JP2019216744A - Combine - Google Patents

Abstract

To provide a combine capable of executing reaping work efficiently.SOLUTION: A combine includes: a storage unit for storing a travel work route set in a farm field and a discharge-enabled position at a farm field end; a travel control unit for controlling autonomous travel while executing reaping work on the basis of position information acquired by a positioning unit; a tank for storing harvested grains; a first yield detection unit for detecting a yield of grains stored in the tank; a second yield detection unit for detecting a yield per unit travel distance of the harvested grains; and a full state position prediction unit for predicting at which position on a linear travel route in the travel work route the tank is brought into a full state as a full state position on the basis of the output of the two yield detection units. The combine suspends reaping work at a turning position immediately before the full state prediction position, and makes autonomous travel to the discharge-enabled position.SELECTED DRAWING: Figure 6

Description

  The present invention is a combine that acquires position information using a GPS and is capable of autonomous traveling, sets a discharge position of harvested grains, and sets a discharge position on a vehicle for transporting the grains in advance. The present invention relates to a combine having a configuration for notifying.

  A combine (traveling harvester) that acquires position information using GPS and is capable of autonomous traveling is conventionally known (see Patent Literature 1). The combine described in Patent Literature 1 has a limit distance that the combine can travel before the storage amount in the tank reaches an upper limit amount so that it is possible to determine the time to discharge the grains in the tank before the tank is full. Is calculated.

  The traveling course of the combine is set in advance by combining sections from one start point to one end point in the field. According to the above-described configuration for calculating the limit distance, the combine determines that the storage amount in the tank reaches the upper limit during the mowing operation in the predetermined section in the field before the predetermined section. Can be predicted in the section of. Therefore, before the storage amount of the tank reaches the upper limit amount, the combine can interrupt the harvesting operation at the end point of the section immediately before the predetermined section, and then discharge the grain in the tank. That is, it is possible to prevent the cutting operation from being interrupted at a position between the start point and the end point of the predetermined section.

JP-A-2015-181371

  According to the technology described in Patent Literature 1, the position of the carrier, which is the destination of the grain discharged from the tank, is not determined based on the tank capacity and the traveling course. In order to discharge the grains, it is necessary to approach the vicinity of a carrier waiting outside the field. Therefore, there is a possibility that the time required to simply stop the reaping operation and simply travel is extended. In other words, if the carrier is waiting near the position where the harvesting operation was interrupted before the storage amount of the tank reaches the upper limit amount, the time for simply traveling without cutting and discharging can be reduced. .

  Therefore, there is a demand for a combine that can efficiently carry out the cutting operation and the discharging operation by simply reducing the time for traveling.

  According to the present invention, the cutting operation is interrupted at the turning position immediately before the full position and the self-propelled running is performed at the dischargeable position, so that the traveling time to the dischargeable position can be reduced, and the efficiency of the cutting operation can be improved. The purpose is to provide a combine.

  The problem to be solved by the present invention is as described above. Next, means for solving the problem will be described.

  The invention according to claim 1 has a plurality of straight travel paths, each of which is bent and connected at a turning position and connected to each other, and is set at a predetermined position at an end of the field. Based on the position information acquired by the storage unit and the positioning unit, the vehicle main body is caused to linearly travel along the straight traveling route, and is turned at the turning position to straighten the next straight traveling route. A traveling control unit that controls the autonomous traveling while running and performing a harvesting operation, a tank that stores kernels harvested by the harvesting operation, and a first harvesting unit that detects a harvest amount of the kernels stored in the tank. An amount detection unit, a second harvest amount detection unit that detects an amount of grain per unit traveling distance of kernels harvested by the harvesting operation, and a straight traveling route in the traveling work route based on outputs of both the harvest amount detection units. In any of the above positions, the tank is full And a full position prediction unit that predicts whether a state as full position, in which it interrupts the working cutting in turn the position immediately before the full predicted position is autonomous to the dischargeable position.

  The invention according to claim 2, wherein when the distance from the predicted full position to the dischargeable position is greater than the distance from the turning position immediately before the predicted full position to the dischargeable position, the turning position is determined. In this case, the harvesting operation is interrupted and the vehicle is allowed to travel independently to the dischargeable position.

  The present invention has the following effects.

  According to the present invention, the cutting time is interrupted at the turning position immediately before the full position and the self-running operation is performed at the dischargeable position, so that the traveling time to the dischargeable position can be reduced, and the efficiency of the cutting operation can be improved. Can be.

It is a side view of a combine. (A) is a schematic plan view of a combine for explaining rotation of a discharge auger, and (B) is a schematic front view of a combine for explaining elevation of a discharge auger. It is a block diagram showing a control system of a combine. It is a block diagram which shows the structure for acquiring the position information of a combine. It is a figure showing an example of field information including a traveling work course. It is a conceptual diagram for explaining the combine which sets a discharge position. It is a conceptual diagram for explaining the combine which sets the discharge position in consideration of the required time from when the vehicle leaves the field until it returns. (A) is a graph showing the relationship between each position of the combine in the field and a change in time, in a case where the combine stands by at the discharge position until the vehicle returns, and (B) is a field. Is a graph showing a relationship between each position of the combine and a change in time in the case where the time when the vehicle returns to the field and the time when the combine arrives at the discharge position coincide, and (C) ) Is a graph showing a relationship between each position of the combine in the field and a change in time, in which the vehicle is made to wait until the combine reaches the discharge position.

  Hereinafter, a combine 1 as an embodiment of the present invention will be described with reference to FIG. The combine 1 is an autonomous traveling combine which can travel and work autonomously, and can travel and work unattended. In other words, the unmanned steering combine 1 can autonomously travel into the field where the harvesting target is located from the slope connected to the field, and exit the field from the field autonomously while traveling. It is configured to be able to. Further, the combine 1 is configured to run, turn, and work autonomously in a field.

  As shown in FIG. 1, the combine 1 mainly includes a traveling unit 10, a cutting unit 2, a transport unit 3, a threshing unit 4, a sorting unit 5, a storage unit 6, and a power unit 7. ing. FIG. 1 shows the front-back direction and the vertical direction of the combine 1.

  The traveling unit 10 is provided below the chassis 13. The traveling unit 10 includes a transmission 11 and crawler traveling devices 12. The transmission 11 transmits the rotational power of the engine 71 constituting the power unit 7 to the crawler traveling devices 12. The crawler traveling devices 12 cause the combine 1 to travel in the front-rear direction. In addition, the crawler traveling devices 12 turn the combine 1 in the left-right direction.

  The traveling unit 10 includes a braking device (not shown). As the braking device, a braking device that brakes the operation of the mechanism in the transmission 11 and a braking device that brakes the rotation of the crawler traveling device 12 correspond.

  The reaper 2 is provided in front of the traveling unit 10. The cutting unit 2 includes a reel 21, a cutting blade 22, and a divider 23. The reel 21 causes a culm in the field. In addition, the reel 21 is configured to be rotatable around a rotation axis oriented in the left-right direction. The cutting blade 22 cuts the grain stem caused by the reel 21. The divider 23 is arranged in front of the cutting blade 22. The divider 23 forms the front end and the left and right ends of the cutting unit 2 by projecting forward from the left and right side walls 25 of the cutting frame 24.

  The transport unit 3 is provided behind the reaper 2. The transport unit 3 includes an auger 31 and a conveyor 32. The auger 31 collects the grain stalks cut by the cutting blades 22 and sends them to the conveyor 32. The conveyor 32 sends the cereal stem fed by the auger 31 to the threshing unit 4. The reaping unit 2 and the transporting unit 3 constitute a front working machine.

  The conveyor 32 of the transport section 3 is housed in a feeder house 33. The feeder house 33 is rotatably connected to the body 9. A rear end of the feeder house 33 is supported by a front part of a frame member constituting the chassis 13. The front end of the feeder house 33 supports the rear end of the cutting frame 24.

  The threshing unit 4 is provided behind the transport unit 3. The threshing unit 4 includes a rotor 41 and a sheave mesh 42. The rotor 41 threshes the grains from the cereal stem fed by the transport unit 3. In addition, the rotor 41 conveys the grain stem. The sieve mesh 42 supports the grain culm conveyed by the rotor 41 and sieves the grain (drops the grain).

  The sorting unit 5 is provided below the threshing unit 4. The sorting unit 5 includes a swing device 51 and a blower 52. The oscillating device 51 sieves threshing material that has fallen from the sheave mesh 42 to select grains. The blower 52 blows off the stalks falling along with the grains and the stalks remaining on the swinging device 51.

  The storage unit 6 is provided beside the threshing unit 4 and the sorting unit 5. The storage section 6 includes a Glen tank 61 and a discharge auger 62. The Glen tank 61 stores the grains transported from the sorting unit 5. The discharge auger 62 is a device used when discharging the grains in the Glen tank 61.

  The power unit 7 is provided below the storage unit 6. The power unit 7 includes an engine 71. The engine 71 converts heat energy obtained by burning fuel into rotational power.

  The combine 1 has a space for an operator to get in and steer. That is, the cabin 8 is provided in front of the Glen tank 61. The combine 1 is provided with an operating tool (not shown) operated by an operator in the same manner as the manned control type combine. Each component of the combine 1 may operate based on an operation by an operator in addition to operating automatically and autonomously.

  A driver's seat (not shown) is placed inside the cabin 8, and a steering handle (not shown) serving as a steering operation means is provided in front of the driver's seat. For example, by operating the steering wheel, the rotational speeds of the left and right crawler traveling devices 12 may be adjusted, and the steering direction of the combine 1 including turning may be artificially controlled.

  The combine 1 configured as described above acquires its own positional information by using a GPS (Global Positioning System). Furthermore, the combine 1 is configured to travel and work along a predetermined route based on these pieces of information, for example, by calculating each information of the traveling direction and the traveling speed based on the position information. .

  As shown in FIG. 1, the unmanned steering combine 1 is an ordinary combine. However, as an embodiment of the present invention, the combine 1 may be a self-removing combine.

  Next, the configuration of the discharge auger 62 of the storage unit 6 will be described.

  As shown in FIG. 1, the discharge auger 62 includes a main body 63, a connection part 64, and a discharge part 65. The main body 63 is a member having a substantially cylindrical shape. An auger 66 driven by the driving force of the engine 71 is provided in a space inside the main body 63.

  The connecting portion 64 is a member that forms a base end of the discharge auger 62. One end of the connecting portion 64 is rotatably connected to a rear portion of the Glen tank 61 so that the internal space of the connecting portion 64 communicates with the inside of the Glen tank 61. The other end of the connecting portion 64 is fixed to the main body 63 so that the internal space of the connecting portion 64 communicates with the internal space of the main body 63. The discharge auger 62 rotates about the connecting portion 64 as the connecting portion 64 rotates with respect to the Glen tank 61.

  The discharge section 65 is a member that constitutes the tip of the discharge auger 62. The discharge section 65 is a member having a rectangular tube shape. Both ends of the discharge section 65 are open. By fixing one end of the discharge section 65 to the main body 63, the internal space of the discharge section 65 communicates with the internal space of the main body 63. The other end of the discharge section 65 is opened in a direction orthogonal to the longitudinal direction of the discharge auger 62. The grain transported from the lower part to the rear upper part inside the Glen tank 61 reaches the internal space of the connecting part 64. Next, the grain is moved inside the main space 63 by the auger 66 and then discharged from the discharge unit 65 to the outside of the combine 1.

  As shown in FIG. 2A, the discharge auger 62 is configured to be rotatable within a predetermined angle range δ. In plan view of the combine 1, the discharge auger 62 can rotate in two directions Wc and Wa in an angle range δ exceeding 180 degrees from the storage position indicated by the solid line to the maximum rotation position indicated by the two-dot chain line.

  As shown in FIG. 2B, the discharge auger 62 is configured to swing freely within an angle range of 50 degrees or less with respect to a horizontal line. The tip of the discharge auger 62 reaches a position separated from the right side of the Glen tank 61 by a predetermined distance L1 when lowered to the lowest position HL with respect to the horizontal road surface VL, and lifted to the highest position HU. It approaches from the right side surface of the Glen tank 61 to a predetermined distance L2. These distances L1 and L2 are shorter than the total length L0 of the discharge auger 62. With such a configuration, as shown in FIG. 2A, a range R in which the discharge auger 62 can discharge kernels on the outer periphery of the combine 1 (this is referred to as a dischargeable range) is set.

  Next, the control device 80 of the combine 1 will be described.

  In the combine 1, information networks are set up in various places so that the maximum performance can be exhibited. Specifically, in addition to the power unit 7, each component of the combine 1 constitutes a controller area network (CAN) that can share information with each other.

  As shown in FIG. 3, the control device 80 includes a processing unit 81 including a microcomputer such as a CPU, and a storage unit 82 such as a ROM, a RAM, a hard disk drive, and a flash memory. The processing unit 81 can execute a program or the like stored in the ROM after reading the program or the like into the RAM. Further, the control device 80 controls the operation of various components by causing the processing unit 81 to execute the control program. Specifically, it performs transmission and reception of information during communication, various input / output controls, control of arithmetic processing, and the like.

  The combine 1 includes an engine speed sensor 101, a traveling speed sensor 102, a gyro sensor 103, a direction sensor 104, and a steering sensor 105 as an input side configuration of the control device 80.

  The engine speed sensor 101 detects the speed of a crankshaft (not shown) of the engine 71. The traveling speed sensor 102 detects the traveling speed of the combine 1. The gyro sensor 103 serving as the tilt angle sensor detects, as the displacement of the fuselage 9 of the combine 1, the angular velocity of the tilt (pitch) in the front-rear direction, the angular velocity of the tilt (roll) in the horizontal direction, and the angular velocity of the turning (yaw). . The direction sensor 104 detects the traveling direction of the combine 1. The steering sensor 105 detects a steering direction of the combine 1.

  The combine 1 has a configuration for detecting the volume of the grain stored in the Glen tank 61. The kernel sensor 106 having the configuration of the weight sensor detects the weight of the kernel stored in the Glen tank 61. In order to detect the volumes of two or more types of cutting objects, the specific gravity (density) of the reference grain is set in advance as a set value, and the set value of the standard is corrected for each type of the cutting object. A value has been set. Alternatively, the specific gravity (density) of the grain that is different for each type of the cutting target object is set in advance as the set value. By using the detected weight of the kernel and the density as the set value, the control device 80 can calculate the volume of the kernel with respect to the weight of the kernel detected by the kernel sensor 106. Further, the control device 80 detects the calculated value as the volume value of the grain in the Glen tank 61.

  For each of these sensors, a sensor having a known configuration can be used. A signal from each sensor is transmitted to the control device 80. The control device 80 calculates or derives the attitude of the combine 1 (the direction, the inclination in the vehicle longitudinal direction and the lateral direction of the aircraft, and the turning direction) based on the signals acquired from the gyro sensor 103 and the azimuth sensor 104 among these pieces of information. And so on.

  The control device 80 causes the combine 1 to travel along a preset traveling work route based on the result of the calculation and the like, and performs the predetermined work in the field based on the preset work information. Each configuration is controlled as follows. That is, the control device 80 controls the traveling unit 10, the reaping unit 2, the transporting unit 3, the threshing unit 4, the sorting unit 5, the storage unit 6, and the power unit 7.

  At this time, the control device 80 determines the state of the engine 71 based on input information (detection information) from an engine speed sensor 101, a temperature sensor, an oil temperature sensor (none of which is shown), and the like. The operation state of 71 is controlled. Further, the control device 80 changes the transport speed in the transport unit 3 in accordance with the change in the cutting speed, changes the rotation speed of the rotor 41 of the threshing unit 4 according to the processing amount, and adjusts the air volume of the blower 52 and Control is performed to change the opening of the sheave mesh 42 in accordance with the processing amount. Further, the control device 80 controls the traveling unit 10 based on position information, displacement and azimuth information, field information fI (see FIG. 5) and the like, which will be described later, so that the steering direction is changed.

  In addition, as each set value required for the work performed by the combine 1, the operation of each component is programmed along the traveling work route or for each traveling state. The combine 1 can perform a predetermined operation according to such a program. In the combine 1, emergency stop, temporary stop, restart, change of the running speed, change of the engine speed, automatic adjustment of the height position of the reaper 2 necessary for autonomous running and work, and Set values for automatic adjustment of the transport speed and the like are stored in the storage unit 82 in advance.

  The information stored in advance in the storage unit 82 includes information on the specifications of the discharge auger 62 (see FIGS. 2A and 2B). The information of the specifications includes the amount of rise of the discharge auger 62 (that is, HU-HL), the rotation direction Wc / Wa, the rotation angle range δ, the rotation speed within the angle range δ, and the numerical values of the distances L1 and L2. Including. The specification information includes a numerical value of a speed (unit: [L / sec]) at which the discharge auger 62 discharges kernels.

  When the discharge auger 62 is configured to be extendable and contractible, the information on the specifications of the discharge auger 62 includes information on the shortest length and the longest length of the discharge auger 62. The combine 1 recognizes the dischargeable range R of the grain on the outer periphery of the combine 1 (see FIG. 2A) based on such information of the specifications.

  Further, the information stored in advance in the storage unit 82 includes information on the capacity of the Glen tank 61. That is, the storage unit 82 stores the volume of the Glen tank 61 for storing harvested grains.

  The information stored in advance in the storage unit 82 includes information on the size of the reaper 2 in the left-right direction. The storage unit 82 stores the dimension between the left and right dividers 23 (see FIG. 1) as the horizontal dimension of the mowing unit 2.

  The control device 80 has a communication unit 83. The communication unit 83 has a function of communicating with a configuration outside the combine 1. The control device 80 can freely communicate with another vehicle such as a combine, another vehicle 100 (see FIG. 6) that transports the harvested product, a portable terminal (see FIG. 6), and the like through the communication unit 83. The control device 80 is configured to read and analyze information transmitted from an external configuration, thereby inputting necessary information from the external configuration and responding to rewriting of stored information such as a program. May be.

  Next, a method in which the combine 1 acquires its own position information using GPS will be described.

  As shown in FIG. 4, the combine 1 includes a mobile communication device 91 serving as a mobile station, a mobile GPS antenna 92, and a data reception antenna 93. Further, a fixed communication device 94, a fixed GPS antenna 95, and a data transmission antenna 96, which are reference stations, are arranged at predetermined positions such as ridges that do not interfere with work in a field. Phase measurement (relative positioning) is performed at both the reference station and the mobile station, and data measured by the fixed communication device 94 of the reference station is transmitted from the data transmission antenna 96 to the data reception antenna 93 of the combine 1.

  The mobile GPS antenna 92 arranged in the combine 1 receives signals from the GPS satellites 90. This signal is transmitted to the mobile communication device 91 and measured. At the same time, the fixed GPS antenna 95 serving as a reference station receives signals from the GPS satellites 90. The data measured by the fixed communication device 94 is transmitted to the mobile communication device 91 via the data transmission antenna 96 and the data reception antenna 93. In the mobile communication device 91 of the combine 1, the observed data is analyzed and the position of the mobile station is determined. The position information thus obtained is transmitted to the control device 80 of the combine 1.

  Thus, based on the signals transmitted from the GPS satellites 90, the mobile communication device 91 obtains the position information of the combine 1 at set time intervals, and the gyro sensor 103 and the direction sensor 104 displace the combine 1 Information and azimuth information are detected.

  Based on the position information, the displacement information, and the azimuth information, the control device 80 of the combine 1 operates the traveling unit 10 and the power unit 7 so that the combine 1 travels along a preset traveling work route. Control the configuration. In addition, the combine 1 performs the predetermined work set along the traveling work route according to the current position by the control device 80 recognizing the position information, or sets each of the traveling states of the combine 1 Can perform the work done.

  In addition, each setting value is set differently for each of two or more types of cutting objects such as rice or beans. That is, each setting value may be different for each cutting object. Alternatively, the control device 80 of the combine 1 can store, in advance, a reference set value and use each set value corrected in accordance with the type of the object to be cut with respect to the reference set value for the mowing operation. .

  Next, the field information fI input in advance to the control device 80 of the combine 1 will be described. As shown in FIG. 5, the field information fI is configured in a map shape. The field information fI shown in FIG. 5 is information set for the two fields Fa and Fb.

  As the field information fI, position information (map information) on the outer periphery of each of the fields Fa and Fb which is a work range is set in advance. The operator confirms the fields Fa and Fb in advance by visual observation or the like, and specifies the outer periphery of each field Fa and Fb as the field end E on the data map. Alternatively, a method instead of visual observation can be adopted by utilizing a satellite photograph, a drone, or the like.

  Although not shown, information on the inclination angles of the slopes SLa, SLb, and SLc outside the field edge E and information on the slopes in the fields Fa and Fb are input for each point of the map information. ing. As described above, the field information fI is configured by three-dimensional map information.

  The inclined surfaces in the fields Fa and Fb are the surfaces of the fields Fa and Fb that are inclined with respect to the horizontal direction. On the other hand, the slopes SLa, SLb, SLc are road surfaces located outside the field end E, and are connection paths connected to the fields Fa, Fb.

  The field information fI includes information on the traveling work route. FIG. 5 shows an example of the traveling work route.

  The traveling work route corresponds to the map information as the field information fI. The traveling work route shown in FIG. 5 is a route set for two fields Fa and Fb. The traveling work route is divided into a route inside the fields Fa and Fb and a route outside the fields Fa and Fb. The total travel distance of the combine 1 required for the mowing operation is represented by the entire travel of the traveling work route. The control device 80 (see FIG. 3) individually recognizes and uses the traveling distance of the combine 1 required for the cutting operation for each field Fa and Fb and the traveling distance of the combine 1 outside the fields Fa and Fb required for movement. it can.

  The set traveling work route includes a route that enters the field Fa through the slope SLa, a route that travels and cuts in the field Fa, a route that exits from the field Fa through the slope SLb, A route that enters the field Fb through the road SLb, a route that travels and cuts in the field Fb, and a route that exits from the field Fb through the slope SLc is included. The routes that enter the fields Fa and Fb through the ramps SLa and SLb and the routes that exit from the fields Fa and Fb to the ramps SLb and SLc are set as routes that intersect the field edge E.

  According to the traveling work route shown in FIG. 5, the combine 1 travels on the slopes SLa and SLc and passes through a predetermined field edge E (lower side in the figure) into each of the fields Fa and Fb. enter in. The combine 1 performs the harvesting operation in each of the fields Fa and Fb while traveling straight and turning left toward the center of each of the fields Fa and Fb. Then, the combine 1 leaves each of the fields Fa and Fb from another side of the field end E (upper side in the figure). Note that a different traveling work route may be set for each field according to the environment such as the shape of the field.

  Further, the field information fI includes information on the dischargeable position Da of the kernel. That is, the storage unit 82 (see FIG. 3) of the control device 80 stores the information of the dischargeable position Da set as a position near the position where the vehicle 100 (see FIG. 6) that transports the grain can stand by and park. It is stored in advance. The dischargeable position Da is set at a position on the traveling work route.

  As a method of setting the dischargeable position Da, the information is overwritten on the field information fI as the map information by operating the terminal device or the like by the operator. When the operator confirms the fields Fa and Fb in advance, the orientation of the co-preparation facility (rice center) with respect to the fields Fa and Fb, the traffic conditions around the fields Fa and Fb, the specifications of the discharge auger 62, and the length of the vehicle 100 The dischargeable position Da is specified in consideration of, for example, the width, the position suitable for the standby of the vehicle 100, the position suitable for the discharging operation of the combine 1, and the like.

  Alternatively, the dischargeable position Da may be applied to the map information by comparing image data or the like obtained by photographing the fields Fa and Fb with the map information. Alternatively, according to the information on the terrain around the fields Fa and Fb in the field information fI and the specifications of the discharge auger 62, the processing of the predetermined program is performed before the field information fI is input to the storage unit 82 of the control device 80. Alternatively, the dischargeable position Da may be automatically set along the map information by the processing of the processing unit 81 of the control device 80.

  Further, although not shown, the field information fI may include information on the area of each field. In this case, for the fields Fa and Fb shown in FIG. 5, information on the area of each field is stored in the storage unit 82 in advance. By automatically calculating the area of each field along the shape of each field in the field information fI, the areas of the fields Fa and Fb are automatically set in the field information fI. Alternatively, since the operator can recognize the area of each field by surveying or the like, the operator overwrites the field information fI so that the information on the area of each field is included in the field information fI.

  Further, the field information fI may include information on the amount of harvest per field. When the operator inputs the information on the harvest amount using the terminal device, the information on the harvest amount for each of the fields Fa and Fb is set in the field information fI. In this case, the operator inputs the information on the harvest amount after visually confirming the fields Fa and Fb in advance, or inputs the information on the harvest amount based on the information on the past harvest amount before the previous year or the like. I do.

  In addition, information on the field such as lodging may be included in the field information fI. Although not shown, as the lodging area in the fields Fa and Fb, the area where the object to be cut is falling is plotted for each block of the map information. The degree of lodging of the reaping object is set in a plurality of stages such as "heavy", "medium", and "light". Further, although not shown, the direction of lodging in each lodging area, such as the traveling direction, the reverse direction, the left or right direction, and the unified direction in which these directions are mixed, is also set as the field information fI. In addition, the amount of water applied to the object to be cut and the amount of water remaining on the ground can be set for each lodging area separately from the degree of lodging as the state of lodging.

  Note that the combine 1 automatically sets the traveling speed in consideration of the state of lodging in each of the fields Fa and Fb. With respect to the traveling speed of the combine 1 traveling along the traveling work route, a reference traveling speed that does not correspond to lodging is set in advance. The traveling speed is set lower as the degree of lodging becomes heavier than the reference traveling speed.

  The combine 1 travels along a traveling work route, and performs a harvesting operation in the fields Fa and Fb. During the harvesting operation, the combine 1 calculates the amount of harvest per unit traveling distance (the unit is [L / m]). As described above, the combine 1 acquires position information at predetermined time intervals using GPS. In addition, the combine 1 calculates each information of the traveling azimuth and the traveling speed according to the change of the position information acquired at predetermined time intervals using the GPS. The combine 1 can recognize the traveling distance by a change in the acquired position information, and can recognize the traveling speed by a change in the acquired position information every time. Alternatively, the combine 1 can recognize the traveling speed based on the traveling speed detected by the traveling speed sensor 102 (see FIG. 3).

  In addition, the combine 1 can recognize the volume value of the grain in the Glen tank 61 based on the weight of the grain detected by the grain sensor 106. Using such information, that is, the volume value and the mileage, the combine 1 calculates, as the yield per unit mileage, the change in the mileage with respect to the change in the volume value and the total mileage with respect to the volume value of the accumulated grain. Calculate the distance etc. The combine 1 calculates the yield per unit traveling distance for each predetermined time or every predetermined traveling distance.

  Alternatively, as described above, the storage unit 82 (see FIG. 3) of the control device 80 previously stores information on the area of each field Fa / Fb and information on the harvest amount per field Fa / Fb. In addition, the width of the cutting unit 2 and the information on the traveling distance of the combine 1 required for the cutting operation for each of the fields Fa and Fb can be stored in advance. The combine 1 can calculate the yield per unit area and the yield per unit traveling distance by using such information. As described above, the combine 1 may calculate and recognize the amount of harvest per unit traveling distance before starting the harvesting operation. According to the information on the area of each field, the information on the travel distance, and the information on the width of the reaping unit 2, the combine 1 determines whether or not the harvested area in each field is running while traveling along the traveling work route. The area and the area of the remaining uncut area can also be calculated and recognized.

  The combine 1 acquires its own positional information inside and outside the fields Fa and Fb at predetermined time intervals using GPS. The gyro sensor 103 of the combine 1 (see FIG. 3) detects the inclination angle of the current position of the combine 1. Further, the field information fI including the information on the traveling work route and the information on the field edge E is previously input to the storage unit 82 (see FIG. 3) of the control device 80 as described above. Then, the combine 1 enters the field Fa while traveling along the traveling work route set in the field information fI.

  The combine 1 can recognize the current position inside and outside the fields Fa and Fb based on the acquired position information. With respect to the position information acquired by combine 1, the position of data receiving antenna 93 (see FIG. 1) in combine 1 corresponds to the current position.

  Next, control for the combine 1 to set the discharge position Db will be described with reference to FIG. The following is an example in which one combiner 1 performs a harvesting operation in the fields Fa and Fb, and one vehicle 100 transports the harvested and harvested grains.

  The combine 1 calculates the amount of grain harvested per unit traveling distance while performing the harvesting operation in the fields Fa and Fb (see FIG. 5). Then, according to the field information fI including the information of the dischargeable position Da of the grain and the information of the traveling work route, the information of the capacity of the Glen tank 61, and the information of the calculated harvest amount of the grain per unit traveling distance. Then, the grain discharge position Db that minimizes the total time of the discharge work standby time and the running time is set, and information on the discharge position Db is notified to the outside. The discharge position Db is a predetermined position within the dischargeable position Da, and is a position where the combine 1 stops traveling and then discharges the grain.

  According to the configuration in which the discharge position Db is notified to the outside in advance in this manner, the combine 1 can continue the mowing operation while moving toward the discharge position Db, and can receive the kernel from the discharge auger 62. The vehicle 100 can be caused to stand by in advance in the vicinity of the appropriate discharge position Db. As a result, the combine 1 can reduce the distance that the harvesting operation is interrupted and only travel, and also reduce the time that the combine 1 is simply stopped (standby) without performing the harvesting operation or the discharging operation.

  The running time is simply the time during which the combine 1 is running without performing a harvesting operation or a discharging operation. The standby time of the discharge time is a time during which the combine 1 stops running and stops the discharge operation, and is a time during which operations such as rotation of the discharge auger 62 are stopped. The combine 1 sets the discharge position Db so that the standby time of such discharge work is eliminated and the traveling time is shortened.

  The setting of the discharge position Db will be described in detail. As a result of the movement of the combine 1 along the traveling work route, as shown in FIG. 6, the combine 1 has been harvested from the entrance Ea to the current position Pp in the field Fa. The combine 1 predicts (i.e., calculates) a position on the traveling work route where the Glen tank 61 is full based on the information on the amount of harvest per unit traveling distance to be calculated and the information on the traveling work route. Is set as the full position Pf. According to the set traveling work route, the combine 1 passes through these positions in the order of the turning position Pt1, the full position Pf, and the turning position Pt2.

  The distance Lf1 from the full position Pf to the dischargeable position Da is larger than the distance Lt1 from the turning position Pt1 to the dischargeable position Da. Therefore, when the combine 1 performs a mowing operation at a predetermined traveling speed and only travels at a constant speed, a time (herein referred to as time T1) in which the combine 1 reciprocates between the full position Pf and the dischargeable position Da. Is the time during which the combine 1 reciprocates between the turning position Pt1 and the dischargeable position Da, and further performs a harvesting operation from the turning position Pt1 to the full position Pf set before discharging (here, referred to as time T2). ) Longer. Therefore, the combine 1 suspends the harvesting operation at the turning position Pt1 before the Glen tank 61 becomes full in order to shorten the traveling time. According to such a configuration, it is possible to return to the original full position Pf before the time T1, that is, at the time T2, so that the mowing operation can be efficiently performed.

  Note that, in this example, the time required for the discharging operation when the combine 1 interrupts the harvesting operation at the full position Pf and the time required for the discharging operation when the combine 1 interrupts the harvesting operation at the turning position Pt1 are approximately described. It is the same. Actually, when the combine 1 interrupts the harvesting operation at the full position Pf, the time required for the discharging operation depends on the volume of the grain stored in the Glen tank 61, and the combine 1 interrupts the harvesting operation at the turning position Pt1. In this case, it may be longer than the time required for the discharging operation. However, the difference in the time required for both discharging operations is ignored in this example because it is a small difference that does not affect the time required for moving the combine 1 between the full position Pf and the dischargeable position Da. .

  As described above, the traveling time during which the harvesting work is interrupted and the vehicle simply travels is calculated, and based on the calculation result, the combine 1 sets the predetermined position of the dischargeable position Da that is the shortest position from the turning position Pt1 as the discharge position Db. Set. Then, the combine 1 transmits the information of the set discharge position Db to the outside before reaching the discharge position Db, for example, before reaching the turning position Pt1. After transmitting the information of the discharge position Db, the combine 1 continues the harvesting operation, turns right at the turning position Pt1, and then goes straight toward the discharge position Db. In the turning position Pt1, the combine 1 runs after raising the height position of the cutting unit 2 or decreasing the rotation speed of the reel 21 (see FIG. 1) to interrupt the cutting operation. .

  When the combine 1 arrives at the discharge position Db, it turns to the left to adjust the direction of the vehicle body along the side of the field end E. Then, the discharging operation is started according to a predetermined program and a set value. Then, after discharging the grains from the Glen tank 61, the combine 1 sets a new full position Pf. On the other hand, the vehicle 100 is waiting near the discharge position Db before the combine 1 arrives at the discharge position Db. The vehicle 100 loads grains discharged from the Glen tank 61 of the combine 1 and transports the grains to a co-preparation facility (not shown).

  Information is transmitted from the combine 1 to the vehicle 100 or the mobile terminal via a communication network including a plurality of base stations (not shown). The driver of the vehicle 100 that has received the notification can move the vehicle 100 to the vicinity of the discharge position Db before the combine 1 arrives at the discharge position Db, and can stand by at the position. In this way, even if the combine 1 has arrived at the discharge position Db, a situation may occur in which the vehicle 100 has not yet arrived near the discharge position Db and the combine 1 cannot start the discharge operation. Can be prevented. The information transmitted from the combine 1 to the vehicle 100 or the mobile terminal is shared by being distributed to a data center, a server, and the like, and recorded in the data center, the server, and the like.

  When setting the discharge position Db, the combine 1 uses information of specifications such as a rotation direction, a rotation amount, a rise amount, and an extension amount of the discharge auger 62 which are input in advance. That is, the combine 1 sets the dischargeable range R of the discharge auger 62 such that the dischargeable range R (see FIG. 2A) of the discharge auger 62 overlaps the area where the vehicle 100 is parked to receive the discharged kernels. The discharge position Db is set accordingly. This prevents the combine 1 from extremely approaching or moving away from the position where the vehicle 100 stops to receive the discharged kernel, so that when the combine 1 discharges the kernel, The position adjustment between the combine 1 and the vehicle 100 becomes unnecessary. That is, there is no need to move either the combine 1 or the vehicle 100 for position adjustment, so that the grain can be appropriately discharged to the vehicle 100 by the operation of the discharge auger 62.

  Preferably, combine 1 sets a position where vehicle 100 is to be on standby (hereinafter, referred to as a designated standby position Dc) together with a grain discharge position Db, and transmits information on designated standby position Dc to the outside. It is configured. When setting the standby designated position Dc, the combine 1 uses the set discharge position Db and information on the dischargeable range R of the discharge auger 62. The combine 1 sets the designated standby position Dc so that the vehicle 100 falls within the dischargeable range R with respect to the set discharge position Db. That is, the combine 1 sets the designated standby position Dc according to the discharge position Db and the dischargeable range R (see FIG. 2A). In this case, the combine 1 can use the information of the orientation of the co-preparation facility with respect to the fields Fa and Fb, the traffic conditions around the fields Fa and Fb, the length and width of the vehicle 100, and the position suitable for waiting for the vehicle 100. It is preferable that such information is stored in the storage unit 82 of the control device 80 in advance.

  The combine 1 calculates the required time from when the vehicle 100 leaves the fields Fa and Fb to when it returns, and sets the discharge position Db based on the calculated required time.

  The combine 1 acquires and recognizes the position information of the vehicle 100 using the GPS. Then, the time required for the vehicle 100 to leave the fields Fa and Fb and return to the fields Fa and Fb is calculated. Based on the acquired position information, the combine 1 determines that the vehicle 100 is on the outer periphery of the fields Fa and Fb when the distance between the vehicle 100 and the combine 1 is within a predetermined range.

  Alternatively, information is transmitted to the combine 1 by a person carrying the portable terminal, such as a driver of the vehicle 100, performing a necessary operation. The driver uses the mobile terminal when the driver brings the mobile terminal into the vehicle and the vehicle 100 moves away from the vicinity of the discharge position Db, and when the vehicle 100 returns to the parking available position near the fields Fa and Fb near the dischargeable position Da. To transmit necessary information to the combine 1. Thereby, the combine 1 can count and recognize the time from when the vehicle 100 leaves the fields Fa and Fb to when it returns to the fields Fa and Fb.

  Alternatively, the vehicle 100 and the combine 1 are configured to be communicable via wireless communication. When the vehicle 100 leaves the vicinity of the discharge position Db and returns to the parkable position, the driver transmits predetermined information to the combine 1 by performing a predetermined operation of an operation tool such as an operation button in the vehicle. .

  With reference to FIG. 7, a detailed description will be given of the control in which the combine 1 sets the discharge position Db in consideration of the required time from when the vehicle 100 leaves the fields Fa and Fb until it returns.

  As shown in FIG. 7, as a result of the combine 1 having moved along the traveling work route, the combine 1 has already been harvested from the entrance Eb to the current position Pp in the field Fb. The combine 1 sets the full position Pf on the traveling work route based on the information on the amount of harvest per unit traveling distance to be calculated and the information on the traveling work route. Further, according to the set traveling work route, the combine 1 passes through these positions in the order of the turning position Pt3, the full position Pf, and the turning position Pt4.

  The distance Lf2 from the full position Pf to the dischargeable position Da is longer than the distance Lt3 from the turning position Pt3 to the dischargeable position Da. Therefore, the time that the combine 1 travels from the full position Pf to the dischargeable position Da is longer than the time that the combine 1 travels from the turning position Pt3 to the dischargeable position Da.

  On the other hand, as described above, the combine 1 calculates the time from when the vehicle 100 leaves the fields Fa and Fb to when it returns to the fields Fa and Fb. In the example shown in FIG. 7, the combine 1 requires a longer time for the vehicle 100 to return to the fields Fa and Fb than the time required for reaching the dischargeable position Da from the current position Pp via the turning position Pt3. It is determined that the time is longer. That is, even if the combine 1 reaches the dischargeable position Da, the vehicle 100 does not return to the fields Fa and Fb.

  The time required for the vehicle 1 to return to the fields Fa and Fb is shorter than the time required for the combine 1 to turn from the current position Pp to the full position Pf and reach the dischargeable position Da. Is determined. That is, when the combine 1 reaches the full position Pf from the current position Pp, turns the traveling direction in the opposite direction, goes straight, and then reaches the dischargeable position Da, the vehicle 100 moves to the fields Fa and Fb. I'm back.

  On the other hand, if the combine 1 is turned at a predetermined position before the full position Pf, the combine 1 can move to the dischargeable position Da in accordance with the time required for the vehicle 100 to return to the fields Fa and Fb. Therefore, combine 1 suspends the reaping operation in order to match the time that elapses before the vehicle 100 returns and the time that it takes to move the vehicle 100 from the current position Pp to the dischargeable position Da. The interruption position Ps is set together with the discharge position Db.

  According to the configuration for setting the interruption position Ps, the combine 1 reaches the interruption position Ps from the current position Pp, turns the traveling direction in the opposite direction, goes straight ahead, and then reaches the dischargeable position Da. And the time when the vehicle 100 returns to the fields Fa and Fb. That is, when the harvesting operation is interrupted at the interruption position Ps and moves toward the dischargeable position Da, the combine 1 arrives at the dischargeable position Da at the time when the vehicle 100 returns to the fields Fa and Fb. be able to.

  Here, the time required for the combine 1 to suspend the cutting operation at the turning position Pt3, perform the discharging operation at the discharging position Db, and restart the cutting operation at the turning position Pt3 to reach the original full position Pf. At T3 (see FIG. 8A), the combine 1 interrupts the cutting operation at the interruption position Ps, performs the discharging operation at the discharge position Db, and resumes the cutting operation at the original interruption position Ps, and then returns to the original position. At time T4 (see FIG. 8 (B)) required to reach the full position Pf, the combine 1 suspends the harvesting operation at the full position Pf, performs the discharge operation at the discharge position Db, and further performs the original full position Pf. A description will be given of the time T5 (see FIG. 8 (C)) required until the mowing operation is restarted.

  First, in FIG. 8A, a case where the combine 1 interrupts the harvesting operation at the turning position Pt3 will be described. Until the turning position Pt3, the combine 1 performs the cutting operation at a constant traveling speed Vc, and then turns toward the dischargeable position Da. Then, the combine 1 goes straight to the dischargeable position Da at a constant traveling speed Vr. Even if the combine 1 arrives at the dischargeable position Da at the time Td3, the vehicle 100 has not yet arrived at the dischargeable position Da. Therefore, the combine 1 waits at the dischargeable position Da until the vehicle 100 arrives at Td4.

  The traveling speed Vc is a traveling speed of the combine 1 at the time of the mowing operation on the traveling route. The traveling speed Vr refers to the traveling speed of the combine 1 before and after turning on the traveling route.

  When the vehicle 100 arrives at the dischargeable position Da, the combine 1 starts the discharge operation by operating the discharge auger 62. Here, the time Tt3 required for the discharge operation is from the start of the operation of the discharge auger 62 to the completion of the discharge of the grains in the Glen tank 61 and the return of the position of the discharge auger 62 to the predetermined storage position. It takes time. In order to shorten the time Tt3, the combine 1 may prepare for the discharge operation by changing the height position and the rotation amount of the discharge auger 62 while waiting for the vehicle 100.

  When the discharging operation is completed, the combine 1 turns and then moves toward the turning position Pt3 at the traveling speed Vr. When the discharging operation is completed, the combine 1 calculates and sets the next full position Pf. Then, the mowing operation is restarted at the turning position Pt3. That is, the combine 1 moves along the traveling work route at the traveling speed Vc. Then, at time T3, it reaches the original full position Pf set before discharging the kernel.

  Next, in FIG. 8B, a case where the combine 1 interrupts the harvesting operation at the interruption position Ps will be described. After passing the turning position Pt3 to the interruption position Ps, the combine 1 performs the cutting operation at a constant traveling speed Vc, and then turns toward the dischargeable position Da. Then, the combine 1 goes straight to the dischargeable position Da at a constant traveling speed Vr. The combine 1 arrives at the dischargeable position Da at the time Td4, and thereafter starts the discharge operation by operating the discharge auger 62. As described above, since the combine 1 calculates that the vehicle 100 returns to the fields Fa and Fb at the time Td4, the combine 1 can start the discharging operation at the same time when the vehicle 100 arrives at the dischargeable position Da.

  Since the harvesting operation is continued from the turning position Pt3 to the interrupted position Ps as compared with the above-described case (that is, the case where the combine 1 interrupts the cutting operation at the turning position Pt3), more Glen tanks are stored in the Glen tank 61. Grains are stored. Therefore, it is considered that the time Ts required for the discharging operation when the combine 1 interrupts the harvesting operation at the interruption position Ps is longer than the time Tt3 required for the discharging operation when the combine 1 interrupts the harvesting operation at the turning position Pt3. Can be However, in this example, the time Ts required for discharging when the combine 1 interrupts the harvesting operation at the interruption position Ps, and the time Tt3 required for discharging when the combine 1 interrupts the harvesting operation at the turning position Pt3. Is treated as a difference that does not affect the comparison of each time required for the reciprocation between the full position Pf and the discharge position Db. That is, the time Ts and the time Tt3 are substantially the same. Further, a time Tf (time required for the discharging operation when the combine 1 interrupts the harvesting operation at the full position Pf) described later is substantially the same as the time Ts and the time Tt3.

  When the discharging operation is completed, the combine 1 turns and moves at the traveling speed Vr toward the interruption position Ps. Then, the mowing operation is restarted at the interruption position Ps. That is, the combine 1 moves along the traveling work route at the traveling speed Vc. Then, at time T4, it reaches the original full position Pf that was set before the grain was discharged.

  Next, a case where the combiner 1 interrupts the harvesting operation at the full position Pf in FIG. 8C will be described. After passing through the turning position Pt3 and further from the interruption position Ps to the full position Pf, the combine 1 performs the cutting operation at a constant traveling speed Vc, and then turns toward the dischargeable position Da. Then, the combine 1 goes straight to the dischargeable position Da at a constant traveling speed Vr. The combine 1 arrives at the dischargeable position Da at the time Td5, and thereafter starts the discharge operation. Since the vehicle 100 has already arrived at the dischargeable position Da at the time Td4, the combine 1 can start the discharge operation at the same time when the vehicle 100 arrives at the dischargeable position Da without waiting for the vehicle 100.

  When the discharging operation is completed, the combine 1 turns and moves at the traveling speed Vr toward the full position Pf. Then, the combine 1 reaches the original full position Pf by moving along the traveling work route at the traveling speed Vc. Then, at time T5, the mowing operation is restarted from the original full position Pf set before discharging the kernel.

  As shown in FIGS. 8A and 8B, time T3 is longer than time T4. That is, by setting the discharge position Db so that the combine 1 interrupts the harvesting operation at the interrupt position Ps and then moves toward the dischargeable position Da, the waiting time of the discharge operation is eliminated. As described above, since the combine 1 does not need to wait for the vehicle 100 to return to the fields Fa and Fb, the harvesting operation and the discharging operation can be performed efficiently. Furthermore, the combine 1 can proceed with the reaping work in the region between the turning position Pt3 and the suspension position Ps instead of waiting for the vehicle 100 at the discharge position Db, so that the reaping work and the discharging work are efficiently performed. Can be. Further, compared with the case where the cutting operation is interrupted at the turning position Pt3, the volume of the grain stored in the Glen tank 61 can be increased, so that the total number of discharges in the entire cutting operation can be reduced.

  As shown in FIGS. 8B and 8C, time T5 is longer than time T4. In other words, by setting the interruption position Ps in consideration of the time required for the vehicle 100 to return to the fields Fa and Fb, the cutting operation is interrupted at the full position Pf and then toward the dischargeable position Da. The traveling time is shorter than when traveling. As described above, the cutting operation and the discharging operation can be efficiently performed by simply reducing the time for traveling.

  As described above, in consideration of the traveling time including turning and the standby time of the discharging operation, the combine 1 sets the predetermined position of the dischargeable position Da that is the shortest position from the interruption position Ps as the discharging position Db. Then, the combine 1 transmits the information of the set discharge position Db to the outside before reaching the discharge position Db, for example, before reaching the interruption position Ps or the turning position Pt3. After transmitting the information on the discharge position Db, the combine 1 continuously performs the harvesting operation up to the interruption position Ps, turns around in the reverse direction at the interruption position Ps, and then goes straight toward the discharge position Db. The combine 1 interrupts the mowing operation by raising the height position of the mowing unit 2 or decreasing the rotation speed of the reel 21 (see FIG. 1) at the interrupting position Ps.

1 Combine 61 Glen tank (tank)
62 Discharge auger 100 Vehicle Da Dischargeable position Db Discharge position

Claims (2)

It has a plurality of straight traveling paths, and stores a traveling work path set in the field by bending and connecting each straight traveling path at the turning position and a dischargeable position set at a predetermined position at the end of the field. A storage unit,
Based on the position information obtained by the positioning unit, the vehicle body travels straight along the straight travel route, turns at the turning position and travels straight on the next straight travel route, and performs autonomous traveling while performing the harvesting work. A traveling control unit for controlling,
A tank for storing grains harvested by the mowing operation,
A first harvest amount detection unit that detects the harvest amount of the grains stored in the tank;
A second harvest amount detection unit that detects a harvest amount per unit traveling distance of a grain harvested by the harvesting operation,
A full position predicting unit that predicts, as a full position, at which position on the straight traveling path in the traveling work path the tank is full based on the outputs of both harvest amount detection units,
A combine which interrupts a harvesting operation at a turning position immediately before a full filling position and causes the vehicle to autonomously travel to the dischargeable position. If the distance from the predicted full position to the dischargeable position is greater than the distance from the turning position immediately before the predicted full position to the dischargeable position, the harvesting operation is interrupted at the rotated position and The combine according to claim 1, wherein the combine is caused to travel independently at a dischargeable position.

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