Patent Application
20230292645
The present invention relates to a traveling assistance system for an agricultural machine such as a tractor.
As disclosed in Japanese Unexamined Patent Application Publication No. 2006-204174, when a known agricultural machine to which a transplanter is attached as a working device performs planting work in an agricultural field, the agricultural machine travels back and forth and performs planting in an inner area with a headland of the agricultural field left unplanted and then travels and performs planting in the headland surrounding the inner area.
However, depending on the direction in which the agricultural machine travels, the direction in which the agricultural machine turns, and a course along which the agricultural machine travels, there is a risk that the agricultural machine might enter an area in which the entry of the agricultural machine is prohibited in advance, such as an area where transplanting work has already been completed (plowed area), resulting in roughening or otherwise damaging the plowed area.
Preferred embodiments of the present invention provide traveling assistance systems each of which enables an agricultural machine to travel in an agricultural field and perform work efficiently while preventing the agricultural machine from traveling in an area where the agricultural machine is prohibited from entering.
A traveling assistance system for an agricultural machine according to an aspect of a preferred embodiment of the present invention includes a position detector to detect a position of an agricultural machine to which a working device is attachable, a criterion creator to, based on the position of the agricultural machine detected by the position detector, create a determination criterion located forward of the agricultural machine for determination about a turn of the agricultural machine, an area identifier to identify a first area and a second area, the first area being an area which is a first portion of an agricultural field and in which the agricultural machine travels in a predetermined circumferential direction and the working device performs work, the second area being an area which is a second portion of the agricultural field, which is adjacent to the first area, and in which entry of the agricultural machine is prohibited in advance, and a first setter to, in a case where the determination criterion is located in the second area, set a first turning portion at a position in the first area and between the agricultural machine and the second area, the first turning portion being a portion in which the agricultural machine makes a turn.
The determination criterion may be an imaginary line extending forward of the agricultural machine from the position of the agricultural machine detected by the position detector. The first setter may be configured or programmed to, in a case where a first boundary, which is a boundary between the first area and the second area, intersects with the imaginary line, set the first turning portion at a position in the first area and between the agricultural machine and the second area.
The area identifier may be configured or programmed to identify the first area, the second area, and a third area which is a third portion of the agricultural field, which is adjacent to the first area, and in which the entry of the agricultural machine is permitted in advance. The first setter may be configured or programmed to, in a case where the determination criterion is located in the third area, set a second turning portion at a position in the third area and forward of the agricultural machine, the second turning portion being a portion in which the agricultural machine makes a turn.
The determination criterion may be an imaginary line extending forward of the agricultural machine from the position of the agricultural machine detected by the position detector. The first setter may be configured or programmed to, in a case where a first boundary which is a boundary between the first area and the second area intersects with the imaginary line, set the first turning portion at a position in the first area and between the agricultural machine and the second area. The first setter may be configured or programmed to, in a case where a second boundary which is a boundary between the first area and the third area intersects with the imaginary line, set the second turning portion at a position in the third area and forward of the agricultural machine.
A length of the imaginary line from a front of the agricultural machine to a distal end of the imaginary line may be approximately twice as large as a work width of the working device.
The second area may be an area in the agricultural field where the working device has completed work.
The traveling assistance system may further include a position acquirer to acquire a plurality of position measurement points of the agricultural machine detected by the position detector, a display to display a field that represents the agricultural field and to display a plurality of creation points based on the position measurement points on the field, and a line creator to create a traveling line including a loop which passes through the plurality of creation points. The line creator may be configured or programmed to create a plurality of connection lines each of which is a straight line connecting adjacent ones of the plurality of creation points on the traveling line. The line creator may include a second setter to extract, from the plurality of connection lines, a predetermined pair of connection lines adjacent to each other and extending in different directions and defining an angle not less than a criterion value, and set, at one of the creation points that is shared by the extracted predetermined pair of connection lines, a multipoint-turn portion where the agricultural machine performs a multipoint turn.
The criterion creator may be configured or programmed to create the determination criterion at a position that is forward of the agricultural machine and outward of an outer periphery of a turning trajectory of the agricultural machine.
An agricultural machine includes the traveling assistance system for an agricultural machine.
The above and other elements, features, steps, characteristics and advantages of the present invention will become more apparent from the following detailed description of the preferred embodiments with reference to the attached drawings.
A more complete appreciation of preferred embodiments of the present invention and many of the attendant advantages thereof will be readily obtained as the same becomes better understood by reference to the following detailed description when considered in connection with the accompanying drawings described below.
The preferred embodiments will now be described with reference to the accompanying drawings, wherein like reference numerals designate corresponding or identical elements throughout the various drawings. The drawings are to be viewed in an orientation in which the reference numerals are viewed correctly.
Preferred embodiments of the present invention will now be explained while referring to the drawings.
First, the agricultural machine 1 will now be explained. The agricultural machine 1 is a machine to which a working device 2 can be attached, for example, a tractor, a rice transplanter, or the like as illustrated in
As illustrated in
As illustrated in
Accordingly, when the steering wheel 11a is operated, the switching position and the opening of the control valve 22 are switched in accordance with the steering wheel 11a, and the steering cylinder 23 extends or retracts to the left or right in accordance with the switching position and opening of the control valve 22. As a result, it is possible to change the steering direction of the front wheels 7F. The steering device 11 described above is a mere example, and its configuration is not limited to the configuration described above.
As illustrated in
The front end portions of the lower links 8b are supported in such a way as to be able to move pivotally upward/downward on rear lower portions of the transmission 5. The front end portion of the top link 8c is supported in such a way as to be able to move pivotally upward/downward behind the transmission 5 above the lower links 8b. The lift rods 8d link the lift arms 8a to the lower links 8b. The working device 2 is coupled to the rear portions of the lower links 8b and the rear portion of the top link 8c. When the lift cylinders 8e are driven (to extend or retract), the lift arms 8a are raised or lowered, and the lower links 8b, which are linked to the lift arms 8a via the lift rods 8d, are raised or lowered. With this, the lifting device 8 is capable of switching between a non-work attitude in which the working device 2 is pivoted upward around the front portions of the lower links 8b and a work attitude in which the working device 2 is pivoted downward around the front portions of the lower links 8b.
As illustrated in
The inertial measurement unit 42 includes an acceleration sensor that detects an acceleration, a gyroscope sensor that detects an angular speed, and the like. The inertial measurement unit 42 is disposed in the traveling vehicle 3, for example, below the operator's seat 10, and is capable of detecting a roll angle, a pitch angle, a yaw angle, and the like of the traveling vehicle 3.
As illustrated in
The controller 60 includes an automatic travel control unit 61 that controls automatic traveling of the tractor 1. The automatic travel control unit 61 includes electric/electronic circuit(s) provided in the controller 60, program(s) stored in a CPU, etc., and/or the like. Upon start of automatic traveling, the automatic travel control unit 61 controls the control valve 22 of the steering device 11 such that the traveling vehicle 3 travels along a planned travel route L that has been set in advance. Moreover, upon starting the automatic traveling, the automatic travel control unit 61 controls the velocity (vehicle speed) of the tractor 1 by automatically changing the gear-shift position of the transmission 5, the number of revolutions of the prime mover 4, and the like.
As illustrated in
In the preferred embodiment described above, the steering angle of the steering device 11 is changed based on the deviation of the vehicle-body position VP from the planned travel route L. However, in a case where the azimuth (vehicle-body azimuth) K of the direction in which the tractor 1 (the traveling vehicle 3) is headed (the traveling direction) is different from the azimuth of the planned travel route L, that is, if the angle θg of the vehicle-body azimuth K relative to the planned travel route L is not less than a threshold value, the automatic travel control unit 61 may set the steering angle such that the angle θg will become zero (the vehicle-body azimuth K will match the azimuth of the planned travel route L). The automatic travel control unit 61 may, based on a steering angle calculated based on the position (position deviation) and a steering angle calculated based on the azimuth (azimuth deviation), set a final steering angle in automatic steering. The setting of the steering angle in automatic steering according to the preferred embodiment described above is a mere example and is not limited thereto.
The tractor 1 (the traveling vehicle 3) is capable of traveling automatically while being controlled by the controller 60 as described above.
The controller 60 is capable of performing manual raising and lowering control of the lifting device 8, automatic raising and lowering control of the lifting device 8, and the like. In the manual raising and lowering control, based on an operation of a raising/lowering switch 72 connected to the controller 60, the lifting device 8 is controlled to raise or lower the working device 2. Specifically, the raising/lowering switch 72 is a three-position selector switch provided near the operator's seat 10. When the raising/lowering switch 72 is switched from a neutral position to one side, a raising signal for moving the lifting device 8 (the lift arms 8a) up is inputted into the controller 60. When the raising/lowering switch 72 is switched from the neutral position to the other side, a lowering signal for moving the lifting device 8 (the lift arms 8a) down is inputted into the controller 60. Upon acquiring the raising signal, the controller 60 outputs a control signal to the control valve 22 to move the lifting device 8 up. Upon acquiring the lowering signal, the controller 60 outputs a control signal to the control valve 22 to move the lifting device 8 down. That is, the controller 60 is capable of performing manual raising and lowering control for moving the lifting device 8 up/down in accordance with a manual operation of the raising/lowering switch 72.
In the automatic raising and lowering control, if the steering angle of the steering device 11 is not less than a predetermined value, for example, if the steering angle of the steering device 11 is a steering angle corresponding to making a turn, the lifting device 8 is automatically activated to raise the working device 2. Specifically, a steering angle detector 70 and a selector switch 71 are connected to the controller 60. The steering angle detector 70 is a device that detects the steering angle of the steering device 11. The selector switch 71 is a switch operable to switch the automatic raising and lowering control between “enabled” and “disabled”. The selector switch 71 is switchable between ON and OFF. The automatic raising and lowering control is set to be enabled when the selector switch 71 is ON. The automatic raising and lowering control is set to be disabled when the selector switch 71 is OFF.
If the automatic raising and lowering control is enabled and, in addition, the steering angle detected by the steering angle detector 70 is not less than the steering angle corresponding to making a turn, the controller 60 outputs a control signal to the control valve 22, thus performing the automatic raising and lowering control to move the lifting device 8 up automatically.
As described above, the controller 60 is capable of performing control related to the tractor 1, for example, the manual raising and lowering control and the automatic raising and lowering control. The automatic travel control unit 61 (the controller 60) may cause the lifting device 8 to move up/down in accordance with the planned traveling route L. In this case, the planned traveling route L includes information about lifting of the lifting device 8. Based on this information, the automatic travel control unit 61 causes the lifting device 8 to be at the down position on a path along which the tractor 1 travels straight and be at the up position on a path along which the tractor 1 makes a turn.
As illustrated in
The display 50 is a traveling assisting device provided near the operator's seat 10. The display 50 includes a display unit 51, a display control unit 52, and a memory 54. The display unit 51 is a liquid crystal panel, a touch panel, or other kind of panel. The display unit 51 is capable of displaying a field F that represents an agricultural field H. Besides information for providing assistance for traveling of the tractor 1, the display unit 51 is capable of displaying various kinds of information regarding the tractor 1 and the working device 2. The display control unit 52 includes electric/electronic component(s) provided in the display 50, program(s) stored in the memory 54 mentioned below, and/or the like. The display control unit 52 causes the display unit 51 to display a screen that is visualization of information stored in the memory 53. The memory 54 is a non-volatile memory or the like. The memory 54 stores various kinds of information regarding the tractor 1 and the working device 2. The display 50 is connected to devices of the tractor 1 such that wired communication or wireless communication can be performed therebetween. The display 50 is capable of transmitting information to the devices and receiving information from the devices. Specifically, for example, the display control unit 52 of the display 50 is connected to the controller 60 of the working machine such that communication can be performed therebetween.
As illustrated in
The position acquirer 52a acquires a plurality of position measurement points Pk (k: each position measurement point Pk, k=1, 2, 3, . . . , k) obtained when the tractor 1 makes a round in the agricultural field H. Specifically, based on positions of the tractor 1 detected by the position detector 40 (vehicle-body positions VP), the position acquirer 52a acquires a plurality of position measurement points Pk obtained when the tractor 1 makes a round in the agricultural field H. In the present preferred embodiment, the position acquirer 52a is capable of acquiring vehicle-body positions VP including a plurality of position measurement points Pk obtained when the tractor 1 makes a round in the agricultural field H. It is sufficient as long as the position acquirer 52a is capable of acquiring a plurality of position measurement points Pk. The position acquirer 52a may be configured to acquire position information of the plurality of position measurement points Pk from a storage device such as a memory in which the position information of the plurality of position measurement points Pk is stored. The method for acquisition is not limited to the method described above.
The field register 52b registers a contour C1 of a particular agricultural field H, for example, positions corresponding to the contour C1 of the particular agricultural field H, as the field F displayed on the display unit 51. As illustrated in
When the tractor 1 finishes making a round in the agricultural field H and the operator selects a Register button 102 displayed on the field registration screen D1, as illustrated in
For the sake of description, the contour C1 may be hereinafter referred to as “outer borderline”. As illustrated in
As described above, the display 50 is capable of causing the field register 52b to register a plurality of fields F. The field acquirer 52c acquires a field F representing a particular agricultural field H among the plurality of fields F when work, etc. is to be performed.
When the operator performs a predetermined operation on the display 50, the field acquirer 52c displays a predetermined field selection screen (not illustrated) on the display unit 51 of the display 50. Maps of the agricultural fields H stored in the memory 54 are, or a list of the agricultural fields H is, displayed on the field selection screen. The operator is able to, for example, select one agricultural field H from among the plurality of agricultural fields H displayed on the field selection screen by performing a predetermined operation on the display 50. When the one agricultural field H is selected, the field acquirer 52c looks up the memory 54 and acquires the field F that corresponds to the selected agricultural field H.
The traveling assistance system S for the tractor 1 is capable of creating travel line(s) L along which the tractor 1 makes a round in the agricultural field H. In the present preferred embodiment, the tractor 1 performs automatic traveling along this travel line L as a planned travel route L. In the present preferred embodiment, it is sufficient as long as the travel line L functions as a route along which the tractor 1 makes a round in the agricultural field H. The tractor 1 may be manually operated to travel along the travel line L.
Specifically, as illustrated in
Though the display control unit 52 of the display 50 serves also as the line creator 52d in the present preferred embodiment, an external server, etc. capable of communicating with the display 50 may include the line creator 52d, and the configuration thereof is not limited to the configuration described above.
As illustrated in
In the description below, terms “first loop line L1”, “second loop line L2”, “third loop line L3”, . . . , and “n-th loop line Ln” (n=1, 2, 3, . . . , n) counted in order from the outermost loop line Ln toward the innermost loop line Ln will be used for the loop lines Ln. In
As illustrated in
As illustrated in
The setting acquirer 53a acquires setting information regarding the creation of the travel line(s) L. When the operator performs a predetermined operation on the display 50, as illustrated in
The first width input box 111 receives an input of the work width W1 of the working device 2. As illustrated in
As illustrated in
The field F acquired by the field acquirer 52c is displayed in the route display section 114. In addition, the route display section 114 is capable of displaying the created travel line(s) L on the field F.
In the present preferred embodiment, the setting acquirer 53a acquires information inputted on the setting screen D2 to acquire setting information regarding the creation of the travel line(s) L. However, the setting acquirer 53a may acquire information that is stored in the memory 54. The source for acquisition is not limited to the configuration described above.
The first generator 53b associates a plurality of position measurement points Pk with the field F displayed by the display 50. In addition, as illustrated in
The plurality of creation points Qnk are reference points used to generate the path of the loop line Ln. As illustrated in
As illustrated in
The second generator 53c generates connection line(s) VLni passing through creation points Qnk for each of the headlands. That is, if the number of headlands is four, the second generator 53c creates connection lines VLni (the first connection line VL1i to the fourth connection line VL4i) each passing through corresponding ones of the first creation points Q1k to the fourth creation points Q4k. If the number of headlands is five, the second generator 53c creates connection lines VLni (the first connection line VL1i to the fifth connection line VL5i) each passing through corresponding ones of the first creation points Q1k to the fifth creation points Q5k.
The second generator 53c calculates a connection line VLni (in the present preferred embodiment, i=k) connecting a creation point Qnk and its adjacent creation point Qnk+1. The adjacent creation point Qnk+1 mentioned here is the creation point Qnk adjacent to the creation point Qnk on the same headland number (the same loop). For example, as illustrated in
In the present preferred embodiment, each connection line VLni is a straight line connecting adjacent creation points Qnk to each other. However, it is sufficient as long as the connection line VLni connects adjacent creation points Qnk to each other. The connection line VLni may be an arbitrary curve.
As illustrated in
As illustrated in
The direction acquirer 53f acquires the direction in which the tractor 1 travels along the loop line Ln (traveling direction). The traveling direction is either a clockwise direction or a counterclockwise direction when the field F is viewed in plan. For example, based on the entrance/exit I of the agricultural field H having been set on the setting screen D2, etc. in advance and the work point Rn, and based on a predetermined determination criterion X, the direction acquirer 53f acquires the traveling direction. In such a case, based on the direction from the outermost work point Rn toward the entrance/exit I of the agricultural field H, the direction acquirer 53f acquires the traveling direction.
For example, in the case illustrated in
As illustrated in
The length between each of the pair of boundaries M and the connection line VLni is a half of the shift width. The length between one boundary M and the other, which make up the pair, is equal to the shift width. That is, as illustrated in
If the number of headlands is four, the fourth generator 53g generates the outer work zones A3 (a first outer zone E11 to a fourth outer zone E14) corresponding respectively to the first connection line VL1i to the fourth connection line VL4i. If the number of headlands is five, the fourth generator 53g generates the outer work zones A3 (the first outer zone E11 to a fifth outer zone E15) corresponding respectively to the first connection line VL1i to the fifth connection line VL5i.
As illustrated in
As illustrated in
As illustrated in
As illustrated in
That is, assume that, as illustrated in
The determination criterion X is not limited to the imaginary line x, and may be any criterion for determining the distance between the tractor 1 and any arbitrary point, outer borderline C1, inner borderline C2, boundary M, area, etc. located forward of the tractor 1, for example, a point located forward of the tractor 1 or an area (detection area) having an any arbitrary shape.
The sequential order acquirer 53k acquires a sequential order of the unit work zones A3, A4 in which the tractor 1 actually performs work and moves. Based on information having been set on the setting screen D2, etc. in advance and a predetermined rule having been stored in the memory 54 in advance, the sequential order acquirer 53k acquires the sequential order of the unit work zones A3, A4 in which the tractor 1 moves. For example, the memory 54 contains a pre-stored rule that dictates a move from the innermost unit work zone (inner work zone) A4 sequentially to outer unit work zones (toward the first outer zone E11). In a case where, for example, a setting of the sequential order of the unit work zones A3, A4 in which the tractor 1 moves is to be made on the setting screen D2, it is possible to select the unit work zones A3, A4 displayed on the display unit 51 in any arbitrary sequential order by operating the display 50. For example, if the number of headlands is four, it is possible to select the unit work zones A3, A4 in the order of the inner work zones A4, the fourth outer zone E14, the second outer zone E12, the third outer zone E13, and the first outer zone E11 in this order.
The area identifier 531 identifies a first area e1 and a second area e2. The first area e1 is an area which is a first portion of the agricultural field H and in which the tractor 1 travels in a predetermined circumferential direction and the working device 2 performs work. The second area e2 is an area which is a second portion of the agricultural field H, which is adjacent to the first area e1, and in which entry of the tractor 1 is prohibited in advance, for example, a unit work zone where the working device 2 has completed work (plowed area) in the agricultural field H. The second area e2 may be any area as long as the tractor 1 is prohibited in advance from entering it, and is thus not limited to a plowed area, and may be, for example, an area where an obstacle such as a pond, a rock, and/or the like is present in the agricultural field H.
In addition to the first area e1 and the second area e2, the area identifier 531 determines a third area e3. The third area e3 is an area which is a third portion of the agricultural field H, which is adjacent to the first area e1, and in which entry of the tractor 1 is permitted in advance. For example, the third area e3 is a unit work zone where the working device 2 has performed work yet (unplowed area) in the agricultural field H. The third area e3 may be an external road located around the agricultural field H, an adjacent agricultural field located next to the agricultural field H, or the like. The first to third areas e1 to e3 are set based on the sequential order of the unit work zones A3, A4 acquired by the sequential order acquirer 53k.
In a case where the determination criterion X is located in the second area e2, the first setter 53m sets a first turning portion CR1 at which the tractor 1 makes a turn, at a position between the tractor 1 and the second area e2 and in the first area e1, and corrects the connection line VLni. In a case where the determination criterion X is located in the third area e3, the first setter 53m sets a second turning portion CR2 at which the tractor 1 makes a turn, at a position in the third area e3 and forward of the tractor 1, and corrects the connection line VLni. In the present preferred embodiment, each of the first turning portion CR1 and the second turning portion CR2 includes at least a path along which the tractor 1 makes a turn. Specifically, as illustrated in
The first setter 53m sets the first turning portion CR1 and the second turning portion CR2 and corrects the connection between the connection line VLni (a first line VLni−1) and the connection line VLni (a second line VLni), which is connected to the first line VLni−1 and located next to the first line VLni−1 in the traveling direction, and sets again a path along which the tractor 1 makes a turn.
More particularly, in a case where a first boundary M1, which is the boundary M between the first area e1 and the second area e2, intersects with the imaginary line x, the first setter 53m sets the first turning portion CR1 at a position in the first area e1 and between the tractor 1 and the second area e2 such that the first turning portion CR1 is at least at a distance greater than the turn radius Y2 of the agricultural machine 1 from the second area e2. In a case where a second boundary M2, which is the boundary M between the first area e1 and the third area e3, intersects with the imaginary line x, the first setter 53m sets the second turning portion CR2 forward of the tractor 1, in the third area e3. As illustrated in
Specifically, the first setter 53m, based on the sequential order of the unit work zones acquired by the sequential order acquirer 53k and based on the direction acquired by the direction acquirer 53f (the traveling direction), runs a simulation of moving the determination criterion X (the imaginary line x) in the traveling direction along the connection line VLni corresponding to each unit work zone, and, based on the area (the unit work zone) determined by the area identifier 531, detects whether the connection line VLni intersects with the boundary M (the first boundary M1 and the second boundary M2) or not when the connection line VLni is moved.
In the description below, with regard to the association with the first to third areas e1 to e3, a case where the number of headlands is four and where the sequential order acquirer 53k acquires the unit work zones in the order of the inner work zones A4, the fourth outer zone E14, the third outer zone E13, the second outer zone E12, and the first outer zone E11 will be taken as an example.
First, the first setter 53m associates the fourth outer zone E14 with the first area e1, associates the inner work zones A4 with the second area e2, and associates the third outer zone E13 with the third area e3. The fourth outer zone E14, which is the first area e1, is located between the second area e2 and the third area e3. Therefore, the first setter 53m sets the second turning portion CR2 in the fourth outer zone E14, and sets the first turning portion CR1 in accordance with the shape of the fourth outer zone E14.
Next, the first setter 53m associates the third outer zone E13 with the first area e1, associates the fourth outer zone E14 with the second area e2, and associates the second outer zone E12 with the third area e3. The third outer zone E13, which is the first area e1, is located between the second area e2 and the third area e3. Therefore, the first setter 53m sets the second turning portion CR2 in the third outer zone E13, and sets the first turning portion CR1 in accordance with the shape of the third outer zone E13.
The first setter 53m associates the second outer zone E12 with the first area e1, associates the third outer zone E13 with the second area e2, and associates the first outer zone E11 with the third area e3. The second outer zone E12, which is the first area e1, is located between the second area e2 and the third area e3. Therefore, the first setter 53m sets the second turning portion CR2 in the second outer zone E12, and sets the first turning portion CR1 in accordance with the shape of the second outer zone E12.
Then, the first setter 53m associates the first outer zone E11 with the first area e1, and associates the second outer zone E12 with the second area e2. The first outer zone E11, which is the first area e1, is located outward of the second area e2. Therefore, the first setter 53m sets the first turning portion CR1 in accordance with the shape of the first outer zone E11.
In the description below, with regard to association with the first to third areas e1 to e3 when the first setter 53m sets the first turning portion CR1 and the second turning portion CR2, a case where the number of headlands is four and where the sequential order acquirer 53k acquires the unit work zones in the order of the inner work zones A4, the fourth outer zone E14, the second outer zone E12, the third outer zone E13, and the first outer zone E11 will be taken as an example.
First, the first setter 53m associates the fourth outer zone E14 with the first area e1, associates the inner work zones A4 with the second area e2, and associates the third outer zone E13 with the third area e3. The fourth outer zone E14, which is the first area e1, is located between the second area e2 and the third area e3. Therefore, the first setter 53m sets the second turning portion CR2 in the fourth outer zone E14, and sets the first turning portion CR1 in accordance with the shape of the fourth outer zone E14.
Next, the first setter 53m associates the second outer zone E12 with the first area e1, and associates the third outer zone E13 and the first outer zone E11 with the third area e3. The second outer zone E12, which is the first area e1, is located between the third area e3 and the third area e3. Therefore, the first setter 53m sets the second turning portion CR2 in the second outer zone E12.
The first setter 53m associates the third outer zone E13 with the first area e1, and associates the fourth outer zone E14 and the second outer zone E12 with the second area e2. The third outer zone E13, which is the first area e1, is located between the second area e2 and the second area e2. Therefore, the first setter 53m sets the first turning portion CR1 in accordance with the shape of the third outer zone E13.
Then, the first setter 53m associates the first outer zone E11 with the first area e1, and associates the second outer zone E12 with the second area e2. The first outer zone E11, which is the first area e1, is located outward of the second area e2. Therefore, the first setter 53m sets the first turning portion CR1 in the first outer zone E11.
With reference to
For example, in the example illustrated in
On the other hand, in the example illustrated in
Among controls of the tractor 1 and the lifting device 8 by the automatic travel control unit 61, control on the path of the first turning portion CR1 will now be described in detail while taking
Therefore, as illustrated in
On the other hand, as illustrated in
Specifically, the first setter 53m associates the second outer zone E12 with the first area e1, and sets the first turning portion CR1 such that the tractor 1 makes a turn and moves from a first line VL2i-1 of the second outer zone E12 to a second line VL2i and the working device 2 moves back till reaching a zone left undone ER3. Work for the zone left undone ERn that is produced when performing work on the outermost work zone A3 may be performed by manual operation of the tractor 1 by the operator.
Next, with reference to
For example, in the example illustrated in
On the other hand, in the example illustrated in
Among controls of the tractor 1 and the lifting device 8 by the automatic travel control unit 61, control on the path of the second turning portion CR2 will now be described in detail while taking
Therefore, when the first setter 53m sets the second turning portion CR2, the tractor 1 is able to move from the first line VLni−1 to the second line VLni while entering the third area e3, and the working device 2 is able to perform work without producing the zone left undone ERn.
A second setter 53n extracts, from among the plurality of connection lines VLni, a predetermined pair of connection lines VLni−1 and VLni adjacent to each other and extending in different directions and defining an angle θnk not less than a criterion value, and extracts, as each candidate for a multipoint-turn portion QT, a creation point Qnk shared by the extracted predetermined pair of connection lines VLni−1 and VLni. The multipoint-turn portion QT is a portion where the automatic travel control unit 61 causes the tractor 1 to perform a multipoint turn. Among the extracted candidates for the multipoint-turn portion QT, the second setter 53n extracts those other than the creation points Qnk of the positions where the first turning portion CR1 and the second turning portion CR2 are set, and sets the multipoint-turn portion QT at the creation point Qnk that is the candidate for the multipoint-turn portion QT.
The creation point Qnk shared by the pair of connection lines VLni−1 and VLni mentioned here is the creation point Qnk common to “the creation point Qnk−1 and the creation point Qnk that are connected by the connection line VLni−1” and “the creation point Qnk and the creation point Qnk+1 that are connected by the connection line VLni”. For example, as illustrated in
The multipoint-turn portion QT is a portion where the tractor 1 performs a multipoint turn with an entry from the first area e1 into the third area e3 and without an entry into the second area e2. In a case where, for example, the multipoint-turn portion QT is set at the creation point Q12, as illustrated in
In the present preferred embodiment, the criterion value is about 20°, for example. In a case where there are a plurality of such pairs of connection lines VLni−1 and VLni, the second setter 53n checks whether or not an external angle θank (n: headland number (loop number), n=1, 2, 3, . . . , n) (k: indicating a creation point Qnk, k=1, 2, 3, . . . , k) formed by each pair of connection lines VLni−1 and VLni is not less than a predetermined criterion value, extracts a particular pair of connection lines VLni−1 and VLni whose external angle θank is not less than about 20°, and sets the creation point Qnk that is shared by the extracted particular pair of connection lines VLni−1 and VLni as a candidate for the multipoint-turn portion QT.
That is, in the example illustrated in
The connection line VLni for which the first turning portion CR1 and the second turning portion CR2 have been set by the first setter 53m and the multipoint-turn portion QT has been set by the second setter 53n is generated as the loop line Ln for each of the headlands, and the loop line Ln and the inner line LU are stored as the traveling line L into the memory 54. At least the loop line Ln of the traveling line L stored in the memory 54 is displayed on the route display section 114 of the setting screen D2.
It has been taken as an example in the preferred embodiment described above that the first setter 53m sets the first turning portion CR1 and the second turning portion CR2 and the tractor 1 travels autonomously along the traveling line L (the loop line Ln) that is based on the connection line VLni having been corrected by the first setter 53m. However, it is sufficient as long as the first setter 53m sets the first turning portion CR1 and the second turning portion CR2 based on the determination criterion X and the first to third areas e1 to e3. The tractor 1 may be configured to travel in the agricultural field H autonomously and make turns based on the first turning portion CR1 and the second turning portion CR2.
As illustrated in
The autonomous travel control unit 82, also as which the controller 60 serves, includes a criterion creator 83a, an area identifier 83b, and a first setter 83c. More particularly, for example, the criterion creator 83a of the autonomous travel control unit 82 creates (projects) an imaginary determination criterion X (an imaginary line x) forward of the tractor 1 in an image captured forward of the tractor 1 (forward image) among images of the surrounding area captured by the imaging device 84. The area identifier 83b of the autonomous travel control unit 82 analyzes the forward image, and, based on the position of the tractor 1 detected by the position detector 40 and the result of the analysis, determines first to third areas e1 to e3, and creates (projects) a first boundary M1, which is a boundary M between the first area e1 and the second area e2, and a second boundary M2, which is the boundary M between the first area e1 and the third area e3, in the forward image.
Based on a positional relationship between the determination criterion X and the boundary M that have been projected onto the forward image, the first setter 83c sets the first turning portion CR1 and the second turning portion CR2. Based on the result of analyzing the captured image and the position of the tractor 1 detected by the position detector 40, the autonomous travel control unit 82 causes the tractor 1 to make turns at the first turning portion CR1 and the second turning portion CR2.
A traveling assistance system S for an agricultural machine 1 includes a position detector 40 to detect a position of an agricultural machine 1 to which a working device 2 is attachable, a criterion creator 53j to, based on the position of the agricultural machine 1 detected by the position detector 40, create a determination criterion X located forward of the agricultural machine 1 for determination about a turn of the agricultural machine 1, an area identifier 531 to identify a first area e1 and a second area e2, the first area e1 being an area which is a first portion of an agricultural field H and in which the agricultural machine 1 travels in a predetermined circumferential direction and the working device 2 performs work, the second area e2 being an area which is a second portion of the agricultural field H, which is adjacent to the first area e1, and in which entry of the agricultural machine 1 is prohibited in advance, and a first setter 53m to, in a case where the determination criterion X is located in the second area e2, set a first turning portion CR1 at a position in the first area E1 and between the agricultural machine 1 and the second area e2, the first turning portion CR1 being a portion in which the agricultural machine 1 makes a turn. With the above configuration, the agricultural machine 1 is able to make a turn in the first area e1 without entering the second area e2 and perform work efficiently.
The determination criterion X may be an imaginary line x extending forward of the agricultural machine 1 from the position of the agricultural machine 1 detected by the position detector 40. The first setter 53m may be configured or programmed to, in a case where a first boundary M1 which is a boundary M between the first area e1 and the second area e2 intersects with the imaginary line x, set the first turning portion CR1 at a position in the first area e1 and between the agricultural machine 1 and the second area e2. With the above configuration, even if the first setter 53m has relatively low resolution, the first setter 53m is able to reliably detect that the determination criterion X is located in the second area e2. This further reduces the likelihood that the agricultural machine 1 will enter the second area e2.
The area identifier 531 may be configured or programmed to identify the first area e1, the second area e2, and a third area e3 which is a third portion of the agricultural field H, which is adjacent to the first area e1, and in which the entry of the agricultural machine 1 is permitted in advance. The first setter 53m may be configured or programmed to, in a case where the determination criterion X is located in the third area e3, set a second turning portion CR2 at a position in the third area e3 and forward of the agricultural machine 1, the second turning portion CR2 being a portion in which the agricultural machine 1 makes a turn. With the above configuration, since the agricultural machine 1 makes a turn while entering the third area e3 to reduce an area where work has not been done (such as an end portion of the first area e1), it is possible to perform work on the first area e1 efficiently.
The determination criterion X may be an imaginary line x extending forward of the agricultural machine 1 from the position of the agricultural machine 1 detected by the position detector 40. The first setter 53m may be configured or programmed to, in a case where a first boundary M1 which is a boundary M between the first area e1 and the second area e2 intersects with the imaginary line x, set the first turning portion CR1 at a position in the first area e1 and between the agricultural machine 1 and the second area e2. The first setter 53m may be configured or programmed to, in a case where a second boundary M2 which is a boundary M between the first area e1 and the third area e3 intersects with the imaginary line x, set the second turning portion CR2 at a position in the third area e3 and forward of the agricultural machine 1. With the above configuration, even if the first setter 53m has relatively low resolution, the first setter 53m is able to reliably detect that the determination criterion X is located in the second area e2 or the third area e3. This makes it possible to enhance the precision of setting the first turning portion CR1 and the second turning portion CR2 by the first setter 53m and perform work on the first area e1 efficiently.
A length of the imaginary line x from a front of the agricultural machine 1 to a distal end of the imaginary line x may be approximately twice as large as a work width W1 of the working device 2. With the above configuration, it is possible to eliminate or reduce the likelihood that the distal end portion of the imaginary line x will intersect with the portion of the first boundary M1 or the second boundary M2 that is other than the portion the first boundary M1 or the second boundary M2 that is located in front of the agricultural machine 1. This makes it possible to enhance the precision of setting the first turning portion CR1 and the second turning portion CR2 by the first setter 53m.
The second area e2 may be an area in the agricultural field H where the working device 2 has completed work. With the above configuration, it is possible to improve work efficiency by eliminating or reducing the likelihood that the agricultural machine 1 will enter the area where work has been completed (plowed area) and roughen the plowed area.
The traveling assistance system S for an agricultural machine 1 further includes a position acquirer 52a to acquire a plurality of position measurement points Pk of the agricultural machine 1 detected by the position detector 40, a display 50 to display a field F that represents the agricultural field H and to display a plurality of creation points Qnk based on the position measurement points Pk on the field F, and a line creator 52d to create a traveling line L including a loop which passes through the plurality of creation points Qnk. The line creator 52d may be configured or programmed to create a plurality of connection lines VLni each of which is a straight line connecting adjacent ones of the plurality of creation points Qnk on the traveling line L. The line creator 52d may include a second setter 53n to extract, from the plurality of connection lines VLni, a predetermined pair of connection lines VLni−1, VLni adjacent to each other and extending in different directions and defining an angle θnk not less than a criterion value, and to set, at one of the creation points Qnk that is shared by the extracted predetermined pair of connection lines VLni−1, VLni, a multipoint-turn portion QT where the agricultural machine 1 performs a multipoint turn. With the above configuration, even if the agricultural machine 1 is unable to make a turn sufficiently because it is limited as to the turn because of working by the working device 2 and therefore cannot trace the connection line VLni, since the agricultural machine 1 makes a turn at the multipoint-turn portion QT, the agricultural machine 1 is able to travel along the connection line VLni. Therefore, the agricultural machine 1 is able to perform work properly even on an agricultural field H that has a relatively complex external shape.
The criterion creator 53j may be configured or programmed to create the determination criterion X at a position that is forward of the agricultural machine 1 and outward of an outer periphery CT of a turning trajectory of the agricultural machine 1. With the above configuration, the first setter 53m sets the first turning portion CR1 at a position that is between the agricultural machine 1 and the second area e2 and is at least at a distance greater than the turn radius Y2 of the agricultural machine 1 from the second area e2. This further reliably reduces the likelihood that the agricultural machine 1 will enter the second area e2, and the agricultural machine 1 is thus able to make a turn in the first area e1.
An agricultural machine 1 includes the traveling assistance system S for an agricultural machine 1. With the above configuration, the agricultural machine 1 that achieves the above-described advantageous effects will be provided.
While preferred embodiments of the present invention have been described above, it is to be understood that variations and modifications will be apparent to those skilled in the art without departing from the scope and spirit of the present invention. The scope of the present invention, therefore, is to be determined solely by the following claims.
| Number | Date | Country | Kind |
|---|---|---|---|
| 2021-000505 | Jan 2021 | JP | national |
This application is a continuation application of International Application No. PCT/JP2021/045549, filed on Dec. 10, 2021, which claims the benefit of priority to Japanese Patent Application No. 2021-000505, filed on Jan. 5, 2021. The entire contents of these applications are hereby incorporated herein by reference.
| Number | Date | Country | |
|---|---|---|---|
| Parent | PCT/JP2021/045549 | Dec 2021 | US |
| Child | 18201788 | US |
