Yanmar Power Technology Co., Inc.

Yanmar Holdings Co., Ltd.

Sharp Kabushiki Kaisha Corporation

Yasuto Nishii

Masaaki Murayama

Yuji Yamaguchi

Hidetaka Suzuki

Shogo Otomo

Kohei Ogura

Taiki Shirafuji

Mamoru Takahashi

Tomohito Yamashita

Maroi Kodama

Shinya Nishibeppu

Masahito Adachi

Akifumi Kuroda

Nobuhiro Kimura

Yonosuke Miki

Yusuke Nishida

Tomomasa Hori

Susumu Kawai

Nobuyuki Araki

The automatic travel system generates a target travel path in a travel driving mode, improves work efficiency, and causes a work vehicle to automatically travel while turning at an appropriate turning radius in the travel driving mode. The system includes: a travel driving mode selection unit that selects one travel driving mode, from among a plurality of travel driving modes, as a travel driving mode for a work vehicle; a travel path generation unit that generates a target travel path by using a turning radius corresponding to the travel driving mode selected by the travel driving mode selection unit; and an automatic travel control unit that performs automatic travel control. A work vehicle is made to automatically travel, based on positioning information for the work vehicle and obtained by a satellite positioning system, along the target travel path generated by the travel path generation unit.

Automatic travel system

A combine is a working vehicle that performs automatic traveling on a work route preset in an agricultural field, and includes a control device. The control device functions as a return traveling control part to make the combine automatically perform return traveling toward the work route in response to a return operation for the combine within the agricultural field during breakaway of the combinefrom the work route.

Automatic traveling method, working vehicle, and automatic traveling system

A control portion includes a vehicle-position acquiring portion, a field-contour setting portion, a region setting portion, and a display processing portion. The vehicle-position acquiring portion acquires position information indicating a position of the combine harvester traveling on a field. The field-contour setting portion sets a contour of a field on the basis of a plurality of pieces of the position information. The region setting portion sets a region not subject to a work indicating a region which is not a target for the work by the combine harvester inside the field or outside the field on the basis of the contour. The display processing portion causes a field image showing the field and an identification image for identifying the region not subject to the work, to be displayed on a display portion.

Control device and work vehicle

A reception processing unit receives a traveling operation performed by an operator. An acquisition processing unit acquires position information of a work vehicle traveling on a road that connects a field and a field, based on the traveling operation. A generation processing unit generates an inter-field route on which the work vehicle is caused to automatically travel between the field and the field, based on the position information.

Route generation method, route generation system, and route generation program

A combine harvester comprises a control device. The control device functions as a travel route creation unit, a discharge route creation unit, and an autonomous driving control unit. The travel route creation unit creates a travel route R for an unharvested area of a field. The discharge route creation unit creates a discharge route D that extends from an end position E, of the travel route R, at which automatic harvesting of the unharvested area is completed, to a discharge position which is preset for the field. The autonomous driving control unit controls the automatic harvesting travel according to the travel route R or the automatic discharge travel according to the discharge route D.

Autonomous driving method, combine, and autonomous driving system

A combine (work vehicle) is provided with: a positioning unit that obtains a measurement point indicating a position of a vehicle body; an initial external shape generating unit that generates an initial external shape of an agricultural field on the basis of a travel trajectory of the vehicle body constituted of a plurality of measurement points obtained when the vehicle body was manually driven along an external edge of the agricultural field; and an obstacle identification unit that identifies an obstacle for travel on the basis of the travel trajectory and generates an obstacle area including the identified obstacle.

Work vehicle and method for generating agricultural field external shape

An autonomous travel system causes a work vehicle to autonomously travel along an inter-field route preset for a road connecting a field and a field. A travel processor causes the work vehicle to be stopped at a route start position of the inter-field route and to resume autonomous travel when a user is within a predetermined distance from the work vehicle in the field corresponding to the stop position of the work vehicle. An announcement process unit causes the work vehicle to announce travel information about travel on the inter-field route in the field.

Autonomous travel method, autonomous travel system, and autonomous travel program

A farm field setting processing unit sets an inner peripheral work region and an outer peripheral work region in a farm field having a shape where a right side and a left side that face each other are not parallel to each other. A work-direction setting processing unit sets a work direction for a work vehicle within the inner peripheral work region. A path setting processing unit sets, within the inner peripheral work region, a travel path as a work initiating path at a location adjacent to the right side that is parallel to said work direction, from among a plurality of sides that define the inner peripheral work region. On the basis of the work direction and the travel path, a path generation processing unit generates a travel path for the work vehicle within the inner peripheral work region.

Autonomous travel system, autonomous travel method, and autonomous travel program

A combine harvester is a work vehicle that pre-creates a plurality of travel routes parallel to a preset outline of a field and performs autonomous travel based on the travel routes, and includes a control device and a mobile terminal. The control device functions as the autonomous travel controller to control autonomous travel on the basis of the travel route. The mobile terminal is equipped with a terminal control device, and the terminal control device functions as the route adjustment controller that performs route adjustment control to adjust the outermost route when autonomously traveling on the outermost route that is along the outline of the field from among the plurality of travel routes.

Autonomous travel method, work vehicle, and autonomous travel system

To provide an automatic driving method, a work vehicle, and an automatic driving system, by which it is possible to perform automatic travel with improved operability. A combine is a work vehicle executing an automatic travel, based on a preset travel route, and includes a steering wheel being a turn operation tool that accepts a turn operation to instruct turning of the combine, a control device that functions as an automatic travel control unit that controls the automatic travel of the combine, based on a travel route, and an override button being a turn operation permission unit that permits a turn operation on the steering wheel during execution of the automatic travel. The travel unit does not accept the turn operation under a normal circumstance during execution of the automatic travel but once the override button is operated, accepts the turn operation.

Automatic driving method, work vehicle, and automatic driving system

A combine harvester includes a control device configured to function as a travel route creation unit, an automatic drive control unit, a course movement unit, and a course correction unit. The travel route creation unit creates, in a yet-to-be-reaped area of a field, a travel route that includes parallel first and second straight-line courses. The automatic drive control unit performs control on automatic driving and automatic reaping based on the travel route. While automatic reaping travel is conducted on the first straight-line course, the course movement unit modifies the travel route by moving the first straight-line course in a direction intersecting with the traveling direction. When movement of the first straight-line course results in movement of the first straight-line course in one direction, the course correction unit corrects a portion of the second straight-line course toward the same one direction.

Combine harvester and travel route correction method

An acquisition processing unit acquires position information of a work vehicle traveling in a predetermined area in response to a traveling operation by an operator. A recording processing unit records the position information, as a traveling trajectory of the work vehicle, and temporarily stops recording processing of recording the position information, in a case where the work vehicle is brought to a state in which the position information cannot be acquired during traveling. A notification processing unit notifies the operator of information indicating that the recording processing is temporarily stopped. A setting processing unit registers a field, based on the position information.

Field registration method, field registration system, and field registration program

A combine harvester includes a control device and a portable terminal. The control device functions as a discharge run control unit for doing an automatic discharge run based on a discharge route or a return run control unit for doing an automatic return run based on a return route. The portable terminal is provided with a control device, and the control device functions as a discharge route creation unit that creates a discharge route for doing an automatic discharge run in a non-work state from a given transfer position, where a work run is interrupted, to a discharge position as a target position, or a return route creation unit that creates a return route for doing an automatic return run in a non-work state from the discharge position as the given target position to a given return position for returning to the work run.

Automatic run method, work vehicle, and automatic run system

A combine is provided with a control device configured to function as a route generation unit, a position setting unit, a mid-work route generation unit, or a self-driving control unit. The route generation unit generates a travel route by combining a plurality of routes for an unreaped region in a field. To perform mid-work corresponding to the work amount of reaping traveling at a preset mid-work position, the position setting unit sets an interruption position at which automatic reaping traveling is interrupted to the end point of a predetermined interruption route based on the work amount. To perform the mid-work, the mid-work route generation unit generates a mid-work route extending from the interruption position to the mid-work position. The self-driving control unit controls traveling and reaping based on the travel or mid-work route.

Combine and self-driving method

This autonomous travel system is provided with a farm field acquisition unit, a reference auxiliary line creation unit, an adjacent auxiliary line creation unit, and a travel control unit. The farm field acquisition unit acquires information regarding a farm field that includes a work area and a headland area. The reference auxiliary line creation unit creates first reference auxiliary lines within the headland area at positions spaced apart from the farm field peripheral edge on the inner side thereof by a first reference interval. The adjacent auxiliary line creation unit creates, at each of auxiliary line intervals, first adjacent auxiliary lines at positions spaced apart from the first reference auxiliary lines on the inner sides thereof. The total number of first reference auxiliary lines and first adjacent auxiliary lines created on the inner side of one predetermined side of the farm field peripheral edge is a value obtained by rounding up to a value equal to or less than the decimal of the headland width L/the auxiliary line interval S. The travel control unit causes a work vehicle to travel autonomously along at least some of the first reference auxiliary lines and the first adjacent auxiliary lines.

Growing community of inventors

Osaka, Japan

Yasuto Nishii