indicated by the line S12 after completion of the turning travel.

The turning pattern set by the prior art is shown in fig. 10. The turning path setting unit 23B sets a tangent circle CF1 that is tangent to the extension line of the reciprocating travel path LS1 on the arc and a tangent circle CF2 that is tangent to the extension line of the reciprocating travel path LS2 on the arc. The tangent CF1 is tangent to the extension of the reciprocating travel path LS1 at the tangent point PS from the side of the reciprocating travel path LS 2. In addition, the tangent CF2 is tangent to the extension line of the reciprocating travel path LS2 at the tangent point PE from the side of the reciprocating travel path LS 1.

A forward turning path LC1 is set on the arc of the tangent circle CF1, and a forward turning path LC2 is set on the arc of the tangent circle CF 2. As a straight path connecting the forward turning path LC1 and the forward turning path LC2, a reverse intermediate path LM is set. Forward turning path LC1 is tangent to reverse neutral path LM at tangent point P1, and forward turning path LC2 is tangent to reverse neutral path LM at tangent point P2. The retreat intermediate path LM is a path parallel to the side S1 in the outer peripheral shape of the inner area CA. The receding intermediate path LM is a path extending in the tangential direction with respect to the tangent circles CF1 and CF 2.

When the combine harvester 1 has already harvested the inner region CA along the reciprocating travel path LS1 at the turning start point and then has advanced as it is to reach the tangent point PS, turning travel is started. The turning travel continues until the combine harvester 1 reaches the tangent point PE. The combine harvester 1 performs forward turning along the forward turning path LC1, then performs backward turning along the backward intermediate path LM, and finally performs forward turning along the forward turning path LC2, and then reaches the tangent point PE.

In fig. 10, the tangent point PE cannot be set at a position closer to the side where the inner area CA is located than the boundary indicated by the line S12, and therefore the tangent point PE is hardly close to the side where the inner area CA is located. In the turning path shown in fig. 10, the combine harvester 1 has a long idle running distance to reach the tangent point PS after finishing harvesting the inner area CA along the reciprocating travel path LS 1. Fig. 11 and 12 show an example of the configuration of the turning path in the present invention in order to reduce the idle running distance.

The first mode of turning is shown in fig. 11 and the second mode of turning is shown in fig. 12. In fig. 11 and 12, the forward turning paths LC1 and LC2 and the reverse intermediate path LM shown in fig. 10 are shown by broken lines LC0, so that it is easy to compare the turning path of the present invention shown in fig. 11 and 12 with the turning path of the related art shown in fig. 10. The virtual point PS0 shown in fig. 11 and 12 is the tangent point PS shown in fig. 10.

The turning path based on the first turning pattern shown in fig. 11 is set by the above-described method according to fig. 8, and the turning path based on the second turning pattern shown in fig. 12 is set by the above-described method according to fig. 9. In both fig. 11 and 12, the tangent point PS is set on the side of the virtual point PS0 where the inner area CA is located, and the idling distance after the combine harvester 1 has harvested along the reciprocating travel path LS1 and completed the inner area CA to reach the tangent point PS is shorter than that in fig. 10.

In the inner area CA shown in fig. 11, the side on which the reciprocating travel path LS2 is located protrudes further toward the outer peripheral area SA than the side on which the reciprocating travel path LS1 is located. Therefore, in the first turning mode shown in fig. 11, the position where the tangent point PS and the forward turning path LC1 are separated from the inner area CA is set to such a degree that the combine harvester 1 does not fall over the crop in the inner area CA (non-harvesting area). In the first turning mode shown in fig. 11, the distance of the turning path becomes shorter as compared with the turning mode of the related art shown in fig. 10.

In the outer peripheral area SA, in which the combine harvester 1 has harvested the inner area CA along the reciprocating path LS1, the area of the right turning side of the combine harvester 1 is wider than the area of the left turning side of the combine harvester 1. Therefore, the tangent point PS in fig. 12 is set at a position closer to the inner area CA than the tangent point PS in fig. 11. The travel distance in the second turning pattern shown in fig. 12 is shorter than the travel distance in the turning patterns shown in fig. 10 and 11.

The distance of the turning path based on the second turning pattern shown in fig. 12 among the plurality of turning patterns shown in fig. 10 to 12 is shortest. Therefore, if the second setting switch 4B is in the on setting, the turning path setting portion 23B selects the second turning mode shown in fig. 12 among the turning modes shown in fig. 10 to 12.

If the second setting switch 4B is in the off setting and the first setting switch 4A is in the on setting, the turning path setting portion 23B selects the first turning mode shown in fig. 11 among the turning modes shown in fig. 10 to 12. In addition, if it is determined that the crop in the inner area CA (non-harvest area) is overwhelmed during the turning travel of the combine harvester 1 based on the first turning mode, the turning path setting unit 23B may select the conventional turning mode shown in fig. 10 even if the first setting switch 4A is set to the on setting.

Note that the second turning mode shown in fig. 12 may be configured by the forward turning path LC1 and the reverse turning path LB as shown in fig. 7 without the forward turning path LC 2. In this case, when the backward turning travel of the combine harvester 1 is completed, the combine harvester 1 is located on the extension line of the next reciprocating travel path LS2, and the forward direction of the combine harvester 1 follows the travel direction of the next reciprocating travel path LS 2.

In side S1 shown in fig. 13 and 14, the side on which reciprocating travel path LS1 is located on the right side of the paper with respect to the side on which reciprocating travel path LS2 is located. Therefore, when the combine harvester 1 finishes harvesting the reciprocating path LS1, in order to avoid the harvesting residue on the right side in the traveling direction of the combine harvester 1, the combine harvester 1 needs to straightly cut along the reciprocating path LS1 to the boundary indicated by the line S13. When the combine harvester 1 travels along the reciprocating travel path LS2, harvesting of the crop on the left side in the traveling direction of the combine harvester 1 starts earlier than harvesting of the crop on the right side in the traveling direction of the combine harvester 1. Therefore, it is necessary to cause the combine harvester 1 to travel straight along the reciprocating travel path LS2 until reaching the boundary indicated by the line S14 after completion of the turning travel.

The turning path set by the prior art is shown in fig. 13. As for the setting method of the turning path, since it is the same as that described previously based on fig. 10, it is omitted.

Since the tangent point PS cannot be set at the position closer to the inner region CA than the boundary indicated by the line S13, the tangent point PS shown in fig. 13 and 14 hardly approaches the position closer to the inner region CA than the illustrated position. Therefore, in the turning path shown in fig. 13, the combine harvester 1 has a long idle running distance until it enters the inside area CA after completion of the turning travel. Fig. 14 shows an example of the configuration of the turning path in the present invention in order to reduce the idle running distance.

The second turning mode is shown in fig. 14. In addition, in fig. 14, the forward turning paths LC1 and LC2 and the reverse intermediate path LM shown in fig. 13 are shown by broken lines LC0, so that it is easy to compare the turning path of the present invention shown in fig. 14 with the turning path of the related art shown in fig. 13. The virtual point PE0 shown in fig. 14 is the tangent point PE shown in fig. 13.

The turning path based on the second turning pattern shown in fig. 14 is set by the above-described method according to fig. 9. In fig. 14, the tangent point PE is set on the side of the inner area CA with respect to the virtual point PE0, and the idling distance until the combine harvester 1 enters the inner area CA after completing the turning travel is shortened. In this way, the travel distance of the turning path based on the second turning pattern shown in fig. 14 becomes shorter than the travel distance of the conventional art shown in fig. 13. Therefore, if the second setting switch 4B is set to on, the turning path setting unit 23B selects the second turning mode shown in fig. 14 among the turning modes shown in fig. 13 and 14.

In this way, when performing the turning travel of the turning type exemplified in fig. 5 to 14, the turning path setting unit 23B selects the turning mode in accordance with the shape of the uncurved area in the inner area CA and the space of the harvested area. That is, the turning route setting unit 23B switches the turning modes according to the field conditions. The plurality of turning modes include a mode in which the combine harvester 1 turns to the side of the next reciprocating travel path LS2 in the first forward turning travel after the combine harvester 1 has harvested the inner area CA along the reciprocating travel path LS 1. The plurality of turning modes include a mode in which the combine harvester 1 turns to the opposite side to the side where the next reciprocating travel path LS2 is located in the first forward turning travel after the combine harvester 1 has harvested the inner area CA along the reciprocating travel path LS 1.

[ other embodiments ]

The present invention is not limited to the configurations illustrated in the above embodiments, and other representative embodiments of the present invention will be illustrated below.

(1) The turning path setting unit 23B shown in the above embodiment does not exclude the conventional techniques shown in fig. 5, 10, and 13. The turning path setting unit 23B may generate the turning path of the related art shown in fig. 5, 10, and 13. For example, the turning path includes a path for the combine harvester 1 to perform forward turning travel and a path for the combine harvester 1 to perform backward turning travel, and may include a path for the combine harvester 1 to perform straight backward travel. Further, the turning pattern for setting the turning route of the conventional art shown in fig. 5, 10, and 13 may be stored in the storage unit 26 of the control unit 20, and the turning route setting unit 23B may switch the plurality of turning patterns according to the field situation.

(2) In the embodiment shown in fig. 5 to 14, the reciprocating paths LS1 and LS2 are adjacent to each other, but the present invention is not limited to this embodiment. For example, another reciprocating travel route LS may be present between the reciprocating travel routes LS1 and LS2, and the turning route setting unit 23B may set a turning route that crosses the reciprocating travel routes LS1 and LS2 while skipping the other reciprocating travel route LS. In short, the turning path setting unit 23B may be any path that can set a turning path for the combine harvester 1 to enter the end of the next reciprocating path LS2 after having harvested the reciprocating path LS1 in the harvested region.

(3) In the above embodiment, the travel route setting unit 23 is provided in the control unit 20, but is not limited to this embodiment. For example, the travel route setting unit 23 may be provided in the communication terminal 4 or the management computer 5.

(4) In the above embodiment, the plurality of turning patterns are stored in the storage unit 26 of the control unit 20 shown in fig. 4, but the present invention is not limited to this embodiment. For example, a plurality of turning patterns may be transmitted from the communication terminal 4 or the management computer 5.

(5) In the embodiment described with reference to fig. 6 to 9, 11, 12, and 14, a straight path of at least one of forward and reverse may be set between the forward turning path LC1 and the reverse turning path LB. In the embodiment described with reference to fig. 8 and 9, 11 and 12, and 14, a straight path of at least one of forward and backward may be set between the forward turning path LC2 and the backward turning path LB.

(6) The technical features of the automatic travel control system described above can also be applied to an automatic travel control method. The automatic travel control method in this case may include: a reciprocating travel path setting step of setting a plurality of reciprocating travel paths LS parallel to each other in an unharvested area; a turning path setting step of setting a turning path which the combine harvester 1 can enter to the end of the next reciprocating path LS after finishing harvesting the reciprocating path LS in the harvesting area. Further, the turning path setting step may be configured to be able to set the turning path as follows: the combine harvester 1 is caused to perform forward turning travel to one of the left and right sides and thereafter to perform backward turning travel to the other of the left and right sides.

(7) The technical features of the automatic travel control system described above can also be applied to an automatic travel control program. The automatic travel control program in this case may cause the computer to execute: a reciprocating travel path setting function capable of setting a plurality of reciprocating travel paths LS in parallel to each other in an unharvested area; the turning path setting function is capable of setting a turning path for the combine harvester 1 to enter the end of the next reciprocating path LS after having harvested the reciprocating path LS in the harvested region. Further, the turning path setting function may be configured to be able to set the turning path as follows: the combine harvester 1 is caused to perform forward turning travel to one of the left and right sides and thereafter to perform backward turning travel to the other of the left and right sides. The automatic travel control program having the above feature may be stored in a storage medium such as an optical disk, a magnetic disk, or a semiconductor memory.

Note that the structures disclosed in the above-described embodiments (including other embodiments, the same applies hereinafter) can be combined with the structures disclosed in other embodiments and applied as long as no contradiction occurs. The embodiments disclosed in the present specification are illustrative, and the embodiments of the present invention are not limited thereto, and can be appropriately modified without departing from the scope of the object of the present invention.

Industrial applicability

The present invention can be applied to an automatic travel control system for a combine harvester that cuts a crop while performing reciprocating travel in an unharvested region of a field and performs turning travel for the reciprocating travel in a harvested region outside the unharvested region. The present invention can also be applied to a combine harvester equipped with the automatic travel control system.

< embodiment 2>

[ integral structure of combine harvester ]

Fig. 15 and 16 show a half-feed type combine harvester (hereinafter referred to as "combine harvester 13") as an example of the harvester. A semi-feeding combine harvester performs harvesting operation along rows in a field where standing grain stalks are planted in an arrangement to form a plurality of rows. The combine harvester 13 includes a machine frame 1 and a crawler belt traveling device 2. A harvesting part 3 (equivalent to a harvesting device) for harvesting the planted vertical grain stalks is arranged in front of the machine body. A cab 4 is provided in the front of the machine body. The cab 4 includes a cab portion 5 on which a driver rides and a booth 6 covering the cab portion 5. An engine (not shown) is provided below the driver unit 5. The driver unit 5 is provided with a driver seat 19 on which a driver sits and a steering lever 92 (corresponding to a "path setting unit") that steers the body. A boarding gate (not shown) for a driver to board the cab 5 is provided on the right side of the body of the cab 4 in the left-right direction.

The harvesting section 3 includes a pusher-type cutting device 10 and a straw-dividing rod 15. The grain dividing rods 15 are arranged in parallel at intervals along the transverse width direction of the machine body by 7. A crop divider 18 is supported at the front end of each crop dividing rod 15. The divider 18 at the left end is spaced from the divider 18 at the right end by the harvesting width of the combine harvester 13. On the rear side of the

crop divider

18, 6 raising devices 16 are arranged side by side in the transverse width direction of the machine body. In the present embodiment, the combine harvester 13 can introduce and harvest the standing grain stalks of at least 6 rows independently of each other in 6 rows, but the combine harvester 13 may be configured to introduce and harvest the standing grain stalks of 6 rows or more or 6 rows or less independently of each other. The cutting device 10 is arranged behind the lower part of the lifting device 16. The cutting device 10 is provided in a state of spanning the dividing straw 15 at both lateral ends. Along with the working travel of the combine harvester 13, the crop dividers 18 travel between adjacent rows. The standing straw is distributed in the left and right direction of the machine body by the straw divider 18 and guided toward the lifting device 16. The standing grain stalks are lifted by the lifting device 16, and the roots are cut by the cutting device 10.

The combine harvester 13 includes a grain tank 7, a grain discharge device 8, a threshing device 9, a discharged straw conveyance device 11, and a discharged straw treatment unit 12. The grain tank 7 is provided behind the cab 4 and stores grains obtained by the threshing process. The grain discharging device 8 discharges grains in the grain box 7. The threshing device 9 is provided on the left of the grain tank 7, and performs threshing processing on the cut and taken grain stalks conveyed by the feeding chain FC. The feeding chain FC is arranged at the left side part of the threshing device 9 and clamps and conveys the roots of the cut straws. The discharged straw conveying device 11 is connected to the rear part of the threshing device 9, receives the discharged straw from the feeding chain FC and conveys the discharged straw toward the rear of the machine body. The discharged straw treatment unit 12 is provided behind the threshing device 9 and treats the discharged straw conveyed by the discharged straw conveying device 11.

[ automatic travel ]

The automatic travel of the combine harvester 13 will be described with reference to fig. 17 and 18. The combine harvester 13 automatically travels along the set travel path S1 in the field. The vehicle position is required for this purpose. The vehicle position detection module 80 includes a satellite navigation module 81 and an inertial navigation module 82. The satellite navigation module 81 receives GNSS (global navigation satellite system) signals (including GPS signals) from the satellite system GS and outputs positioning data for calculating the position of the vehicle. The inertial navigation module 82 is equipped with a gyro acceleration sensor and a magnetic azimuth sensor, and outputs a position vector indicating an instantaneous traveling direction. The inertial navigation module 82 is used to supplement the calculation of the position of the vehicle by the satellite navigation module 81. The inertial navigation module 82 may be disposed at a different location from the satellite navigation module 81.

Before the automatic travel, the driver manually operates the combine harvester 13, and as shown in fig. 17, the harvesting travel is performed in such a manner that the peripheral portion in the field is wound along the boundary line of the field. Note that the harvesting travel can also be performed in a circle along the boundary line of the field by automatic travel, if possible. The area that becomes the harvested area (the worked area) is set as the outer peripheral area SA. Further, an area remaining as an uncut area (non-working area) inside the outer peripheral area SA is set as the working area CA. Fig. 17 shows an example of the outer peripheral area SA and the work target area CA.

When the outer peripheral area SA and the work area CA are set, as shown in fig. 18, a travel route S1 in the work area CA is calculated. The calculated travel route S1 is sequentially set based on the mode of work travel, and the combine harvester 13 automatically travels along the set travel route S1. The travel route S1 is composed of a plurality of travel routes SL1 substantially parallel to any one side of the field and a turning travel route R1 connecting the travel routes SL 1. Therefore, the automatic travel repeats the working travel, which is travel on the travel route SL1, and the cornering travel, which is travel between the travel routes SL1 in a predetermined cornering pattern. In addition, as a turning mode for turning travel, the combine harvester 13 performs turning travel in various turning modes in addition to the U-turn mode for reversing along the U-turn travel path shown in fig. 18. For example, as the cornering mode, an α -turn mode in which the vehicle reverses while repeating forward and backward traveling, and a turn-back turn mode in which the vehicle reverses in a narrower area than the U-turn mode by the backward traveling may be performed.

[ control System ]

Next, a control system of the combine harvester 13 will be described with reference to fig. 19, while referring to fig. 15. The control system of the combine harvester 13 includes a control unit 50 including a plurality of electronic control units called ECUs, and various input/output devices that perform signal communication (data communication) with the control unit 50 through a wiring network such as an on-vehicle LAN. The control unit 50 is a core element of the control system, and the control unit 50 is embodied as an aggregate of a plurality of ECUs. The signal from the own vehicle position detection module 80 is input to the control unit 50 through the in-vehicle LAN.

The control unit 50 includes an input processing unit 57 and an output processing unit 58 as input/output interfaces. The output processing unit 58 is connected to various operating devices 60 via a device driver 65, and transmits a control signal to the operating devices 60. The working devices 60 include a traveling device group 67 as a device related to traveling and a working device group 68 as a device related to working. The travel device group 67 includes, for example, a steering operation device 69, an engine device, a transmission, a brake device, and the like. The working equipment group 68 includes power control equipment in the harvesting unit 3, the threshing device 9, the grain discharging device 8, and the like.

The input processing unit 57 is connected to the travel state sensor group 63, the work state sensor group 64, the travel operation means 90, and the like. The running state sensor group 63 includes an engine speed sensor, an overheat detection sensor, a brake pedal position detection sensor, a shift position detection sensor, a steering operation position detection sensor, and the like. The working condition sensor group 64 includes a sensor for detecting the driving condition of the harvesting device (the harvesting unit 3, the threshing device 9, the grain discharging device 8, etc.), a sensor for detecting the condition of the grain stalks and grains, and the like.

The travel operation unit 90 is a general term for an operation member that is manually operated by the driver and whose operation signal is input to the control unit 50. The travel operation unit 90 includes a main shift operation member 91, a steering lever 92, a mode operation member 93, an automatic start operation member 94, and the like. In the manual travel mode, the steering lever 92 is operated to swing left and right from the neutral position, whereby the track speed of the left-side track mechanism and the track speed of the right-side track mechanism are adjusted, and the direction of the machine body (vehicle body) is changed. In the present invention, the operation of changing the direction in which the machine body travels is collectively referred to as a steering operation, and the operation of adjusting the speed of the left and right crawler belts in addition to changing the direction of the wheels and the like is also referred to as a steering operation. The mode operation element 93 has a function of issuing a command for switching between an automatic travel mode for performing automatic driving and a manual travel mode for performing manual driving to the control unit 50. The automatic start operating element 94 has a function of issuing a final automatic start command for starting automatic traveling to the control unit 50. Note that, the automatic travel mode may be automatically switched to the manual travel mode by software regardless of the operation of the mode operation element 93. For example, if a situation occurs in which automatic driving is not possible, the control unit 50 forcibly performs switching from the automatic travel mode to the manual travel mode. Specifically, when the steering lever 92 is operated by a predetermined amount or more during automatic traveling, the automatic traveling mode is forcibly switched to the manual traveling mode.

The reporting device 62 (corresponding to "warning means") is a device for reporting a work travel state and various warnings to a driver or the like, and is a buzzer, a lamp, a speaker, a display, or the like.

The control unit 50 includes a vehicle position calculation unit 55, a vehicle body direction calculation unit 56, a notification unit 59, a travel control unit 51, a work control unit 52, a travel pattern management unit 53, a travel route setting unit 54 (corresponding to a "route setting unit"), and a route correction unit 20. The reporting section 59 generates report data based on instructions from the functional sections of the control unit 50 and the like, and transmits the report data to the reporting device 62. The travel route setting unit 54 sequentially selects the travel route SL1 including the managed turning route, and sets the travel route SL1 as the travel route S1. The vehicle position calculating unit 55 calculates the vehicle position, which is the map coordinates (or field coordinates) of the reference points of the machine body set in advance, based on the positioning data sequentially transmitted from the vehicle position detecting module 80. That is, the vehicle position calculating unit 55 functions as a reference point calculating unit that calculates the position of a reference point of the vehicle body. The vehicle body direction calculation unit 56 obtains a travel trajectory in a minute time from the vehicle position sequentially calculated by the vehicle position calculation unit 55, and specifies a vehicle body direction indicating the direction of the body in the travel direction. The vehicle body orientation calculation unit 56 may also be configured to specify the vehicle body orientation based on orientation data included in the output data from the inertial navigation module 82.

The travel control unit 51 includes a steering operation control unit 71, a manual travel control unit 72, and an automatic travel control unit 73. The travel control unit 51 has an engine control function, a steering control function, a vehicle speed control function, and the like, and the travel control unit 51 controls travel by sending a control signal to the travel device group 67. The work control unit 52 sends a control signal to the work equipment group 68 to control the operation of the harvesting work devices (the harvesting unit 3, the threshing unit 9, the grain discharging unit 8, and the like).

The steering operation control unit 71 performs steering operation control (steering control) so that at least one of the amount of positional deviation and the amount of azimuth deviation between the target travel path S1 set by the travel path setting unit 54 and the vehicle position calculated by the vehicle position calculating unit 55 is reduced. The combine harvester 13 can travel by two modes, automatic driving in which harvesting work is performed by automatic driving and manual driving in which harvesting work is performed by manual driving. Therefore, the travel control unit 51 further includes a manual travel control unit 72 and an automatic travel control unit 73. Note that the automatic travel mode is set when automatic driving is performed, and the manual travel mode is set for manual driving. Switching of the running mode is managed by the running mode management unit 53.

When the automatic travel mode is set, the automatic travel control unit 73 cooperates with the steering control unit 71 to generate a control signal of the automatic steering operation for traveling on the set travel path S1 and a vehicle speed change control signal including a stop of the vehicle body, thereby controlling the travel device group 67. At this time, a control signal relating to a vehicle speed change is generated in advance based on the set vehicle speed value.

When the manual travel mode is selected, the manual travel control unit 72 generates a control signal based on the operation of the driver, and controls the travel device group 67 to realize manual driving. Note that the travel route S1 calculated by the travel route setting unit 54 may be used for manual driving to guide the combine harvester 13 to travel along the travel route S1.

As will be described later, the route correction unit 20 corrects the set travel route S1 by satisfying a predetermined correction condition through manual operation or automatic control. For example, as the correction condition, the path correction portion 20 is caused to correct the running path S1 by operating the steering lever 92.

[ correction of travel Path ]

Next, with reference to fig. 15 and 19, the correction of the travel path S1 by the path correction unit 20 will be described with reference to fig. 20 and 21.

In order to appropriately perform a harvesting operation (harvesting operation) on the standing grain stalks 14 (crops) standing in a field, a travel route S1 on which the harvesting operation travels is created in a harvester such as the combine harvester 13. For example, rice or the like planted grain stalks 14 are planted in rows in the field. By performing the work traveling on the traveling path S1 having an appropriate positional relationship between the combine harvester 13 and the row, the rice harvesting work can be performed appropriately. Specifically, by performing the work travel on the travel path S1 so that the combine harvester 13 enters between rows, rice can be appropriately introduced into the cutting device 10 and an appropriate harvesting operation can be performed.

Here, the path traveled by the combine 13 may not coincide with the set travel path S1 due to malfunction or accuracy errors of the vehicle position calculation unit 55, the vehicle position detection module 80, and the like. Further, the position of the standing straw 14 standing in the field may be deviated, and even if the work is performed on the set travel path S1, the cutting work may not be appropriately performed. As an example associated with the above-described specific example, the divider 18 may travel so as to overlap the row and collide with the row, dropping the grains, and thereby lowering the yield. In this case, it is appropriate to correct the travel path S to make fine adjustment 1 of the path traveled by the combine 13.

Therefore, when the driver feels that it is necessary to adjust the travel path S1, the driver operates the steering lever 92 as the path change operation unit to correct the travel path S1. Specifically, when the path correction unit 20 receives a signal indicating that the steering lever 92 has been operated to satisfy the predetermined correction condition via the input processing unit 57, it corrects the travel path S1 and generates a new travel path S2. For example, the path correction unit 20 generates a new travel path S2 by moving the travel path S1 in parallel 10cm in the direction of the operation, under the correction condition that the steering lever 92 is operated to the right or left in the range of 2 ° to 15 ° (the set pivot angle). The movement direction is a direction orthogonal to the travel route SL1, and thus the travel route SL1 can be moved in parallel so that the start point and the end point thereof are at appropriate positions. At this time, only the traveling route SL1 may be moved in parallel to change to the new traveling route SL2, or all the traveling routes SL1 may be moved in parallel by 10cm to generate the new traveling route SL 2. Further, as the traveling route is corrected to the traveling route SL2, the turning traveling route R1 is also corrected to the turning traveling route R2, and the traveling route S1 is corrected to the traveling route S2. After that, the combine harvester 13 performs the harvesting work travel (harvesting work travel) on the corrected travel path S2.

In this way, when the appropriate cutting work cannot be performed even if the work travel is performed on the travel route S1, the travel route S1 is corrected to the travel route S2 during the work travel. As a result, the work traveling can be performed on the appropriate traveling route S2, and the cutting work can be continued appropriately by the automatic traveling. In many cases, appropriate work travel can be performed by only finely adjusting the travel route S1, and appropriate work travel can be performed only by performing parallel movement of a predetermined distance, for example, 10 cm.

The distance of the parallel movement is not limited to 10cm, and an arbitrary distance can be set. In general, the deviation of the travel path S1 can be eliminated by performing the parallel movement of about 5cm to 15 cm. Further, as the operation range for making the steering lever 92 satisfy the correction condition, it is appropriate to provide a constant dead zone for preventing malfunction. Therefore, the set swing angle is set to 2 ° or more. The angle is not limited to 2 °, and may be set arbitrarily, and may be set to any value of 0 ° to 5 °. In order to avoid an abnormal situation during automatic traveling, it is appropriate to cancel automatic traveling when the steering lever 92 is operated by a predetermined amount or more. Therefore, an upper limit is set for the set swing angle, and when the operation is performed beyond this range, the combine harvester 13 is stopped. Alternatively, when the operation is performed beyond the upper limit of the set swing angle, the combine harvester 13 may be stopped and the automatic travel mode may be released. Further, when the operation is performed beyond the upper limit of the set swing angle, the combine harvester 13 may be configured to turn in accordance with the operation direction. The upper limit is not limited to 15 °, and may be set arbitrarily, for example, a value of 10 ° to 20 °.

[ other embodiments ]

(1) Two adjacent driving routes SL1 are generated as follows: the harvested regions SA1 where the standing straws are harvested by causing the combine harvester 13 to perform harvesting travel on the respective travel routes SL1 overlap each other by the width r.

As shown in fig. 22, when the travel route SL1 adjacent to the travel route SLR on which the harvest travel has ended moves in parallel in a direction away from the travel route SLR (the travel route SL2), the overlapping width becomes small. Since the overlapping width r is generally sufficiently larger than 10cm, if the parallel movement distance is set to 10cm, the overlapping portion does not disappear. However, if the travel path SL1 deviates due to rough terrain, errors in the vehicle position, or the like, the overlapping portion may disappear when the vehicle travels in parallel once. Further, if the parallel movement is repeated a plurality of times in the direction away from the travel route SLR on the travel route SL1 (the travel route SL3), the possibility that the overlapping portion disappears becomes high. Further, when the overlapping portion disappears, a gap is generated in the adjacent harvested area SA1, and the possibility of harvesting residue of the planted straw becomes high. Then, the harvesting travel of the harvest residue is required to be performed subsequently, and the work efficiency is deteriorated.

Therefore, in all the travel routes SL1, the travel routes after the parallel movement (SL2, SL3) corrected by the route correction unit 20 are preferably moved in parallel so as to be located on one direction side (one direction in the field, one of the left and right directions in the figure) with respect to the travel route SL1 set by the travel route setting unit 54. That is, when the travel route SL1 moves in parallel only once, the travel route SL2 moves in parallel in the same direction with respect to the travel routes SL 1. Even when the travel route SL1 is moved in parallel a plurality of times, once the travel route SL1 is moved in parallel to one side, the travel route SL1 is not moved in parallel to the other side. This can suppress the overlapping width r from repeatedly decreasing. At this time, when the parallel travel is repeated a plurality of times on each travel route SL1, it is preferable that the parallel travel be performed alternately in the left and right directions. Thus, the parallel movement in the same direction is not repeated, and the reduction of the overlapping width can be suppressed, and the travel route SL3 after the 2 nd parallel movement is substantially the same route as the original travel route SL1, and the travel routes (SL2, SL3) after the parallel movement are positioned on the one-directional side or at the same position with respect to the travel route SL1, and the reduction of the overlapping width can be suppressed to the minimum. Further, the direction (one direction side) of the parallel movement may be a direction approaching the acquired area SA 1. This can suppress reduction in the overlap width.

The first direction of the parallel movement may be fixed to the left side with respect to the left-right direction of the body. Generally, the combine harvester 13 performs harvesting work counterclockwise from the outer circumferential side to the inner circumferential side of the field, and the harvested area SA1 exists on the lateral right side of the machine body. Therefore, in the combine harvester 13, the riding hole is eccentrically provided to the right side in the left-right direction of the machine body, and the interval between the left-end divider 18 and the adjacent divider 18 is wider than the interval between the right-end divider 18 and the adjacent divider 18. Therefore, even if the harvester is moved in parallel to the lateral left side of the machine body, the width r of the overlap with the harvested area SA1 located on the lateral right side of the machine body is reduced, and the nearness that the crop divider 18 on the right end can rake up the planted straw is high, and the probability that the harvested straw remains is low. Note that, in the case of performing the harvesting work clockwise, the riding port may be provided eccentrically to the left side in the left-right direction of the machine body, and the direction of the first parallel movement may be fixed to the right side with respect to the left-right direction of the machine body.

(2) In each of the above embodiments, the route change operation unit may be provided with a switch, a lever, or the like as the route change operation unit, instead of the steering lever 92. For example, a lever may be provided as the route change operation unit, and the travel route S2 may be set by operating the lever to either the left or right side to move the travel route S1 in parallel in the direction in which the lever is operated by a predetermined distance. Further, a switch may be provided as the route change operation unit, and the travel route S1 may be moved in parallel by a predetermined distance to the predetermined right or left side by pressing the switch, thereby setting the travel route S2. Further, two left and right switches may be provided, and when the left switch is pressed, the travel path S1 may be moved in parallel to the left by a predetermined distance to set the travel path S2, and when the right switch is pressed, the travel path S1 may be moved in parallel to the right by a predetermined distance to set the travel path S2.

With this configuration, the travel path S1 can be corrected by a simple and reliable operation, and appropriate work travel can be continued during automatic travel.

(3) In each of the above embodiments, the number of times the travel route S1 can be corrected may be limited in one travel route SL 1. For example, the path correction unit 20 controls as follows: in one travel route SL1, the travel route S1 can be corrected only once to the left and right. When the standing straw 14 is temporarily placed in a mess, it is sufficient to correct a slight deviation of the travel route S1 by temporarily correcting the travel route SL1, causing the combine harvester 13 to perform work travel on the travel route SL2, and then returning to the original travel route SL 1.

When the parallel movement is repeated in the same direction, the distance between the travel routes SL1 may be increased in the adjacent travel route SL1, and the harvest residue may be generated. By limiting the number of times the travel route S1 can be corrected, the distance between the travel routes SL1 can be suppressed from excessively increasing, and the possibility of occurrence of a reaping residue can be reduced.

In addition, in a case where it is considered that some abnormality occurs in the vehicle position calculating unit 55, the vehicle position detecting module 80, or the like in a state where the correction needs to be frequently repeated, the work traveling can be performed more efficiently than a case where the correction is repeated to eliminate the abnormality. Therefore, it is often effective to limit the number of times the travel path S1 can be corrected.

In this case, when a dedicated switch or the like is provided as the route change operation unit, the travel route SL1 can be moved in parallel in one direction by the first operation, and the travel route SL1 can be restored by the second operation, which makes the operation easy.

In addition, in the case where the number of times the travel route S1 can be corrected is limited, only the traveling route SL1 during traveling may be moved in parallel, or all the traveling routes SL1 constituting the travel route S1 may be moved in parallel. Further, it may be configured such that which method is used can be set separately.

When the established valley stems 14 are randomly established in a part of the field, it is effective to move only the traveling route SL1 in parallel during traveling, and when the established valley stems 14 are established at a position offset from the middle of the field, it is effective to move all the traveling routes SL1 constituting the traveling route S1 in parallel. In addition, which method is used may be separately set, and in this case, the optimum correction can be performed according to the condition of the planted grain straw 14.

(4) In each of the above embodiments, when correcting the travel route S1, the notification unit 59 may cause the notification device 62 to issue a notification indicating that the travel route S1 is corrected. For example, the reporting section 59 may cause the reporting device 62 to generate an alarm sound. This makes it possible to take a measure such as paying attention to the correction of the travel route S1, and to take a measure such as re-correction immediately after paying attention to the fact that the driver erroneously corrects the undesired travel route S1.

In addition, when the number of times that correction is possible is limited, the following control may be performed: the reporting unit 59 performs different reports between the case where the operation of the route change operation unit is performed within the correctable number of times and the case where the operation of the route change operation unit is performed after the correctable number of times. For example, when the correction is possible, the alarm may be issued once when the route change operation unit is operated, and when the correction is not possible, the alarm may be issued twice in succession when the route change operation unit is operated. With this configuration, the driver can be made aware of whether or not the travel path S1 has been corrected, and can easily continue the appropriate work travel.

In addition, when the direction of the first parallel movement is determined, different alarms may be issued when the route change operation unit is operated in an appropriate direction and when the route change operation unit is operated in an inappropriate direction. This makes it possible for the driver to recognize whether or not an appropriate operation is being performed, and to easily continue appropriate work traveling.

In the case where the direction of the parallel movement is restricted to alternate left and right, a different alarm may be issued when the path change operation unit is operated in the appropriate direction and when the path change operation unit is operated in the inappropriate direction during the second and subsequent parallel movements. This makes it possible for the driver to recognize whether or not an appropriate operation is being performed, and to easily continue appropriate work traveling.

(5) In each of the above embodiments, the correction of the travel route S1 is not limited to the case where the correction is manually performed by the operation of the route change operation unit, and may be automatically performed. In this case, a sensor for detecting the actual travel position of the body with respect to the field situation, such as a sensor for detecting the positional relationship between the stem 14 and the combine harvester 13, may be provided in the body, and the correction condition may be determined based on the detection result of the sensor, and the travel path S1 may be moved in parallel to the predetermined right or left side by a predetermined distance to set the travel path S2. Alternatively, the deviation direction may be determined based on the detection result of the sensor, and the travel route S1 may be moved in parallel in the direction by a predetermined distance to set the travel route S2. For example, the sensor is a camera or the like capable of capturing an image of a part of the body and a field, and the path correction unit 20 or the like analyzes the captured image to determine the positional relationship between the state of the field and the body. This makes it easier to continue appropriate work travel.

(6) The planted straw is not limited to rice, and may be a crop such as soybean or corn, or a running route may be set regardless of the row. For example, the travel route is set so that harvesting work can be efficiently performed in consideration of an unworked area remaining along with harvesting work of a field. In this case, the harvester performs a harvesting operation with a constant width (harvesting width), and when the harvester travels on an unprocessed land adjacent to an already-operated land, the travel path is set so as to have a margin for overlapping the end of the operation area corresponding to the harvesting width with the already-operated land. When the remaining width is not appropriate or a harvesting residue is generated on the working site side during automatic traveling, the driver operates the route change operation unit to correct the traveling route.

Industrial applicability

The invention is not limited to semi-feeding combine harvesters and can also be applied to other harvesters of full-feeding combine harvesters.

Claims

1. An automatic travel control system for a combine harvester that cuts a crop while performing reciprocating travel in an unharvested region of a field and performs turning travel for the reciprocating travel in a harvested region outside the unharvested region, the automatic travel control system comprising:

a reciprocating travel path setting unit capable of setting a plurality of reciprocating travel paths parallel to each other in the unharvested area;

a turning path setting part capable of setting a turning path into which the combine harvester enters the end of the following reciprocating travel path after finishing harvesting the reciprocating travel path in the harvested region;

the turning path includes a path for making the combine perform forward turning travel and a path for making the combine perform backward turning travel,

the turning path setting unit may set the turning path as follows: the combine is caused to perform the forward turning travel to one of the left and right sides and thereafter perform the backward turning travel to the other of the left and right sides.

2. The automatic running control system according to claim 1,

the turning path setting unit sets the turning path as follows: when the combine harvester finishes the backward turning travel, the combine harvester is positioned on an extension line of the next reciprocating travel path.

3. The automatic running control system according to claim 2,

the turning path setting unit sets the turning path as follows: a travel orientation of the combine along the next reciprocating travel path when the combine ends the backward turn travel.

4. The automatic running control system according to any one of claims 1 to 3,

the automatic travel control system is provided with a plurality of turning modes for setting the turning path,

the turning path setting unit switches the plurality of turning modes according to a field condition.

5. The automatic running control system according to claim 4,

the plurality of turning modes include a mode in which the combine harvester turns to the side where the next reciprocating travel path is located in the first forward turning travel after the combine harvester finishes harvesting the reciprocating travel path.

6. The automatic running control system according to claim 4 or 5,

the plurality of turning modes include a mode in which the combine harvester turns to a side opposite to a side where the next reciprocating travel path is located in the first forward turning travel after the combine harvester finishes harvesting the reciprocating travel path.

7. A combine harvester equipped with the automatic travel control system according to any one of claims 1 to 6.

8. A harvester which has a harvesting part and automatically performs harvesting operation traveling, the harvester is characterized by comprising:

a route setting unit that sets a travel route for performing the harvesting operation;

an automatic travel control unit that controls the harvesting operation travel along the travel path;

and a route correction unit that moves the travel route in parallel by a predetermined distance when a predetermined correction condition is satisfied.

9. The harvester of claim 8,

the harvester is provided with a path changing operation part for manually selecting a direction for making the running path move in parallel from any one of the left and right directions of the machine body,

the correction condition is a selection operation of the path change operation section,

the route correction unit moves the travel route in parallel in the direction selected by the route change operation unit.

10. The harvester of claim 9,

the harvester can selectively perform either automatic driving or manual driving,

the harvester is provided with a steering rod for performing steering operation during manual driving,

the path change operation portion is the steering lever,

the path correction unit moves the travel path in parallel in a direction selected by the steering lever, with the steering lever being operated at a set pivot angle having a predetermined range as the correction condition.

11. The harvester of claim 10,

the automatic travel control unit stops the machine body when the steering lever is operated at an angle greater than a maximum value of the set pivot angle during the automatic travel.

12. The harvester of claim 8,

the harvester is provided with a path change operation part for requiring the parallel movement of the running path,

the correction condition is an operation of the path change operation section,

the route correction unit moves the travel route in parallel in a predetermined direction when the operation of the route change operation unit is triggered.

13. The harvester of claim 12,

when the route change operation unit is operated again after the travel route is moved in parallel, the route correction unit moves the travel route in parallel in a direction opposite to the predetermined direction.

14. The harvester of any one of claims 8 to 13,

the route setting portion sets the travel route including a travel route along a traveling direction,

the direction of the parallel movement is a direction orthogonal to the travel route.

15. The harvester of any one of claims 8 to 14,

the travel path includes a plurality of travel routes substantially parallel to any one side of the field,

when the travel routes are moved in parallel while traveling on any of the travel routes, the route correction unit moves all of the travel routes in parallel in the same direction by the same distance.

16. The harvester of any one of claims 8 to 15,

the travel route after the parallel movement is corrected to the same position as the travel route set by the route setting unit, or corrected to a position deviated to one direction side from the travel route set by the route setting unit.

17. The harvester of claim 16,

the harvester is provided with a driving part which is provided with a riding port for riding a driver,

the riding port is eccentrically arranged relative to the left and right direction of the machine body,

the first parallel movement is performed in the left-right direction of the machine body in the direction opposite to the side where the riding port is located.

18. The harvester of any one of claims 8 to 17,

the path correction unit performs parallel movement of the travel route only once in each of left and right directions while performing the harvesting work travel along each of the travel routes.

19. The harvester of claim 18,

the harvester is provided with a warning device,

in each of the travel routes, the warning device issues a first warning and the path correction portion performs the parallel movement of the travel route when the correction condition is satisfied for the first time in each of the left and right directions,

when the correction condition is satisfied for the second time or later, the warning device issues a second warning different from the first warning, and maintains the running course while running.

20. The harvester of any one of claims 8 to 19,

the harvester is provided with a warning device which gives a warning when the traveling path is moved in parallel.