WO2020026578A1

WO2020026578A1 - Travel route generation system, travel route generation method, travel route generation program, storage medium storing travel route generation program, operation management system, operation management method, operation management program, storage medium storing operation management program, harvester, travel pattern generation system, travel pattern generation program, storage medium storing travel pattern generation program, and travel pattern generation method

Info

Publication number: WO2020026578A1
Application number: PCT/JP2019/021600
Authority: WO
Inventors: 阪口和央; 佐野友彦; 吉田脩; 中林隆志; 川畑翔太郎
Original assignee: 株式会社クボタ
Priority date: 2018-07-31
Filing date: 2019-05-30
Publication date: 2020-02-06

Abstract

This travel route generation system generates an autonomous travel route for a combine for harvesting crops in a non-worked region CA of a field while autonomously traveling back and forth along travel routes parallel to each other in the non-worked region CA. The travel route generation system is provided with: a yield acquisition unit for acquiring a yield ratio which is the yield per unit area of the field; an area acquisition unit for acquiring the area of the non-worked region CA; a total yield estimation unit for estimating the total yield of grain expected to be harvested in the non-worked region CA from the yield ratio and the area; and a travel route setting unit for generating, on the basis of the shape of the non-worked region CA and the total yield, a preliminary adjustment route LR for autonomous travel prior to back-and-forth travel so that the non-worked region has an optimum shape for back-and-forth travel.

Description

A travel route generation system, a travel route generation method, a travel route generation program, and a recording medium on which the travel route generation program is recorded, and a work management system, a work management method, a work management program, and a work management program are recorded. Recording medium, harvester, travel pattern creation system, travel pattern creation program, recording medium on which travel pattern creation program is recorded, and travel pattern creation method

The present invention relates to a technique for managing and controlling the operation of a combine for harvesting crops in a field.

The present invention relates to a technique for automatically traveling in a reciprocating traveling pattern of traveling by connecting a plurality of parallel work traveling paths by a turning traveling path.

1-1. Background technology [1]
As the combine, for example, a combine described in Patent Literature 1 is already known. This combine is capable of harvesting and traveling by harvesting crops in a field by a harvesting device ("a reaper" in Patent Document 1) while traveling by the traveling device. In addition, the combine includes a grain tank ("Glen tank" in Patent Literature 1) for storing the harvested product harvested by the harvesting device.

The combine is configured to automatically travel based on a signal received from a GPS satellite, and a yield sensor that detects the amount of grains in a grain tank (in Japanese Patent Application Laid-Open No. H11-163873, “grain amount detecting means”). It has. When the value detected by the yield sensor is equal to or greater than a set value, the combine is automatically moved to the vicinity of the transport vehicle (discharge point) in order to discharge grains from the grain tank. .

1-2. Background technology [2]
Harvesters, such as combine harvesters that harvest crops while traveling in the field, temporarily store the harvest in the harvest tank, and once the harvest tank is full, suspend the harvesting work and temporarily stop the specified discharge. After traveling to the area and discharging the harvest to a transport vehicle or the like parked there, return to the place where the work was interrupted and resume the harvest work. The transport vehicle loaded with the harvest transports the harvest to a facility that performs the next processing, such as a drying facility.

The combine according to Patent Literature 2 includes a grain sensor that detects the amount of grains in a grain tank, finds the time required from the start of harvesting to reach full tank, and transmits the required time to a designated mobile phone. Having.

Patent Document 3 discloses a harvester that automatically travels along a traveling route selected from a traveling route group calculated to cover a field. In this harvester, when the harvest tank is almost full due to work traveling, a discharge request for discharging the harvest is issued. In response to this discharge request, the harvester temporarily suspends the harvest run, disengages from the previously traveled travel route, and selects the travel route to guide the harvester to the harvest discharge parking position. Use to drive to the harvest discharge parking position.

JP 2001-69836 A JP 2006-094780 A JP 2018-068284 A

2-1. Assignment [1]
The problems corresponding to the background art [1] are as follows.
In the conventional automatic traveling of a combine, the automatic traveling including the movement for discharging the kernel may not be efficient depending on the position where the amount of the grain to be discharged is reached. For example, if the amount of grain to be discharged at a position away from the edge of the field is reached, the combine retreats to the swirling area (unworked land) of the already harvested field and moves to the discharge point. It was necessary to perform inefficient automatic driving.

An object of the present invention is to perform efficient automatic traveling.
2-2. Assignment [2]
The problems corresponding to the background art [2] are as follows.
In the harvesters disclosed in Patent Literature 2 and Patent Literature 3, when the harvest tank is full, a fullness notification process or a discharge process for interrupting the harvesting operation and emptying the harvest tank is performed. However, during harvesting work in a vast field, interrupting the harvest travel and performing a discharge process to empty the harvest tank is particularly difficult when automatic travel is adopted. Difficult problems such as searching for a return point and selecting a discharge travel route and a return travel route occur. Such a problem does not occur when the storage amount of the harvest tank becomes an amount requiring discharge (for example, full) at a point where selection of the discharge travel route and the return travel route is easy.

An object of the present invention is to provide a harvester that can control a storage amount of a harvest tank to be an amount requiring discharge at a point where a discharge travel route and a return travel route can be easily set. That is.

3-1. Solution [1]
The means for solving the problem [1] is as follows.

A traveling route generation system according to an embodiment of the present invention includes an automatic traveling route in a combine for harvesting a crop in the unworked land, while reciprocating in an unworked land in a field along an automatically running traveling path along a mutually parallel traveling route. A travel route generation system that generates a yield acquisition unit that acquires a yield rate that is a yield per unit area in the field, an area acquisition unit that acquires the area of the unworked land, and the yield rate From the area, a total yield estimating unit that estimates the total yield of kernels that are expected to be harvested in the unworked land, and based on the shape and the total yield of the unworked land, A traveling route generating unit that generates a preliminary adjustment route for performing automatic traveling prior to the reciprocating traveling so that the shape becomes an optimal shape for the reciprocating traveling.

As described above, by traveling on the preliminary adjustment route prior to the automatic traveling on the unworked ground, it is possible to form the unworked ground such that an efficient traveling route can be easily generated in the automatic traveling. .

Further, the optimal shape for harvesting is a shape that does not result in an emission yield in the middle of the travel route, and the travel route generation unit generates the preliminary adjustment route in consideration of the emission yield. Is preferred.

排出 If the emission yield is reached inside the unworked land (middle of the travel route), the travel route may be inefficient, such as the need to move backward to move to the grain discharge point. By traveling on the pre-adjustment route that has a shape that does not result in emission yield inside the un-worked site, the un-worked site after traveling on the pre-adjustment route will have a travel route that considers movement to the discharge point. It becomes easy to generate, and an efficient travel route can be easily generated.

The discharge yield may be the yield when the grain tank is full.

穀 If the grains are discharged when the grain tank is full, many grains can be discharged at once, and the grains can be discharged efficiently.

The discharge yield may be set so as to be equal to or more than a predetermined ratio of the yield when the grain tank is full.

The capacity of the transport vehicle and the yield to be discharged in response to external requests may be specified. In such a case, by defining the emission yield according to the yield, an efficient traveling route can be generated.

A discharge point setting unit configured to set a discharge point for discharging the kernel stored in the kernel tank to one end of the travel route on an outer side of the unworked land; It is preferable that the preliminary adjustment path is generated so that the discharge yield is obtained on the side where one end or the other end of the travel path is located, of the sides constituting the outer shape of the unworked land.

With such a configuration, a more efficient traveling route can be generated by generating a traveling route so as to obtain a discharge yield particularly at a position facing the discharge point and cut through an unworked land.

In addition, the traveling route generation unit may include, among the sides constituting the unworked land, one side facing the entrance from the ridge in the field or one side facing the entrance and an opposite side across the traveling path. Preferably, the preliminary adjustment path is generated so as to complete the harvesting work of the unworked land.

With such a configuration, the traveling route when leaving the field after finishing the harvesting work is also optimized, and a more efficient traveling route can be generated.

Preferably, the preliminary adjustment path is a path for adjusting the length of the traveling path of the reciprocating traveling.

構成 With such a configuration, it is possible to make the shape of the unworked land a shape that can easily generate an efficient traveling route.

Preferably, the preliminary adjustment route is a route along a direction intersecting with the traveling route.

予備 Also, the preliminary adjustment path may be a path along the outer periphery of the unworked land.

With such a configuration, it is possible to perform preliminary adjustment traveling by enlarging the area of the surrounding mowing, and it is possible to obtain a shape that can easily generate an efficient traveling route.

Furthermore, the traveling route generation method according to an embodiment of the present invention is a combine harvesting device that harvests crops of the unworked land while automatically reciprocating on unworked land in a field along running paths parallel to each other. A traveling route generation method for generating an automatic traveling route, wherein a step of acquiring a yield rate that is a yield per unit area in the field, a step of acquiring an area of the unworked land, and the yield rate and the area From the step of estimating the total yield of kernels that are predicted to be harvested in the unworked land, and based on the shape of the unworked land and the total yield, the shape of the unworked land is reciprocated Generating a preliminary adjustment path for performing automatic traveling prior to the reciprocating traveling so as to have an optimal shape for traveling.

The optimal shape for harvesting is a shape that does not result in a discharge yield in the middle of the traveling route, and it is preferable to generate the preliminary adjustment route in consideration of the discharge yield.

排出 If the emission yield is reached inside the unworked land, the traveling route may be inefficient, such as the need to move backward to move to the grain discharge point. By traveling on the pre-adjustment route that has a shape that does not result in emission yield inside the un-worked site, the un-worked site after traveling on the pre-adjustment route will have a travel route that considers movement to the discharge point. It becomes easy to generate, and an efficient travel route can be easily generated.

The discharge yield may be the yield when the grain tank is full.

穀 When the grain tank is full, it is often most efficient to discharge the grain. Therefore, by making the shape such that the grain tank does not become full inside the unworked land, a more efficient traveling route can be generated.

In addition, a discharge point for discharging the grains stored in the grain tank is set at one end of the traveling path on the outer side of the unworked land, and a side of the side constituting the outer shape of the unworked land is set. Preferably, the preliminary adjustment path is generated such that the discharge yield is obtained on a side where one end or the other end of the travel path is located.

With such a configuration, it is possible to generate a traveling route so as to obtain a discharge yield particularly at a position facing the discharge point and cut through an unworked area, and to generate a more efficient traveling route.

Further, among the sides constituting the unworked land, harvesting of the unworked land on one side facing the entrance from the ridge in the field or on the side opposite to the one side facing the entrance with the traveling path interposed therebetween. Preferably, the pre-adjustment path is generated so as to complete the work.

Further, the traveling route generation program according to an embodiment of the present invention is a combine harvester that harvests crops of the unworked land while automatically reciprocating through the unworked land in the field along the running paths parallel to each other. A travel route generation program that generates an automatic travel route, a function of acquiring a yield rate that is a yield per unit area in the field, a function of acquiring an area of the unworked land, the yield rate and the area From the above, based on the function of estimating the total yield of kernels that are predicted to be harvested in the unworked land, and the shape of the unworked land and the total yield, the shape of the unworked land is reciprocated A function of generating a preliminary adjustment path for performing automatic traveling prior to the reciprocating traveling so as to have an optimal shape for traveling.

インストール By installing and implementing such a travel route generation program in a computer, it is possible to achieve the same effects as those of the above-described travel route generation system.

Further, the recording medium in which the traveling route generation program according to the embodiment of the present invention is recorded, while traveling back and forth by automatic traveling along the traveling routes parallel to each other on the unworked land in the field, A recording medium recording a traveling route generation program for generating an automatic traveling route in a combine harvesting, a function of acquiring a yield rate that is a yield per unit area in the field, and acquiring an area of the unworked land. Function, from the yield rate and the area, the function of estimating the total yield of the grain is expected to be harvested in the unworked land, based on the shape of the unworked land and the total yield And a function of generating a preliminary adjustment path for performing automatic traveling prior to the reciprocating travel so that the shape of the unworked area becomes an optimal shape for the reciprocating traveling. Travel route generating program is recorded.

インストール By installing the running route generation program recorded on such a recording medium in a computer and causing the computer to realize the same, it is possible to achieve the same effects as the running route generation system described above.

Furthermore, the work management system according to one embodiment of the present invention includes a grain tank that stores the grains harvested and threshed and a yield sensor that measures the yield of the grains stored in the grain tank. A work management system for a combine that harvests crops in an outer peripheral area in a field by manual traveling, and harvests the crop while automatically traveling on an unworked area inside the already-operated land where the manual traveling has been performed. A satellite antenna provided in the combine and receiving a satellite signal from a satellite, a satellite positioning module provided in the combine and outputting positioning data corresponding to the vehicle position based on the satellite signal, Provided in the combine, a yield output unit that outputs the yield measured by the yield sensor, a data acquisition unit that acquires the positioning data and the yield, and a data acquisition unit that acquires during the manual driving. From the positioning data, an area calculation unit that calculates an already-worked area of the already-worked area and an un-worked area of the un-worked area, and the yield and the already-worked area obtained during the manual traveling, A yield rate calculation unit that calculates a yield rate that is a yield per unit area in the already-worked area, and a grain that is expected to be harvested in the un-worked area from the unworked area and the yield rate. And a total yield estimating unit for estimating the total yield of.

推定 By estimating the total yield of the unworked land in this way, it is possible to easily manage the harvesting work including this field or another field when the surrounding mowing is completed. In addition, when generating a traveling route in the automatic traveling of the unworked land, the total yield harvested in the unworked land can be considered. Therefore, the total yield is one measure, and it is possible to efficiently generate a traveling route for automatic traveling.

Further, after dividing the total yield by the discharge yield of the grain tank, the decimal number is rounded up, and a discharge frequency calculation unit for calculating a minimum required discharge frequency during the automatic traveling of the unworked land may be provided. preferable.

により With such a configuration, it is easy to optimize the timing of discharging kernels, and it is possible to efficiently generate a traveling route for automatic traveling.

In addition, when the grain is discharged during the manual running, the discharge count calculating unit preferably calculates the discharge count using the yield stored at the time of discharging during the manual running as the discharge yield.

(4) By setting the yield at the time of actual release as the release yield, it is possible to calculate a more realistic number of releases.

An emission-based yield calculation unit configured to calculate an emission-based yield that is equal to or less than the emission yield from the total yield and the number of times of emission, and a travel route generation that generates an automatic travel route based on the emission-based yield. It is preferable to include a part.

In order to generate an efficient traveling route in automatic traveling, it is preferable to generate a route that efficiently moves to the discharge point. In order to efficiently move to the discharge point, it is important to cut through the unworked land and shift to the discharge point as it is. Therefore, when reaching the end of the unworked land, it is necessary that the yield of the stored kernels be a yield suitable for discharge. The emission standard yield obtained as described above is obtained by calculating the yield that is a reference when discharging from the minimum required number of discharges, and the final number of discharges does not change even if the emission is performed at the emission reference yield. Therefore, when generating a travel route, the yield at the time of discharge can be given a range so as to discharge between the discharge reference yield and the discharge yield. Along with this, the degree of freedom in generating the traveling route is improved, and when reaching the end of the unworked land, the yield of the stored kernels becomes a suitable yield for discharging. It becomes easier. As a result, efficient generation of a traveling route becomes easier.

The apparatus may further include a discharge point setting unit configured to set a discharge point for discharging the kernel stored in the kernel tank, wherein the travel route generation unit generates the automatic travel route in consideration of the discharge point. preferable.

走行 By considering the discharge point, a travel route can be generated such that harvesting ends at the end of the unworked land closer to the discharge point, and it becomes easier to efficiently generate a travel route.

Further, the work management method according to an embodiment of the present invention includes a kernel tank for storing a grain harvested and threshed, and a yield sensor for measuring the yield of the kernel stored in the kernel tank. An operation to be performed on a combine that harvests a crop in an outer peripheral area in a field by manual traveling and harvests the crop while automatically traveling on an unworked land inside the already-operated land where the manual traveling has been performed. A management method, a step of receiving a satellite signal from a satellite, calculating positioning data corresponding to the own vehicle position of the combine based on the satellite signal, and obtaining the positioning data and the yield, From the positioning data acquired during the manual traveling, a step of calculating an area of the already-occupied land of the already-occupied land and an unoccupied area of the unoccupied land; From the area A step of calculating a yield rate that is a yield per unit area in the already-worked land; and, based on the unworked-land area and the yield rate, the total yield of kernels that are expected to be harvested in the unworked land Calculating the following.

Preferably, the method further comprises a step of dividing the total yield by the discharge yield of the grain tank, and then rounding up decimal places to calculate a minimum required number of discharges during the automatic traveling of the unworked land.

In addition, when the grain is discharged during the manual driving, it is preferable that the number of discharges is calculated using the yield stored at the time of discharging during the manual driving as the discharge yield.

Further, it is preferable that the method further includes a step of calculating an emission reference yield that is equal to or less than the emission yield from the total yield and the number of discharges, and a step of generating an automatic traveling route based on the emission reference yield. .

With such a configuration, when generating a travel route, the yield at the time of discharge can be given a range so as to discharge between the discharge reference yield and the discharge yield. Therefore, the degree of freedom in generating the traveling route is improved, and when reaching the end of the unworked land, the yield of the stored grains can be set to a suitable yield for discharging. It will be easier. As a result, efficient generation of a traveling route becomes easier.

Preferably, the method further includes the step of setting a discharge point for discharging the kernel stored in the kernel tank, wherein the automatic traveling route is generated in consideration of the discharge point.

In addition, the work management program according to an embodiment of the present invention includes a kernel tank for storing cropped and threshed kernels and a yield sensor for measuring the yield of kernels stored in the kernel tanks. Work for harvesting crops in an outer peripheral area in a field by manual traveling, and monitoring a combine operation for harvesting a crop while automatically traveling on an unworked area inside the already worked area where the manual traveling has been performed. A management program, receiving a satellite signal from a satellite, a function of calculating positioning data corresponding to the own vehicle position of the combine based on the satellite signal, and a function of obtaining the positioning data and the yield, From the positioning data acquired at the time of the manual traveling, a function of calculating an already-worked area of the already-worked area and an un-worked area of the un-worked area, and the yield and the already-worked ground acquired at the time of the manual traveling From the function of calculating the yield rate, which is the yield per unit area in the already-worked land, and from the un-worked area and the yield rate, the kernel is expected to be harvested in the un-worked land And a function for calculating the total yield.

インストール By installing and implementing such a work management program in a computer, it is possible to achieve the same effects as those of the work management system described above.

In addition, a recording medium recording a work management program according to an embodiment of the present invention measures a grain tank that stores grains that are harvested and threshed, and a yield of grains stored in the grain tank. A combine sensor for harvesting crops in an outer peripheral area in a field by manual traveling, and harvesting the crop while automatically traveling on an unworked land inside the already-worked land where the manual traveling was performed. A recording medium recording a work management program for monitoring work, a function of receiving a satellite signal from a satellite, and calculating positioning data corresponding to the own vehicle position of the combine based on the satellite signal; and A function of obtaining data and the yield, a function of calculating an area of the already-worked land and an un-worked area of the un-worked land from the positioning data obtained during the manual running, and A function of calculating a yield rate, which is a yield per unit area in the already-worked land, from the obtained yield and the already-worked area, and the un-worked area from the un-worked area and the yield rate. And a function for calculating the total yield of the grain expected to be harvested by the computer, and a work management program for causing a computer to realize the function.

インストール By installing the work management program recorded on such a recording medium on a computer and causing the computer to realize the same, it is possible to achieve the same effects as those of the work management system described above.

3-2. Solution [2]
The means for solving the problem [2] is as follows.
The harvester according to the present invention, which automatically travels in a reciprocating travel pattern in which a plurality of parallel work travel paths are connected by a turning travel path, travels in a reciprocating travel pattern, includes a harvest tank for storing harvested crops, and the work travel path in an unworked area. A traveling route setting unit that sets at predetermined intervals, an automatic traveling control unit that performs automatic traveling along the work traveling route based on the work traveling route and the own vehicle position, and a harvest amount per unit traveling distance. A specific work travel route that is the work travel route in which the discharge timing of the crop tank occurs and a discharge timing prediction unit that predicts a discharge timing occurrence position in the specific work travel route, and a harvest width in the specific work travel route. By creating a narrow harvest width, an adjusted travel route that delays the discharge timing until the travel end point is created, and the adjusted travel route is defined as the specific work route. And a travel path adjusting section that gives to the automatic travel control unit instead of the path.

With the harvester configured as described above, it is predicted that the discharge timing of the harvest tank (for example, when the harvest tank is full or the harvest tank reaches an acceptable amount in the secondary processing step) is predicted at a specific position in the work traveling path. The work travel route is regarded as a specific work travel route. Furthermore, by delaying the occurrence of the discharge timing in the specific work travel route, the occurrence of the discharge timing is set as the end point of the work travel route. This is made possible by replacing the adjusted travel route with a reduced harvest width (work width) with the specific work travel route. As a result, the harvester reaches the discharge timing when the traveling along the adjusted travel route is completed. Therefore, the harvester leaves the adjusted travel route and goes to the discharge stop location. When the discharge of the crop is completed, the harvest travel is restarted from the next new work travel route. Thus, it is possible to avoid the troublesome traveling of returning to the middle of the work travel route when the harvest travel is interrupted in the middle of the work travel route to leave the work travel route and to discharge the harvested product.

The actual harvest width in the harvest travel along the adjusted travel path is narrower than the harvest width in the harvest travel along the original work travel path, so an unharvested area occurs in the area where the original harvest is performed. . In order to cover this unharvested area, it is necessary to change the work travel route used for harvest travel performed thereafter. Two methods are proposed as a preferable method of changing the work traveling route.

In the one change method, the travel route adjustment unit creates the adjusted travel route by laterally shifting the specific work travel route in a direction in which the harvest width decreases, and performs a lateral shift of the specific work travel route. The work travel route in the unworked area is laterally shifted in order to make the interval of the spread work travel route the predetermined interval. In this embodiment, since the specific work travel route is shifted laterally to be used as the adjustment travel route, the interval between the non-work area adjacent to the specific work travel route and the adjacent work travel route is widened. To solve this, the adjacent work travel route is also shifted laterally. The work traveling route in the unworked area whose interval has been widened by this lateral shift is sequentially laterally shifted. If all the work travel routes that need to be shifted laterally are shifted as a result and there is not enough work travel routes to completely cover the unworked area, a new work travel route may be created.

In another modification method, the traveling route adjustment unit newly creates a virtual traveling route parallel to the specific work traveling route as the adjusted traveling route. This virtual traveling route is set only with the coordinate position of the starting end at which the work traveling is started and the azimuth (meaning the extending direction, but may be an azimuth in which the extending direction changes like a curved line). Just do it. After adjusting the position of the vehicle to the coordinate position of the starting end, the harvest traveling with the appropriately narrowed harvest width is performed only by maintaining the set azimuth. In this changing method, the interval between the virtual travel route and the work travel route adjacent to the virtual travel route is smaller than the normal route interval, and the range of the harvest width in the harvest travel along the work travel route is: Many harvested areas are included, resulting in poor work efficiency. In order to solve this problem, the travel route adjustment unit laterally shifts the specific work travel route and the work travel route in the non-work area in a direction away from the virtual travel route. At this time, the value of the lateral shift may be a value obtained by subtracting the interval between the specific work travel route and the virtual travel route from the predetermined interval.

In one preferred embodiment of the present invention, the traveling route adjustment unit creates an updated traveling route in which the harvest width is equal to an unworked area remaining after traveling on the adjusted traveling route, and The work travel route previously set in the area is replaced with the updated travel route. In this configuration, the updated travel route is created so as to have an evenly distributed harvest width with respect to the unworked area remaining after traveling on the adjusted travel route. As a result, a problem that occurs when the harvest width of the last work traveling becomes abnormally narrow, for example, a problem that the last work traveling is regarded as a wasteful traveling or an automatic traveling error is regarded as occurring. The problem is avoided.

In addition, the traveling pattern creating system according to one embodiment of the present invention includes a reciprocating traveling pattern in which a harvester having a harvest tank for storing crops automatically travels by connecting a plurality of parallel work traveling paths by a turning traveling path. A travel route setting unit that sets the work travel route at a predetermined interval in an unworked area; and a work route along the work travel route based on the work travel route and the own vehicle position. An automatic travel control unit that performs automatic travel, and a specific work travel path that is the work travel path in which a discharge timing of the crop tank is generated based on a harvest amount per unit travel distance, and a discharge timing generation in the specific work travel path. A discharge timing prediction unit for predicting a position, and a harvest width narrower than a harvest width in the specific work travel route to a travel end point. Create an adjustment travel path for delaying the serial ejection timing includes a travel path adjusting unit to be supplied to the automatic travel control unit instead of the adjustment travel route to the specific working travel route, the.

Such a running pattern creation system can also achieve the same effects as the harvester described above.

A traveling pattern creation program according to one embodiment of the present invention includes a reciprocating traveling pattern in which a harvester having a harvest tank that stores harvested products automatically travels by connecting a plurality of parallel work traveling paths by a turning traveling path. A travel route setting function for setting the work travel route in a non-work area at a predetermined interval; and a travel route creation function based on the work travel route and the own vehicle position. An automatic travel control function for performing automatic travel, and a specific work travel path that is the work travel path in which a discharge timing of the crop tank is generated based on a harvest amount per unit travel distance, and a discharge timing generation in the specific work travel path. Driving by setting the discharge timing prediction function to predict the position and the harvest width narrower than the harvest width in the specific work travel route Create an adjustment travel path for delaying the discharge timing to the Ryoten, and a traveling path adjusting function to give to the automatic cruise control functions in place the adjustment travel route to the specific working travel route.

インストール By installing and running such a running pattern creation program in a computer, it is possible to achieve the same effects as those of the harvester described above.

Further, the recording medium on which the running pattern creation program according to one embodiment of the present invention is recorded is a machine in which a harvester having a harvest tank for storing harvests connects a plurality of parallel work travel paths by a turning travel path. A recording medium storing a traveling pattern creating program for creating a reciprocating traveling pattern for traveling, a traveling route setting function for setting the working traveling route at a predetermined interval in an unworked area, An automatic travel control function for automatically traveling along the work travel path based on the specified travel path, and a specific work travel path that is the work travel path in which the discharge timing of the crop tank is generated based on the amount of harvest per unit travel distance And a discharge timing prediction function for predicting a discharge timing occurrence position in the specific work travel route; A travel route adjustment that creates an adjusted travel route that delays the discharge timing until the end point of travel by making the harvest width smaller than the harvest width, and gives the adjusted travel route to the automatic travel control function instead of the specific work travel route A running pattern creation program for causing a computer to realize the functions is recorded.

インストール By installing the running pattern creation program recorded on such a recording medium in a computer and causing the computer to realize the same, it is possible to achieve the same effects as the harvester described above.

The traveling pattern creating method according to one embodiment of the present invention is a method in which a harvester having a harvest tank for storing crops automatically travels by connecting a plurality of parallel work traveling paths by a turning traveling path. A travel route setting step of setting the work travel route in a non-work area at predetermined intervals, and a method of creating a travel pattern along the work travel route based on the work travel route and the own vehicle position. An automatic travel control step of performing automatic travel, and a specific work travel path that is the work travel path in which a discharge timing of the harvest tank occurs based on a harvest amount per unit travel distance, and a discharge timing generation in the specific work travel path. A discharge timing prediction step of predicting a position, and a harvest width narrower than the harvest width in the specific work travel route, so that the travel end point is reached. Create an adjustment travel path for delaying the discharge timing, comprising: a traveling path adjusting step of providing the automatic travel control process in place of the adjustment travel route to the specific working travel route, the.

作成 It is possible to create such a running pattern and to achieve the same effects as those of the harvester described above.

It is a left view of a combine. It is a figure showing the outline of automatic running of a combine. FIG. 3 is a diagram illustrating a traveling route in automatic traveling. FIG. 3 is a functional block diagram illustrating a configuration of a combine management / control system. It is a figure explaining discharge of a grain performed during harvesting run. It is a figure explaining a preliminary adjustment course. It is a figure in the management and control method of a combine which shows. It is a figure explaining the preliminary adjustment course in α cutting. It is a side view of a normal type combine as an example of a harvester. It is explanatory drawing which shows the cutting and running around the combine. It is explanatory drawing which shows the driving | running | working pattern which repeats reciprocating driving | running connected by U-turn. It is explanatory drawing which shows the driving | running | working pattern which runs toward the center in the shape of a spiral. It is explanatory drawing explaining calculation of the work travel route in the reciprocating travel pattern using a switchback turn. FIG. 8 is an explanatory diagram illustrating calculation of a work traveling route in a reciprocating traveling pattern using a normal U-turn. It is explanatory drawing explaining calculation of the work travel route in a spiral running pattern. It is explanatory drawing explaining the flow of the harvesting work by the combine performed using manual driving | running | working and automatic driving | running. FIG. 3 is a functional block diagram illustrating a configuration of a combine control system. It is explanatory drawing explaining the procedure which produces an adjustment travel route from a specific work travel route. It is explanatory drawing explaining the horizontal shift of the work travel route performed based on the setting of the adjustment travel route. It is explanatory drawing explaining the horizontal shift of the work travel route performed based on the setting of the adjustment travel route. FIG. 8 is an explanatory diagram illustrating equal allocation of work traveling routes performed based on setting of an adjusted traveling route.

4-1. First Embodiment A mode for carrying out the present invention will be described with reference to the drawings. In the following description, the direction of arrow F shown in FIG. 1 is referred to as “front”, the direction of arrow B is referred to as “rear”, the near side of FIG. 1 is “left”, and the back direction is “right”. And The direction of arrow U shown in FIG. 1 is “up”, and the direction of arrow D is “down”.

[Overall structure of combine]
As shown in FIGS. 1 and 2, the combine includes a crawler-type traveling device 11, an operation unit 12, a threshing device 13, a grain tank 14, a harvesting device H, a transport device 16, a grain discharging device 18, and a satellite positioning module. 80.

走行 As shown in FIG. 1, the traveling device 11 is provided below the traveling vehicle body 10 (hereinafter simply referred to as the vehicle body 10). The combine is configured to be self-propelled by the traveling device 11.

運転 The operating unit 12, the threshing device 13, and the grain tank 14 are provided above the traveling device 11. An operator who monitors the operation of the combine can be boarded on the driving unit 12. The observer may be monitoring the combine operation from outside the combine.

The grain discharge device 18 is provided above the grain tank 14. Further, the satellite positioning module 80 is mounted on the upper surface of the driving unit 12.

The harvesting device H is provided at the front of the combine. The transport device 16 is provided on the rear side of the harvesting device H. Further, the harvesting device H has a cutting mechanism 15 and a reel 17.

The cutting mechanism 15 cuts the planted grain culm in the field. Further, the reel 17 scrapes the planted grain stem to be harvested while being driven to rotate. With this configuration, the harvesting device H harvests cereals in the field (hereinafter, also referred to as “crops”). Then, the combine can perform harvesting travel in which the harvesting device H harvests cereals in a field while traveling by the traveling device 11.

As described above, the combine includes the harvesting device H that harvests cereals in the field and the traveling device 11.

The harvested culm cut by the cutting mechanism 15 is transported by the transport device 16 to the threshing device 13. In the threshing device 13, the harvested culm is threshed. The grain obtained by the threshing process is stored in the grain tank 14. The grain tank 14 is provided with a yield sensor 19 that measures the yield of the grains stored in the grain tank 14. The grains stored in the grain tank 14 are discharged out of the machine by a grain discharging device 18 as necessary.

As described above, the combine is provided with the grain tank 14 that stores the grains harvested by the harvesting device H.

通信 The communication terminal 2 is arranged in the driving unit 12. In FIG. 1, the communication terminal 2 is fixed to a driving unit 12. However, the present invention is not limited to this, and the communication terminal 2 may be configured to be detachable from the driving unit 12. Further, it may be taken out of the combine machine.

[Configuration related to automatic driving]
As shown in FIG. 2, the combine automatically travels along a travel route generated in a field. Therefore, the combine needs to recognize the own vehicle position. The satellite positioning module 80 having a satellite antenna includes a satellite navigation module 81 and an inertial navigation module 82. The satellite navigation module 81 receives a GNSS (global navigation satellite system) signal (including a GPS signal) from the artificial satellite GS via a satellite antenna and outputs positioning data for calculating the position of the own vehicle. The inertial navigation module 82 incorporates a gyro acceleration sensor and a magnetic direction sensor, and outputs a position vector indicating an instantaneous traveling direction. The inertial navigation module 82 is used to supplement the own vehicle position calculation by the satellite navigation module 81. The inertial navigation module 82 may be located at a different location from the satellite navigation module 81.

手順 The procedure for performing harvesting work in the field by combine is as described below.

First, the driver / monitor manually operates the combine, and performs harvesting traveling so as to orbit along the boundary of the field in the outer peripheral portion of the field as shown in FIG. Also referred to as). As a result, the area that has been cut (the already worked place) is set as the outer peripheral area SA. Then, the area left uncut (unworked) inside the outer peripheral area SA is set as the work target area CA. FIG. 2 shows an example of the outer peripheral area SA and the work target area CA. The surrounding mowing is performed by manual traveling.In this case, the peripheral mowing may be a traveling in which the driver rides on the combine and steers the combine. May be.

この At this time, in order to secure the width of the outer peripheral area SA to some extent, the driver runs the combine for two or three turns. In this traveling, every time the combine makes one round, the width of the outer peripheral area SA increases by the working width of the combine. After the first two or three rounds of travel, the width of the outer peripheral area SA becomes about two to three times the working width of the combine. Note that the first round traveling by the driver is not limited to two or three laps, but may be longer (four or more laps) or one lap.

(4) The outer peripheral area SA is used as a space for the combine to change directions when performing harvesting traveling by automatic traveling in the work target area CA. In addition, the outer peripheral area SA is also used as a space for movement when the harvest travel is once completed and the grain is moved to a grain discharge location, or is moved to a fuel supply location.

運搬 Note that the transport vehicle CV shown in FIG. 2 can collect and transport the kernels discharged from the combine. In discharging the grains, the combine moves to the vicinity of the transport vehicle CV, and then discharges the grains to the transport vehicle CV by the grain discharging device 18.

When the outer peripheral area SA and the work area CA are set, the traveling route in the work area CA is calculated as shown in FIG. The calculated traveling route is sequentially generated based on the work traveling pattern, and becomes a route along which the combine automatically travels along the generated traveling route. In addition, as a turning pattern for turning, in addition to a U turning pattern in which the direction changes along a U-shaped turning traveling path as shown in FIG. It has a turning pattern and a switchback turning pattern that performs the same direction change as the U turning pattern in an area narrower than the U turning pattern with backward traveling. Such turning movement including backward movement is also performed, for example, when the grain tank 14 is full and the combine that has left the traveling route in the work target area CA is positioned with respect to the transport vehicle CV.

[Management and control related to automatic driving]
Hereinafter, a configuration for performing management and control related to automatic driving will be described with reference to FIGS. 4 to 6.

The combine management / control system includes a control unit 5 composed of a number of electronic control units called ECUs, and various input / outputs for performing signal communication (data communication) with the control unit 5 through a wiring network such as an in-vehicle LAN. It is composed of equipment.

The communication unit 66 is used by the combine management / control system to exchange data with the communication terminal 2 or with a management computer installed in a remote place. The communication terminal 2 includes a tablet computer operated by an observer standing on a field, a driver and an observer riding in a combine, and a computer installed in a home or a management office. The control unit 5 is a core element of the control system, and is shown as an aggregate of a plurality of ECUs. A signal from the satellite positioning module 80 is input to the control unit 5 through the onboard LAN. Note that some of the components of the control unit 5 may be arranged in the communication terminal 2.

The control unit 5 includes an input processing unit 90, a vehicle position calculation unit 55, a vehicle body direction calculation unit 56, a field management unit 83, a yield management unit 70, and a travel route generation unit 54. Further, although not shown, the control unit 5 may include an output processing unit, a traveling control unit that controls a traveling device group, a work control unit that controls a harvesting work device, and the like. The output processing unit includes a steering device, an engine device, a transmission device, a braking device, a harvesting device H (see FIG. 1), a threshing device 13 (see FIG. 1), a transport device 16 (see FIG. 1), and a grain discharging device 18 (see FIG. 1). (See FIG. 1).

The input processing unit 90 is connected with the satellite positioning module 80, the yield output unit 20, the traveling state sensor group 63, the work state sensor group 64, the traveling operation unit (not shown), and the like. The input processing unit 90 receives the information from these, and provides the information to various functional units in the control unit 5. The running state sensor group 63 includes an engine speed sensor, an overheat detection sensor, a brake pedal position detection sensor, a shift position detection sensor, a steering position detection sensor, and the like. The work state sensor group 64 includes a harvesting operation device (harvesting device H (see FIG. 1)), a threshing device 13 (see FIG. 1), a transport device 16 (see FIG. 1), and a grain discharging device 18 (see FIG. 1). And a sensor for detecting the state of the grain culm and the grain.

Based on the positioning data sequentially transmitted from the satellite positioning module 80, the own vehicle position calculating unit 55 sets the own vehicle as the map coordinates (or the field coordinates) of a specific location of the vehicle body 10 (see FIG. 1) which is set in advance. Calculate the position and the position of both ends of the harvest width. The body direction calculation unit 56 obtains a traveling locus in a short time from the vehicle position sequentially calculated by the vehicle position calculation unit 55, and calculates the vehicle direction indicating the direction of the vehicle body 10 (see FIG. 1) in the traveling direction. decide. Further, the vehicle body azimuth calculating unit 56 can also determine the vehicle azimuth based on the azimuth data included in the output data from the inertial navigation module 82.

The field management unit 83 calculates the outer shape of the field, the outer shape of the work target area CA, the area of the field, the area of the work target area CA, and the like based on the own vehicle position calculated by the own vehicle position calculator 55. For example, the field management unit 83 includes an area calculation unit 84, a shape calculation unit 85, and the like. The shape calculator 85 calculates the outer shape of the field and the outer shape of the work target area CA. The area calculation unit 84 calculates the area of the field and the area of the work target area CA. In addition, the field management unit 83 may include a discharge point setting unit 86 that sets a discharge point for discharging kernels to the transport vehicle CV.

(4) The yield management unit 70 manages the yield used for determining a traveling route for automatic traveling and the like. Therefore, the yield management unit 70 estimates a yield rate, which is the yield of harvesting the crop per unit area of the field, the total yield that can be harvested in the work target area CA, and the like. Further, the yield management unit 70 calculates the minimum number of times of discharging the stored grains and the yield of the grains to be discharged, which are required at the minimum when harvesting the crop in the work target area CA. Specifically, the yield management unit 70 can include a yield rate calculation unit 71, a total yield calculation unit 72 (corresponding to a total yield estimation unit), a discharge count calculation unit 73, a discharge reference yield calculation unit 74, and the like. In addition, the yield management unit 70 can include all of them, or can also include some of them in combination.

The yield rate calculation unit 71 calculates the yield rate, which is the yield per unit area, from the yield of the kernel harvested in the outer peripheral area SA and the area of the outer peripheral area SA in the peripheral mowing. Specifically, the yield rate is obtained by dividing the yield of the kernel harvested in the outer peripheral area SA by the area of the outer peripheral area SA. The yield of the grain harvested in the outer peripheral area SA is obtained from the increase amount of the grain stored in the grain tank 14 from the start to the end of the peripheral cutting by manual traveling. When the kernel is discharged during the peripheral cutting, the increment of the kernel before and after that is added up. In addition, the yield of the kernel harvested in the outer peripheral area SA may be calculated by the yield rate calculation unit 71, or may be calculated by another function unit such as another function unit in the yield management unit 70. The area of the outer peripheral area SA is obtained by the area calculator 84 subtracting the area of the work target area CA from the area of the field.

(4) The total yield calculator 72 estimates the total yield of kernels that are expected to be harvested in the entire work area CA from the area and the yield rate of the work area CA. Specifically, the total yield is obtained by multiplying the area of the work area CA by the yield rate. This makes it possible to efficiently generate a traveling route for automatic traveling in the work target area CA while referring to the total yield and considering the discharge of grains.

The discharge number calculation unit 73 determines the minimum required for automatic traveling in the work target area CA from the discharge yield, which is the yield stored in the grain tank 14 when discharging the kernel, and the total yield of the work target area CA. Is calculated. Specifically, the number of discharges is determined by dividing the total yield by the discharge yield and rounding up to an integer value. The discharge yield is a full yield of the grain tank 14 or a yield that is a predetermined ratio or a predetermined amount less than the full yield, a discharge yield required from the outside, a yield corresponding to the loading capacity of a transport vehicle, or a yield at the time of discharge in advance. Can be obtained. In addition, when the kernel is discharged during the peripheral cutting, the yield at the time of discharging may be used as the discharge yield. By calculating the number of discharges in this way, as will be described later, while setting an efficient discharge timing in consideration of the number of discharges, an efficient traveling route in the automatic traveling in the work target area CA is set. Can be generated.

The emission-based yield calculation unit 74 calculates the emission-based yield from the total yield of the work target area CA and the number of emissions calculated by the number-of-emissions calculation unit 73. The discharge standard yield is the yield of the grains stored in the grain tank 14 as a measure for discharging the grains during the automatic traveling. Specifically, the emission standard yield is obtained by dividing the total yield by the number of emissions. By calculating the emission standard yield in this way, as will be exemplified later, while efficiently setting the emission timing using the emission standard yield as a guide, the traveling route of the automatic traveling in the work target area CA is efficiently generated. It is possible to do.

The traveling route generation unit 54 generates a traveling route for automatic traveling in the work target area CA based on the outer shape of the field, the outer shape of the work target area CA, and the like. The traveling route used in the automatic traveling can be generated by the traveling route generation unit 54 by a route calculation algorithm by itself, but the traveling route generated by the communication terminal 2 or a remote management computer may be used. It is possible. Note that the traveling route calculated by the traveling route generating unit 54 can be used for guidance for the combine to travel along the traveling route even in manual operation.

この This combine can be run in both automatic operation, in which harvesting is performed automatically, and manual operation, in which harvesting is performed manually. When performing automatic driving, the automatic driving mode is set, and for performing manual driving, the manual driving mode is set. The switching of the traveling mode is managed by a traveling mode management unit (not shown) or the like.

Note that, when the traveling route generation unit 54 generates the traveling route of the automatic traveling, one of the total yield of the work target area CA, the number of discharges calculated by the discharge number calculation unit 73, and the discharge reference yield is used. They can be considered in appropriate combinations. Further, the traveling route generation unit 54 can also generate the traveling route in consideration of the discharge points set by the discharge point setting unit 86.

By generating a travel route that automatically travels in the work target area CA in consideration of the total yield of the work target area CA, the travel route including the discharge travel to the discharge point can be efficiently performed while referring to the emission yield. Can be generated. Further, it is also possible to calculate the remaining yield from the yield of the grains harvested during the automatic traveling, and change the traveling route from time to time to the more efficient traveling route as the automatic traveling progresses.

In addition, by generating a traveling route that automatically travels in the work target area CA in consideration of the number of discharges, according to the number of discharges, the automatic traveling performed from discharging the kernel to discharging the next kernel is performed. The optimum travel route can be easily and efficiently generated by equalizing the distance of the harvest travel.

In addition, the traveling route estimates the timing at which it is necessary to discharge the grain such as reaching the discharge yield, and considering the route to the discharge point, the timing at which the discharge yield is reached is determined in the work target area. It is desirable to generate the CA so as to be able to cut through the CA.

For example, as shown in FIG. 5, the combine during automatic traveling travels so as to traverse the work target area CA at a certain position, then turns and traverses the work target area CA at another position. Repeat running. When the yield of the grains stored in the grain tank 14 reaches the discharge yield, the combine (illustrated as the traveling vehicle body 10 in the figure) is set near the transport vehicle CV to discharge the stored grains. To the discharge point PO. Assuming that the combine is traveling at a position (for example, position PF1) inside the work target area CA when the discharge yield is reached, the combine retreats along the traveling path that has already been harvested and turns in the outer peripheral area SA. The vehicle travels on the discharge travel route LO1 toward the discharge point PO. However, when the vehicle travels backward on the traveling route and reaches the discharge point PO, the discharge traveling route LO1 associated with the discharge becomes long, and the efficiency of the automatic traveling deteriorates.

On the other hand, by generating a traveling route that automatically travels in the work target area CA in consideration of the discharge standard yield, the width when the kernel is discharged does not exceed the full yield from the discharge standard yield. The yield given may be considered. Therefore, the traveling route can be easily generated such that the timing of moving to the discharge point is the timing of cutting through the work target area CA. For example, as shown in FIG. 5, assuming that at a position PF2 at the end of the work area CA, a yield having a width equal to or larger than the discharge reference yield and equal to or smaller than the full yield is reached, the vehicle advances forward and moves along the discharge travel route LO2. Through the discharge point PO. As a result, an efficient traveling route can be easily generated.

Further, as shown in FIG. 6, in order to easily generate an efficient traveling route, the traveling route generating unit 54 adjusts the length of the work target area CA in the direction along the traveling route in the automatic traveling. The preliminary adjustment route LR for performing the preliminary adjustment traveling may be generated. By performing the preliminary adjustment traveling in this way, in the automatic traveling, a traveling route is generated such that the emission yield is reached at the timing of cutting through the work target area CA so that the emission yield does not become inside the work target area CA. It becomes easier. For example, a traveling route can be generated so as to reach the discharge yield at the end of the work target area CA during the reciprocating traveling. Thereby, it is possible to always discharge the grain with a suitable yield to the discharge point PO through the discharge travel path LO2 without retreat. As a result, it is possible to easily generate an efficient travel route that can efficiently discharge grains and perform efficient discharge travel. The discharge yield at this time may be a discharge reference yield or a yield equal to or higher than the discharge reference yield and equal to or lower than a predetermined ratio or a predetermined yield lower than the full yield. Also, in the drawing, an example is shown in which the preliminary adjustment path LR is generated at one side end of the work target area CA, but the preliminary adjustment path LR may be generated at two opposite ends.

It should be noted that at least a part of the area of the work area CA, the yield rate, the total yield of the work area CA, the number of discharges calculated by the discharge number calculation unit 73, and at least a part of the discharge standard yield, hold those previously checked. Or may be obtained from outside via the input processing unit 90. When acquiring from outside, the input processing unit 90 or the traveling route generation unit 54 and other functional units acquire an area acquiring unit for acquiring an area of the work target area CA, a yield rate acquiring unit for acquiring a yield rate, and acquire a total yield. It functions as a data acquisition unit such as a total yield acquisition unit that acquires the number of emissions, a discharge count acquisition unit that acquires the number of discharges, and a discharge standard yield acquisition unit that acquires the emission reference yield.

走行 In addition, it is preferable that the traveling route generating unit 54 generate the preliminary adjustment route so that the harvesting operation of the work target area CA is completed on one side facing the entrance from the ridge in the field.

Hereinafter, a method of managing and controlling the automatic driving will be described with reference to FIGS. The method described below may be realized by the above-described apparatus configuration shown in FIG. 4, but may be realized by another arbitrary configuration. Further, the method described below can be realized using a program. For example, the program is stored in the storage device 92, and is executed by the control unit 91 including a CPU, an ECU, and the like. Further, the storage device 92 and the control unit 91 may be provided in the control unit 5 or may be provided in another place.

(4) The satellite signal from the satellite is continuously received, and the positioning data corresponding to the own vehicle position is calculated (Step # 1 in FIG. 7).

(4) The yield of the grains continuously stored in the grain tank 14 is measured (Step # 2 in FIG. 7).

(4) While continuously calculating the positioning data and measuring the yield, the combine harvests the periphery of the outer peripheral area SA of the field (step # 3 in FIG. 7).

The outer shape of the work target area CA (unworked land), which is the uncut land (unworked land) inside the outer peripheral area SA (worked land), based on the positioning data continuously calculated after the surrounding mowing is performed. And the outer shape of the outer peripheral area SA (the outer shape of the field) are calculated. In addition, the area of the work target area CA and the area of the outer peripheral area SA are calculated (Step # 4 in FIG. 7).

{Circle around (4)} The yield rate, which is the yield per unit area when the outer peripheral area SA is trimmed around, is calculated from the yield of the kernel harvested during the peripheral cutting and the area of the outer peripheral area SA. Specifically, the yield rate is obtained by dividing the yield of the grain harvested at the time of peripheral cutting by the area of the outer peripheral area SA. The obtained yield rate is estimated to be applicable to the harvest in the entire field, and can be used for generating a traveling route of the work target area CA by automatic traveling (step # 5 in FIG. 7).

Then, the total yield of kernels that are expected to be harvested in the work target area CA is calculated from the area of the work target area CA and the yield rate. Specifically, the total yield is obtained by multiplying the area of the work target area CA by the yield rate. By referring to the total yield, it is possible to efficiently generate a traveling route of the automatic traveling in the work target area CA while considering the discharge of grains (step # 6 in FIG. 7).

Next, the minimum number of times of grain discharge required when automatically traveling in the work target area CA is calculated from the discharge yield and the total yield of the work target area CA. Specifically, the minimum required number of times of grain release is obtained by dividing the total yield by the yield and moving up the decimal places. In addition, the discharge yield here is the full yield of the grain tank 14, the yield which is smaller than the full yield by a predetermined ratio or a predetermined amount, the discharge yield required from the outside, the capacity corresponding to the loading capacity of the transport vehicle, Alternatively, the yield can be a yield defined in advance as the yield at the time of discharge. Further, when the kernel is discharged during the peripheral cutting, the yield at the time of discharging may be used as the discharge yield (step # 7 in FIG. 7).

As described above, when the automatic traveling is performed until the emission yield is reached, when the emission yield is reached inside the work target area CA, it is necessary to retreat in order to move to the ejection point PO. May not be possible. On the other hand, by calculating the minimum required number of discharges of kernels, when generating a traveling route for automatic driving, taking into account the number of discharges, even in a state where the discharge yield does not reach In some cases, it is possible to generate a traveling route that starts moving to the discharge point PO at a position convenient for moving to the discharge point PO. As a result, it is possible to generate an efficient traveling route in the automatic traveling in the work target area CA.

Next, a discharge standard yield is calculated from the total yield of the work target area CA and the minimum required number of discharges of the grains. Specifically, the discharge standard yield is obtained by dividing the total yield of the work target area CA by the minimum required number of discharges of kernels. The emission standard yield obtained in this way is equivalent to the yield when the yield discharged in each automatic driving is equally allocated when the kernel is discharged with the minimum required number of discharges of the kernel. . The emission standard yield is equal to or lower than the emission yield. Therefore, as the yield at the time of emission considered when generating the traveling route of the automatic traveling, a yield equal to or higher than the emission reference yield and equal to or lower than the emission yield can be used. As described above, since the yield at the time of discharge considered when generating the traveling route can be given a range, the movement to the discharge point PO is started at a position convenient for moving to the discharge point PO. Such a traveling route can be generated more easily (step # 8 in FIG. 7).

Next, when generating a traveling route of the work target area CA by automatic traveling, first, a preliminary adjustment route is generated. The preliminary adjustment path is a path in which harvesting travel is performed in order to reduce the length of the outer shape of the work target area CA so that the length of reciprocating travel in the work target area CA by automatic travel is reduced. Therefore, the preliminary adjustment route is a route that travels in a direction that intersects the direction in which the vehicle travels back and forth. By performing the harvesting traveling on the preliminary adjustment path, the work target area CA has an optimal shape for performing reciprocating traveling by automatic traveling thereafter. The optimal shape is, for example, a shape that does not result in a discharge yield in the middle of the traveling route in the work target area CA (inside the work target area CA) in automatic traveling. As described above, when the emission yield is reached in the middle of the traveling route, it is not possible to efficiently move to the emission point PO. Therefore, it is preferable to generate the traveling route so that the yield can be started at the end of the work target area CA to the discharge point PO. The preliminary adjustment path is a path for making the shape of the work target area CA into a shape that facilitates generation of such a traveling path. Such a preliminary adjustment path is generated based on the total yield of the work target area CA described above. Further, it is preferable to consider the emission yield. The discharge yield is, as described above, a full yield of the grain tank 14 or a yield that is a predetermined ratio or a predetermined amount less than the full yield, a discharge yield required from the outside, a capacity corresponding to the loading capacity of the transport vehicle, or The yield specified in advance as the yield at the time of discharge can be set (step # 9 in FIG. 7).

The total yield may be the total yield determined in step # 6 of FIG. 7, but may be the previously determined total yield, and may be obtained externally when generating the preliminary adjustment route. good.

In addition, when generating the preliminary adjustment path, a discharge point for discharging the kernel stored in the kernel tank 14 may be set in advance, and the preliminary adjustment path may be generated in consideration of the discharge point. In addition, a preliminary adjustment path may be generated so that the harvesting operation of the work target area CA is completed on one side of the sides constituting the work target area CA, which faces the entrance from the ridge in the field.

Next, a traveling route for the automatic traveling of the unharvested work target area CA is generated (Step # 10 in FIG. 7).

(4) Finally, harvesting by automatic running is performed on the work target area CA where harvesting has not been performed (step # 11 in FIG. 7). The process is ended when the harvesting and running of all the areas are completed.

The generation of the traveling route in the automatic traveling can be performed in consideration of at least one of the yield rate, the total yield, the number of discharges, and the reference discharge yield. Further, at the time of generating the travel route, a discharge point for discharging the grains stored in the grain tank 14 may be set in advance, and the travel route may be generated in consideration of the discharge point.

において In the above embodiment, the following different embodiments can be combined and implemented.

[Another embodiment 1]
The yield rate, the total yield, the number of discharges, and the discharge standard yield are calculated based on the information on the cutting around the field, and a map of the field is created in the cutting around the field. When creating a field map, an operation for starting creation of a field map is performed by a field map creation start switch or the like. Further, the operation of the field map creation start switch may be restricted so that it can be performed only when the assist switch is input (assist mode is ON) and the operation state is related to the automatic traveling. Further, the surrounding mowing may be started only in a harvesting state and in a state where the field map creation start switch is input. By providing the above-described regulation, it is possible to avoid creating a field map at an inappropriate position, and to create an appropriate field map when cutting around the field.

Note that the harvesting state is a case where the harvesting device H (see FIG. 1) is at a predetermined height, and may be a state where the threshing device 13 (see FIG. 1) is operating. In addition, in a state where it is determined that the surroundings are being cut, a warning may be issued when the field map creation start switch is not input. Thereby, forgetting to input the field map creation start switch can be suppressed. The determination as to whether or not the surrounding mowing is being made can be made based on whether an assist switch has been input or the harvesting device H (see FIG. 1) is at a predetermined position in a place where no map has been created.

If the positioning state of the satellite positioning module 80 (see FIG. 1) is reduced while the surroundings are being trimmed (during the creation of the field map), a warning may be issued, and the creation of the field map or the harvesting operation may be interrupted. Thus, it is possible to suppress creation of an incorrect field map.

The above warning can be issued to the communication terminal 2 (see FIG. 1) such as a VT (virtual terminal), the driving unit 12 (see FIG. 1), and the like, such as sounding a warning sound and lighting a warning lamp. .

[Another embodiment 2]
Completion of each operation, including the calculated yield rate, total yield, number of discharges, and discharge standard yield, predicted time when the grain tank 14 (see FIG. 1) is full or a predetermined yield, and stoppage of traveling. Also, information such as abnormal stop, detection of clogging in the harvesting device H (see FIG. 1) and the like may be notified to a terminal such as a veteran worker or an administrator such as a smartphone of another person. good. As a result, it is possible to receive necessary instructions and advice from others, and to urge the user to perform necessary work such as moving a transport vehicle.

[Another Embodiment 3]
The creation of the field map including the calculation of the outer shape and the area of the field and the work area CA and the automatic traveling in the work area CA can be performed by two or more different work machines such as combine machines. Thereby, while performing the automatic traveling in the work target area CA with one working machine and performing the surrounding mowing with the other working machine, it is possible to efficiently perform harvesting work in many fields. In addition, since the surrounding mowing requires experience, a more experienced worker performs mowing, and an inexperienced worker monitors the automatic traveling, so that a more efficient harvesting operation can be performed. .

In addition, the working machine that cuts the surroundings is not a working machine that can perform automatic traveling, but can be a working machine that includes a satellite positioning module 80 (see FIG. 1) capable of recording measurement data and a communication device. . In this case, the positioning data may be transmitted to a management server or the like, information such as a field map may be created by the management server, and the information may be transferred to a work machine that performs automatic traveling. Thereby, it is possible to harvest the field by automatic traveling with a simpler configuration. In addition, the working machine that cuts the surroundings may be a working machine that cannot perform automatic traveling, which is provided with a satellite positioning module 80 (see FIG. 1) and a communication device as a retrofit.

The recording device that records the positioning data may be provided outside the satellite positioning module 80 (see FIG. 1). If the management server can record the positioning data, the satellite positioning module 80 (see FIG. 1) does not need to record the positioning data.

[Another embodiment 4]
In the above description using FIG. 6, the preliminary adjustment route LR is a route in a direction intersecting the traveling route, and the preliminary adjustment traveling is a traveling in which the U-turn is repeatedly performed along the preliminary adjustment route LR. However, the present invention is not limited to this configuration, and the preliminary adjustment path LR may be any path that can adjust the length of the work target area CA in the direction along the traveling path, and the preliminary adjustment traveling can be performed by an arbitrary turning method.

For example, as shown in FIG. 8, the preliminary adjustment route LR may be a route along the outer periphery of the work target area CA. Specifically, the preliminary adjustment path LR is a path that goes from the outermost periphery of the work target area CA toward the inner peripheral side in parallel with each outer periphery of the work target area CA. For example, the preliminary adjustment route LR makes a round around the work target area CA along the outer periphery of the work target area CA with the vicinity of the corner of the work target area CA as a starting point, and if necessary, the inside of the path that has made one round. Along one or more routes. Note that, when performing such preliminary adjustment traveling on the preliminary adjustment route LR, it is easy to perform an α-turn when turning from a route parallel to one outer periphery to a route parallel to the next outer periphery. Yes and preferred.

予備 Also in the case of performing the preliminary adjustment traveling that travels on such a preliminary adjustment path LR, the length of the work target area CA in the direction along the traveling path can be adjusted. Therefore, in the automatic traveling, it is easy to generate a traveling route so as to reach the discharge yield at the timing of cutting through the work target area CA so that the discharge yield does not become (in the middle of) the work target area CA. As a result, it is possible to always discharge the PO to the discharge point PO without retreat and discharge an appropriate amount of grain. As a result, it is possible to easily generate an efficient travel route that can efficiently discharge grains and perform efficient discharge travel.

Note that the preliminary adjustment path LR is not limited to a path that circulates from the outer peripheral side to the inner peripheral side of the work target area CA as described above, and may be a path that circulates from the inner peripheral side to the outer peripheral side. . Further, the preliminary adjustment path LR may be a path that circulates a predetermined area inward from the outer periphery of the work target area CA in an arbitrary order.

Here, an example of a method of generating the preliminary adjustment route LR shown in FIGS. 6 and 8 will be described with reference to FIG.
By performing the preliminary adjustment travel on the preliminary adjustment route LR, the length in the direction parallel to the travel route of the remaining work area RA, which is the unworked area of the work target area CA, becomes the length L. The length L generates a travel route such that the discharge yield is reached at the timing of cutting through the remaining work area RA so that the discharge yield does not become inside the work target area CA (remaining work area RA) in the automatic traveling. It is a length that makes it possible.

When generating the preliminary adjustment route LR, first, after the kernel is discharged (the kernel tank 14 (see FIG. 1) is empty), the traveling distance that can be harvested until the discharge standard yield is reached. Is defined as LS. Here, the travel distance LS is obtained, for example, from the travel distance and the yield that can be obtained from the positioning data in the case of cutting the periphery, for example, to obtain the travel distance required to harvest a unit yield. Can be calculated by multiplying Then, the preliminary adjustment route LR is generated such that the length L of the remaining work area RA in the direction parallel to the traveling route satisfies the relationship of L × n (n is a positive integer) = LS.

When n is an odd number, the traveling distance LS of the traveling route S1 in the harvesting traveling is an odd multiple of L, and the combine (the traveling vehicle body 10) enters the traveling target region CA (the remaining work region RA) in the traveling route S1. It is a path that cuts through from the side opposite to the remaining side of the remaining work area RA. If the discharge point PO is set in the vicinity of the entering side, if n is an odd number, the discharge travel route LO2 will be long. In this case, the preliminary adjustment route LR may be generated such that the traveling distance LS is an even multiple of L. For example, the preliminary adjustment route LR may satisfy the relationship of L × 2n (n is a positive integer) = LS. Generate Thereby, it is possible to set the path such as the traveling path S2 that can always be cut off from the side that enters the work target area CA (remaining work area RA). Therefore, it is preferable to generate the preliminary adjustment route LR by properly selecting whether the travel distance LS is an odd multiple of L or an even multiple of L in accordance with the position of the discharge point PO.

走行 Further, the traveling distance LS includes a U-turn in reciprocating traveling, and an error may occur in the traveling distance LS based on the length L of the remaining work area RA. Further, the error may be an error of the yield sensor 19 or the like. If an error occurs, the discharge reference yield may be reached in the middle of the remaining work area RA. Therefore, it is preferable to provide a margin for the length L of the remaining work area RA when the preliminary adjustment path LR is generated. Specifically, the preliminary adjustment path LR is generated so as to satisfy a relationship of L ′ × n (or 2n) (n is a positive integer) = LS, and the length L ′ is a predetermined length or a length longer than the length L. Make the length shorter in proportion. Thus, it is possible to prevent the discharge reference yield from being reached in the middle of the remaining work area RA.

In the above embodiment, the traveling route generation system and the traveling route generation method have been described. Each functional unit in the above embodiment can be configured as a traveling route generation program for causing a computer to realize the functional units. In such a case, the traveling route generation program is configured to generate an automatic traveling route in a combine harvesting crops in the unworked land while reciprocating the unworked land in the field by automatic traveling along the parallel running routes. A route generation program, a function of acquiring a yield rate that is a yield per unit area in the field, a function of acquiring an area of the unworked land, and the unworked land based on the yield rate and the area. Based on the function of estimating the total yield of the grain that is predicted to be harvested in the shape of the unworked land and the total yield, the shape of the unworked land becomes an optimal shape for the reciprocating travel. As described above, it is also possible to configure the computer to realize the function of generating a preliminary adjustment path for performing automatic traveling prior to the reciprocating traveling.

Further, such a traveling route generation program can be configured to be recorded on a recording medium.

The functional units in the work management system and the work management method according to the above embodiments may be configured as a work management program for causing a computer to realize the functions. In such a case, the work management program has a grain tank that stores the grain obtained by harvesting and threshing the crop and a yield sensor that measures the yield of the grain stored in the grain tank. A work management program for manually harvesting crops in an area, and monitoring a combine harvesting operation while automatically traveling on unworked land inside the already-worked land where the manual travel was performed, comprising: A function of calculating positioning data corresponding to the own vehicle position of the combine based on the satellite signal, a function of obtaining the positioning data and the yield, and From the positioning data, the function of calculating the already-worked land area of the already-worked land and the un-worked land area of the un-worked land, and the yield and the already-worked land area obtained during the manual traveling, Earth A function of calculating a yield rate, which is the yield per unit area, and a function of calculating the total yield of kernels that are expected to be harvested in the unworked land from the unworked land area and the yield rate. Can be configured to be realized by a computer.

作業 Further, such a work management program can be configured to be recorded on a recording medium.

4-2. Second Embodiment Next, as an example of a harvester capable of performing an automatic operation and a manual operation according to the present invention, a description will be given of a general-purpose combiner. In this specification, “front” (direction of arrow F shown in FIG. 9) means forward in the longitudinal direction of the aircraft (running direction), and “rear” (arrow B shown in FIG. 9) unless otherwise specified. Direction) means backward with respect to the longitudinal direction of the aircraft (running direction). In addition, the left-right direction or the lateral direction means a cross-machine direction (machine body width direction) orthogonal to the machine body front-rear direction. “Up” (in the direction of arrow U shown in FIG. 9) and “down” (in the direction of arrow D shown in FIG. 9) are positional relationships in the vertical direction (vertical direction) of the airframe 110, and are related to the ground level. Is shown.

As shown in FIG. 9, the combine includes a body 110, a crawler-type traveling device 111, an operating unit 112, a threshing device 113, a grain tank 114 as a harvest tank, a harvesting unit 115, a transport device 116, and a grain discharging device. The apparatus 118 includes a vehicle position detection module 180.

The traveling device 111 is provided below the body 110. The combine is configured to be self-propelled by the traveling device 111. The operation unit 112, the threshing device 113, and the grain tank 114 are provided above the traveling device 111 and constitute an upper portion of the body 110. The driver that drives the combine and the monitor that monitors the work of the combine can be boarded on the driving unit 112. The observer may monitor the combine operation from outside the combine.

The grain discharge device 118 is connected to a lower rear portion of the grain tank 114. In addition, the vehicle position detection module 180 is mounted on the upper surface of the driving unit 112.

The harvesting unit 115 is provided at the front of the combine. The transport device 116 is provided behind the harvesting unit 115. The harvesting unit 115 has a cutting mechanism 115a and a reel 115b. The cutting mechanism 115a cuts the planted grain culm in the field. In addition, the reel 115b scrapes the planted grain stem to be harvested while being driven to rotate. With this configuration, the harvesting unit 115 harvests cereals (a kind of agricultural crop) in the field. The combine is capable of traveling by the traveling device 111 while harvesting cereals in the field by the harvesting unit 115.

刈 The harvested stalks cut by the cutting mechanism 115 a are transported to the threshing device 113 by the transport device 116. In the threshing device 113, the harvested culm is threshed. The grain obtained by the threshing process is stored in the grain tank 114. The grains stored in the grain tank 114 are discharged outside the machine by a grain discharging device 118 as necessary.

The grain tank 114 is provided with a yield sensor 119 for measuring the yield of the grain stored in the grain tank 114. As will be described in detail later, the yield per unit traveling distance (yield per unit area) of the combine can be calculated from the measurement signal from the yield sensor 119, the vehicle speed, and the harvest width of the harvester 115. .

The general-purpose terminal 104 is arranged in the driving unit 112. In the present embodiment, the general-purpose terminal 104 is fixed to the driving unit 112. However, the general-purpose terminal 104 may be configured to be detachable from the driving unit 112, or the general-purpose terminal 104 may be able to be taken out of the combine machine.

よう As shown in FIG. 10, this combine automatically travels along a travel route set in a field. This requires information on the position of the vehicle. As shown in FIG. 17, the vehicle position detection module 180 includes a satellite positioning unit 181 and an inertial navigation unit 182. The satellite positioning unit 181 receives a GNSS (global navigation satellite system) signal (including a GPS signal), which is position information transmitted from the artificial satellite 100GS, and outputs positioning data for calculating the own vehicle position. The inertial navigation unit 182 incorporates a gyro acceleration sensor and a magnetic azimuth sensor, and outputs a signal indicating an instantaneous change in the attitude of the body 110. The inertial navigation unit 182 is used to supplement the own vehicle position calculation by the satellite positioning unit 181. The inertial navigation unit 182 may be located at a different location from the satellite positioning unit 181.

手順 The procedure for performing harvesting work in the field using this combine is as described below.

First, the driver / monitor manually operates the combine, and harvests the outer peripheral portion of the field along the boundary of the field while cutting and running, as shown in FIG. The area that has been cut by the surrounding mowing travel is set as the outer peripheral area (worked area) SA. Then, the internal area left as uncut land (unworked land) inside the outer peripheral area SA is set as the unworked area 100CA. In this embodiment, the surrounding mowing travel is performed so that the unworked area 100CA becomes a square. Of course, a triangular or pentagonal or larger polygonal unworked area 100CA may be employed.

この At this time, in order to secure the width of the outer peripheral area SA to some extent, the driver runs the combine for two or three turns. In this traveling, each time the combine makes one round, the width of the outer peripheral area SA is increased by the harvest width (working width) of the combine. At the end of this two or three rounds of travel, the width of the outer peripheral area SA is about two to three times the harvest width of the combine. Note that the first round traveling by the driver is not limited to two or three laps, but may be longer (four or more laps) or one lap.

The outer peripheral area SA is used as a space for the combine to change directions when performing harvesting traveling in the unworked area 100CA. In addition, the outer peripheral area SA is also used as a space for movement when the harvest travel is once completed and the grain is moved to a grain discharge location, or is moved to a fuel supply location.

2 can collect and transport the grains discharged from the grain discharge device 118 by the combine. At the time of discharging the grains, the combine moves to the vicinity of the transport vehicle 100CV, and then discharges the grains to the transport vehicle 100CV by the grain discharging device 118.

When the inside map data indicating the shape of the unworked area 100CA is created, automatic traveling along a linear (straight or curved) work traveling route calculated based on the inside map data and one working traveling route Harvest traveling by the turning traveling traveling for transition to the next work traveling route cuts the planted culm of the unworked area 100CA. The traveling route for the turning transition traveling is referred to as a turning transition route. The traveling pattern used in the harvest traveling includes a reciprocating traveling pattern (shown in FIG. 11) in which a plurality of parallel work traveling paths are connected by a U-turn path and a spiral pattern along the outer edge of the unworked area 100CA. 12 is a spiral running pattern (shown in FIG. 12). In the calculation of the actual work travel route, even if the combine is shifted from the work travel route during the work travel, the harvesting unit 115 on the adjacent work travel route is used so that uncut cropping of the culm (harvest omission) does not occur. Harvest widths are slightly overlapped. This overlap is called overlap. However, in the description of this embodiment, the overlap is ignored.

In the reciprocating traveling pattern shown in FIG. 11, the combine travels such that a work traveling path parallel to one side of the unworked area 100CA is connected by a U-turn that is a turning traveling. The U-turn includes a normal U-turn that skips one or more work travel paths and travels to the next work travel path, and a switchback turn that travels so as to connect adjacent work travel paths. The normal U-turn is, for example, a 180-degree turn including two forward 90-degree turns and straight-ahead traveling, and the straight-ahead traveling may be omitted. The switchback turn is, for example, a 180-degree turning using a 90-degree forward turn, a reverse, and a 90-degree forward turn. Here, the term “straight” is used as a phrase that includes advancing along a straight line, advancing along a gentle curved line, and advancing while slightly swinging left and right.

In the spiral running pattern shown in FIG. 12, the orbital running performed while connecting the working running route similar to the outer shape of the unworked area 100CA with the turning running route is performed so as to form a spiral toward the center. For the turning at the corner in each round traveling, for example, a turning called an alpha turn that turns by repeating forward and backward several times is used. It is also possible to change from the spiral running pattern to the reciprocating running pattern or from the reciprocating running pattern to the spiral running pattern during the work.

The work travel route used for automatically traveling the unworked area 100CA using the reciprocating travel pattern is calculated as follows based on the inside map data. As shown in FIGS. 13 and 14, a quadrangular unworked area 100CA including a first side 100S1, a second side 100S2, a third side 100S3, and a fourth side 100S4 is defined from the inside map data. The first side 100S1, which is the long side of the unworked area 100CA, is selected as the reference side 100S1. A line parallel to the reference side 100S1 and passing inside the reference side 100S1 by half of the harvest width (cutting width) is calculated as the initial reference line 100L1. This initial reference line 100L1 corresponds to the work traveling route that travels first. In the case where the harvesting traveling is performed such that the unworked area 100CA is first divided, the initial reference line 100L1 is parallel to the reference side 100S1 and further away from the reference side 100S1 (half of the harvest width + A line passing through (an integral multiple of the harvest width) is calculated as the initial reference line 100L1.

When a switchback turn that requires a small space for making a 180-degree turn (U-turn) is adopted as the turning transition traveling, for example, as shown in FIG. 13, a U-turn path is formed from the initial reference line 100L1. Are sequentially calculated in a state in which the reference lines 100L2, 100L3,... Are connected in parallel with the initial reference line 100L1 and at intervals of the harvest width. These reference lines 100L1, 100L2, 100L3,.

If a normal U-turn in which the space required for making a U-turn is larger than the switchback turn is adopted as the turning transition traveling, the next reference line 100L2 connected from the initial reference line 100L1 via the U-turn path is the initial reference line. It is calculated at intervals of a plurality of times (three times in FIG. 14) the harvest width in parallel to the line 100L1. As shown in FIG. 14, the next reference line 100L3 is calculated in a similar manner. In this manner, the reference lines are sequentially calculated in consideration of the space required for the normal U-turn. These reference lines 100L1, 100L2, 100L3,... Correspond to work traveling routes for straight traveling.

In FIGS. 13 and 14, the shape of the unworked area 100CA is a quadrangle. However, even if the unworked area 100CA is another polygon such as a triangle or a pentagon, if the reference side 100S1 is selected, the work is sequentially performed in the same manner. A traveling route can be calculated.

場合 When the spiral running pattern is selected, the work traveling route used for automatic traveling is calculated as follows based on the inside map data. As shown in FIG. 15, the first side 100S1, which is the long side of the unworked area 100CA (or the short side in the spiral running pattern), is selected as the reference side 100S1. A line that is parallel to the reference side 100S1 and passes inside the reference side 100S1 by half the harvest width is calculated as the reference line 100L1. This reference line 100L1 is an initial reference line that is the first work traveling route of the automatic traveling. Furthermore, a line parallel to the second side 100S2 adjacent to the reference side 100S1 in the traveling direction of the combine and passing inside the second side 100S2 by half of the harvest width is calculated as the next reference line 100L2, and the first work travel route Is the next work travel route that is the target of the next automatic travel. The first work travel route and the next work travel route are connected by an alpha turn that implements an aircraft turning at an angle formed by the reference side 100S1 and the second side 100S2. Similarly, the next reference line 100L3 is also sequentially calculated. These reference lines 100L1, 100L2, 100L3,... Correspond to work traveling routes for straight traveling.

In the actual harvesting operation in the field, as shown in FIG. 16, a reciprocating traveling pattern and a spiral traveling pattern are often mixed. In the example of FIG. 16, when the combine enters the field (#a), the surrounding mowing is manually performed to form an outer peripheral area SA, which is an already worked area, on the outermost peripheral side of the field (#b). When the outer peripheral area SA formed by this peripheral mowing traveling has a size that enables the direction change in the alpha turn, the spiral traveling pattern is set for the unworked area 100CA, and the spiral traveling is performed (#c). In this spiral running, automatic running is possible at least straight ahead. The spiral running is performed until the unworked area 100CA becomes large enough to enable the turning transition running (normal U-turn, switchback turn) in the reciprocating running pattern (#d). Next, a work travel route that covers the unworked area 100CA in a reciprocating travel pattern is set for the unworked area 100CA (#e). By repeating the reciprocation along the set work travel route, the field harvesting work is completed (#f).

FIG. 17 shows a combine control system. The control system of the combine is composed of a control device 105 composed of a number of electronic control units called ECUs connected via an in-vehicle LAN, and various input / output devices for performing signal communication and data communication with the control device 105. I have.

The control device 105 includes an output processing unit 158 and an input processing unit 157 as input / output interfaces. The output processing unit 158 is connected to various operation devices 170 via the device driver 165. The operating devices 170 include a traveling device group 171 that is a traveling-related device and a working device group 172 that is a working-related device. The traveling equipment group 171 includes, for example, engine equipment, transmission equipment, braking equipment, steering equipment, and the like. The working equipment group 172 includes control equipment in a harvesting work device (the harvesting unit 115, the threshing device 113, the transport device 116, the grain discharging device 118, and the like illustrated in FIG. 9).

The input processing unit 157 is connected with a yield sensor 119, a traveling state sensor group 163, a work state sensor group 164, a traveling operation unit 190, and the like. The traveling state sensor group 163 includes a vehicle speed sensor, an engine speed sensor, a parking brake detection sensor, a shift position detection sensor, a steering position detection sensor, and the like. The working state sensor group 164 includes a sensor that detects a driving state and a posture of the harvesting work device, and a sensor that detects a state of a grain culm or a grain.

The traveling operation unit 190 is a general term for operating tools that are manually operated by a driver and whose operation signals are input to the control device 105. The travel operation unit 190 includes a main shift lever 191 as a shift lever, a steering lever 192, a mode operation tool configured as a mode switch 193, an automatic travel operation tool 194, and the like. The mode changeover switch 193 gives a command to the control device 105 for switching between automatic operation and manual operation. The automatic traveling operation tool 194 gives an automatic traveling transition request to the control device 105.

The notifying device 162 is a device for notifying a driver or the like of a warning regarding a working state or a running state, and includes a buzzer, a lamp, a display panel such as a liquid crystal panel, and the like. The general-purpose terminal 104 also functions as a device that notifies a driver or the like of a work state, a traveling state, and various information through display on the touch panel 140.

This control device 105 is also connected to the general-purpose terminal 104 via the in-vehicle LAN. The general-purpose terminal 104 is a tablet computer having a touch panel 140. The general-purpose terminal 104 includes an input / output control unit 141, a work traveling management unit 142, a traveling route calculation unit 143, and a traveling route adjustment unit 144. The input / output control unit 141 has a function of constructing a graphic interface using the touch panel 140 and a function of exchanging data with a remote computer via a wireless line or the Internet.

The work traveling management unit 142 includes a traveling locus calculation unit 1421, a work area determination unit 1422, and a discharge position setting unit 1423. The travel locus calculation unit 1421 calculates a travel locus based on the own vehicle position given from the control device 105. For example, as shown in FIG. 10, the traveling locus calculation unit 1421 calculates the traveling locus when the combine cuts around the outer peripheral area SA. The work area determination unit 1422 divides the field into the outer area SA and the unworked area 100CA based on the traveling locus in the outer area SA. The outermost line of the outer peripheral area SA is used to calculate the boundary line with the ridge of the field, and the innermost line of the outer peripheral area SA is used to calculate the unworked area (the shape of the unworked area 100CA) in which automatic traveling is performed. The discharge position setting unit 1423 sets the discharge stop position of the combine when the kernel of the kernel tank 114 is discharged to the transport vehicle 100CV by the kernel discharge device 118 when the kernel tank 114 is full.

The travel route calculation unit 143 calculates a work travel route for automatic traveling with respect to the unworked area determined by the work area determination unit 1422. A traveling pattern (reciprocating traveling pattern or spiral traveling pattern) for automatically traveling in the non-work area is input through the touch panel 140. When the driver inputs that the manual traveling in the outer peripheral area SA has been completed, the route calculation in the selected traveling pattern is automatically performed.

The travel route calculation unit 143 determines the interval between adjacent work travel routes (route interval) based on the harvest width of the harvesting unit 115, and calculates the work travel route. Note that, when the work traveling route is adjusted so that the grain culm entering the harvest width is reduced, that is, the actual harvest width is narrowed, the yield (yield) per unit travel decreases. The travel route adjustment unit 144 performs such adjustment of the work travel route. For example, when the travel route adjustment unit 144 performs an adjustment to reduce the interval (route interval) between the work travel route that has already been harvested and the work travel route that is to be run from now on, the harvest width is reduced, and the work travel route is reduced. Yield per unit run on the road is reduced.

The control device 105 includes a vehicle position calculation unit 150, a travel control unit 151, a work control unit 152, a grain storage information generation unit 153, and a discharge timing prediction unit 154. The host vehicle position calculation unit 150 calculates the host vehicle position in the form of map coordinates (or field coordinates) based on the positioning data sequentially transmitted from the satellite positioning unit 181. The host vehicle position calculating unit 150 can also calculate the host vehicle position using the attitude change of the body 110 based on a signal from the inertial navigation unit 182 and the travel distance of the body 110. The own vehicle position calculating unit 150 can also calculate the own vehicle position by combining signals from the satellite positioning unit 181 and the inertial navigation unit 182.

The notification unit 156 generates notification data based on a command or the like from each functional unit of the control device 105, and provides the notification data to the notification device 162.

The traveling control unit 151 has an engine control function, a steering control function, a vehicle speed control function, and the like, and provides a traveling control signal to the traveling equipment group 171. The work control unit 152 provides a work control signal to the work equipment group 172 to control the movement of the harvesting work device.

The traveling control unit 151 includes a manual traveling control unit 1511, an automatic traveling control unit 1512, a traveling route setting unit 1513, and an automatic traveling management unit 1514.

When the automatic traveling mode is set, the automatic traveling control unit 1512 controls the traveling equipment group 171. The travel route setting unit 1513 receives, from the general-purpose terminal 104, the adjusted travel route that is the work travel route calculated by the travel route calculation unit 143 or the work travel route adjusted by the travel route adjustment unit 144, and automatically performs timely operation. It is set as a work travel route that is a steering target. The automatic traveling control unit 1512 performs azimuth and positional deviation between the work traveling route set by the traveling route setting unit 1513 and the own vehicle position calculated by the own vehicle position calculating unit 150 in order to perform automatic steering. , A steering control signal is generated. Further, the automatic traveling control unit 1512 generates a control signal related to vehicle speed change based on a vehicle speed value set in advance.

When the manual traveling mode is selected, when a manual operation signal is sent to the manual traveling control unit 1511 based on an operation by the driver, the manual traveling control unit 1511 generates a control signal and controls the traveling device group 171. Thereby, manual operation is realized. The work travel route set by the travel route setting unit 1513 can be used even in a manual operation, and can be used, for example, for guidance for the combine to travel along the work travel route.

When the traveling mode is switched to the automatic traveling mode by the mode changeover switch 193, the automatic traveling management unit 1514 determines whether to permit the automatic traveling based on the preset automatic traveling permission condition, and determines whether the automatic traveling is permitted. In the case of, an automatic traveling start command is given to the automatic traveling control unit 1512.

The kernel storage information generation unit 153 calculates the kernel storage amount (yield) in the kernel tank 114 based on the measurement signal from the yield sensor 119, and further calculates the unit travel from the storage increase amount per unit time and the vehicle speed. Calculate the storage amount per distance. When the storage amount per unit travel distance is normalized by the harvest width, an increase amount of kernels in the kernel tank 114 at a unit harvest width and a unit travel distance, that is, a so-called unit kernel increase amount is obtained. By multiplying the unit grain increase amount by an arbitrary harvest width and an arbitrary travel distance, an increase amount of the kernel in the kernel tank 114 when the vehicle travels an arbitrary travel distance with an arbitrary harvest width is obtained. . Such information such as the amount of stored grain in the grain tank 114 and the amount of increase in unit grain is generated by the grain storage information generation unit 153 as grain storage information, and the discharge timing prediction unit 154 and the traveling route adjustment unit 144.

When the surrounding mowing is completed, the travel route calculation unit 143 calculates a work travel route in the unworked area 100CA. The kernel storage state in the kernel tank 114 at an arbitrary position on the calculated work travel route can be calculated by simulation by the discharge timing prediction unit 154. This simulation is performed before the work traveling on the unworked area 100CA, but may be performed during the work traveling on the unworked area 100CA. The discharge timing prediction unit 154 determines that a work traveling route (referred to as a specific work traveling route) in which the grain tank 114 is full when the harvest traveling is continued with the current harvest width in the current grain storage amount in the grain tank 114. ), And a full occurrence position at which the grain tank 114 becomes full in this work traveling route is predicted. The kernel storage amount when the kernel tank 114 is full is set in advance. When the grain tank 114 is full, the combine must move to the discharge stop and discharge the grain from the grain tank 114. Therefore, the full occurrence timing is the discharge timing, and the full occurrence position is the discharge timing occurrence position. The “fullness of the grain tank 114” described here indicates a storage amount that requires the discharge of the grain from the grain tank 114, and the grain tank 114 is not necessarily 100% of the grain. It does not mean that it is satisfied.

(4) When the vehicle departs from the middle of the work traveling route, usually, the vehicle travels backward on the traveling route, returns to the outer peripheral area SA, and heads toward the discharge stop location. This backward running is performed at a low speed, and there is a large time loss. In addition, there is a possibility that a grain stalk before harvesting may be stepped down due to a steering error in reverse running. Further, in order to resume the harvesting operation after the grain is discharged at the discharge stop place, it is necessary to enter the position (discharge timing occurrence position) from the side of the specific work traveling path from the side. Steering to accurately enter a desired position from this side is not easy. In order to avoid this, if the vehicle enters from the starting point of the specific work traveling route, the vehicle travels uselessly on the route portion where the harvesting work has already been completed, and the work efficiency is reduced. In addition, in order to automatically travel from the discharge timing occurrence position to the discharge stop location, a departure travel route from the discharge timing occurrence position to the discharge stop location must be newly calculated. Further, in order to perform the return travel from the discharge stop position to the discharge timing generation position by automatic steering, a return travel route from the discharge stop position to the discharge timing generation position must be newly calculated. In order to avoid such a problem, in this combine, instead of the specific work travel route, a work travel route having a narrower harvest width than the current harvest width is used, so that the position at which the discharge timing occurs is set to the work travel route. A method of delaying until the end point (traveling end point) of the route is adopted. Such a method is realized by the traveling route adjustment unit 144. If the point at which the route leaves is the end point of the work travel route, the route leaving travel and the route return travel for discharging the grain are facilitated.

The travel route adjustment unit 144 adjusts the adjusted travel route extending in parallel with the specific work travel route at a position closer to the existing work area than the specific work travel route so that the harvest width is smaller than the harvest width when traveling on the specific work travel route. create. The harvest width when traveling on the adjusted travel route is determined such that the discharge timing is reached when the combine has finished traveling on the adjusted travel route at the harvest width.

FIG. 18 shows the principle of creating the adjusted travel route. In FIG. 18, the set work traveling routes are indicated by 100L1, 100L2, 100L3, 100L4, and 100L5. The basic harvest width, which is the harvest width used when calculating the work travel route, is indicated by Wo. FIG. 18 shows a simulation result that a discharge timing occurs during traveling on the 100L3 work traveling route. The discharge timing point at which the discharge timing occurs is indicated by P, and the work traveling route of 100L3 is a specific work traveling route (indicated by 100SL in FIG. 18). The adjusted travel route is a work travel route that delays the discharge timing point to the end point of the work travel route by narrowing the harvest width, and is an extremely thick line indicated by AL in FIG. Since the adjusted travel route is shifted from the specific work travel route toward the already-worked area by the calculated shift amount (indicated by d1 in FIG. 18), the harvesting unit 115 performs the entire width of the grain. Instead of cutting the culm, empty cutting is performed on a portion having a width corresponding to the shift amount d1 of the harvesting unit 115. That is, the harvest width (indicated by Wx in FIG. 18) of the actual adjusted travel route is smaller than Wo by the shift amount: d1. From this,
(Formula A) d1 = Wo−Wx
Is obtained.
Further, the harvest amount up to the discharge timing point: P in the specific work travel route is the same as the harvest amount in the entire length of the adjusted travel route: AL. Thus, the length of each work travel route: D, the travel distance to the discharge timing occurrence position in the specific work travel route: Dp, the harvest width in the specific work travel route: Wo, and the adjustment travel route Using the harvest width of Wx,
(Formula B) Wo · Dp = Wx · D
Is obtained.
Therefore, when the traveling distance: Dp to the discharge timing occurrence position: P in the specific work traveling route is calculated by the simulation, the deviation amount: d1 is obtained from the following equation using (Equation A) and (Equation B). Can be
d1 = Wo · (1-Dp / D).
A coordinate position for the adjusted travel route is calculated based on the obtained shift amount: d1.

The traveling route adjustment unit 144 creates an adjusted traveling route based on the calculated coordinate position for the adjusted traveling route, and provides the adjusted traveling route to the traveling route setting unit 1513. Next, three creation examples of the adjusted travel route by the travel route adjustment unit 144 will be described with reference to FIGS. 19, 20, and 21. 19, 20, and 21, work traveling routes from 100L1 to 100L6 are shown, and 100L4 is predicted to be a specific working traveling route: 100SL. The adjusted travel route is indicated by AL.

In the example of FIG. 19, the travel route adjustment unit 144 laterally shifts the work travel route: 100L4, which has become the specific work travel route: 100SL, to the already-worked area side by a distance corresponding to the above-described shift amount: d1. , Adjusted travel route: AL is created. Since the discharge timing occurs at the end of the travel of the adjusted travel route: AL, the combine leaves the work travel route and heads to the discharge stop location after completing the travel of the adjusted travel route: AL. Since the work travel route: 100L4 is shifted laterally, the route interval between the work travel route: 100L4 and the work travel route: 100L5 adjacent on the non-work area side is widened, so that the route interval becomes the original predetermined interval. , Work traveling route: 100L5 is also shifted laterally. Further, the gap between the work travel route 100L5 and the work travel route 100L6 is also widened by the lateral shift, so that the work travel route 100L6 is laterally shifted to the original predetermined interval. Such a lateral shift is performed for all the work traveling routes that have not traveled yet. When the lateral shift causes a shortage of the work travel route at the end of the unworked area, an additional work travel route: 100Lx indicated by a dotted line in FIG. 19 is created. Regarding the creation of the additional work travel route: 100Lx, for example, if there is an appropriate work travel route used in forming the outer peripheral area SA, the work travel route is laterally shifted and used as the additional work travel route: 100Lx. You may.

The example of FIG. 20 does not laterally shift the work travel route: 100L4 that has become the specific work travel route: 100SL, but shifts the work travel route: 100L4 from the work travel route: 100L4 to the existing work area by a shift amount: d1. Work travel route: A new virtual travel route parallel to 100L4 is created and used as the adjusted travel route: AL. This virtual traveling route may be a route in which only the starting map coordinate position and the extending direction (direction) are defined. In this example, since the route interval between the adjusted travel route: AL and the work travel route: 100L4 is narrower than the basic harvest width: Wo, the route interval becomes the original predetermined interval. Work travel route: All of the work travel routes set in the unworked area after 100L4 (work travel route: 100L4 to 100L6 in FIG. 20) are laterally shifted. In this example, there is an advantage that the inconvenience that the number of work traveling routes calculated first becomes insufficient is not generated.

In the example of FIG. 21, as in the example of FIG. 20, after the adjusted travel route: AL is created, the harvest width is equal to the unworked area remaining after traveling along the adjusted travel route: AL. Is updated and a new updated traveling route is newly set. In FIG. 21, the uniform harvest width, which is a new harvest width equally divided in such a manner, is indicated by We, and the updated travel route changed using the uniform harvest width: We is represented by La, Lb, and Lc. Indicated by

[Another embodiment]
(1) In the above-described embodiment, the discharge timing is configured to occur when the grain tank 114 is full, but a configuration is employed in which the discharge timing occurs when the grain tank 114 is in the grain storage state. May be. For example, the timing at which the amount of grains that can be loaded on the transport vehicle 100CV is stored in the grain tank 114 may be used as the discharge timing. Further, the timing at which an acceptable amount of grains is stored in the grain tank 114 in a secondary processing step such as a drying step in a drying facility may be used as the discharge timing.

(2) In the above-described embodiment, the yield per unit mileage is calculated based on the measurement signal from the yield sensor 119, but other measurement methods can be adopted. For example, it is also possible to temporarily store the grains sent from the threshing device 113 to the grain tank 114 and calculate the yield per unit traveling distance from the stored amount per hour. Furthermore, it is also possible to provide a contact sensor or a non-contact sensor in the grain tank 114, detect the grains stored in the grain tank 114, and calculate the storage amount from the detection result. Moreover, you may combine those measuring methods.

(3) Each functional unit shown in FIG. 17 is divided mainly for the purpose of explanation. In practice, each functional unit may be integrated with another functional unit, or may be divided into a plurality of functional units. For example, some or all of the functional units built in the general-purpose terminal 104 may be incorporated in the control device 105.

(4) In the above-described embodiment, the surrounding mowing traveling is performed by manual traveling. However, in the second and subsequent laps, automatic traveling may be partially used, particularly for linear traveling. .

(5) In the above embodiment, the harvester has been described. Each functional unit in the above embodiment can be configured as a running pattern creation system. In such a case, the traveling pattern creating system includes a traveling pattern creating system that creates a reciprocating traveling pattern in which a harvester having a harvest tank that stores harvested products automatically connects a plurality of parallel work traveling paths by a turning traveling path to travel. A travel route setting unit that sets the work travel route in a non-work area at predetermined intervals; and automatic travel control that performs automatic travel along the work travel route based on the work travel route and the position of the own vehicle. And a discharge timing prediction for predicting a specific work travel route that is the work travel route in which the discharge timing of the harvest tank is generated based on a harvest amount per unit travel distance and a discharge timing occurrence position in the specific work travel route. And the harvest timing narrower than the harvest width in the specific work travel route, thereby delaying the discharge timing until the travel end point. Create an adjustment travel route to and can be configured to place the adjustment travel route to the specific working travel path and a travel path adjusting unit to be supplied to the automatic travel control unit.

Further, it is also possible to configure as a running pattern creating program for causing a computer to realize each functional unit in the above embodiment. In such a case, the traveling pattern creating program is a traveling pattern creating program that creates a reciprocating traveling pattern in which a harvester having a harvest tank that stores harvested products automatically connects a plurality of parallel work traveling paths by a turning traveling path. A travel route setting function for setting the work travel route in a non-work area at predetermined intervals; and automatic travel control for performing automatic travel along the work travel route based on the work travel route and the position of the own vehicle. A discharge timing prediction for predicting a function and a specific work travel path that is the work travel path in which the discharge timing of the harvest tank is generated based on a harvest amount per unit travel distance and a discharge timing occurrence position in the specific work travel path. Function and by setting the harvest width smaller than the harvest width in the specific work travel route, the discharge tie It is possible to configure the computer to realize an adjustment traveling route that delays the running, and to realize a traveling route adjustment function that gives the automatic traveling control function to the automatic traveling control function in place of the adjustment traveling route in place of the specific work traveling route. is there.

Further, such a running pattern creation program can be configured to be recorded on a recording medium.

Further, as a traveling pattern creating method for creating a reciprocating traveling pattern in which a harvester having a harvest tank for storing the harvest is connected to a plurality of parallel working traveling paths by a turning traveling path to automatically travel, the harvester includes A travel route setting step of setting a work travel path at a predetermined interval; an automatic travel control step of performing automatic travel along the work travel path based on the work travel path and the position of the vehicle; and harvesting per unit travel distance A discharge timing prediction step of predicting a specific work travel path that is the work travel path in which the discharge timing of the crop tank is generated based on the amount and a discharge timing occurrence position in the specific work travel path; Create an adjusted travel route that delays the discharge timing until the travel end point by making the harvest width narrower than the harvest width of It is also possible to configure to include a traveling path adjusting step of providing the automatic travel control process in place of the adjustment travel route to the specific working travel route, the.

The present invention is suitable for various harvesting vehicles and harvesters such as combine harvesters.

The present invention can be used not only for a normal combine but also for a self-contained combine. Further, the present invention can be used for various harvesters such as a corn harvester, a carrot harvester, and a sugarcane harvester.

[First Embodiment]
14: Grain tank 15: Cutting mechanism 16: Conveying device 17: Reel 18: Grain discharging device 19: Yield sensor 20: Yield output unit 54: Travel route generation unit 71: Yield rate calculation unit 72: Total yield calculation unit 73 : Emission frequency calculation unit 74: Emission standard yield calculation unit 80: Satellite positioning module 84: Area calculation unit 86: Emission point setting unit 90: Input processing unit [Second embodiment]
110: Machine body 113: Threshing device 114: Grain tank 115: Harvesting unit 116: Conveying device 118: Grain discharging device 119: Yield sensor 104: General-purpose terminal 142: Work traveling management unit 1422: Work area determination unit 143: Travel route Calculation unit 144: Travel route adjustment unit 105: Control device 150: Own vehicle position calculation unit 151: Travel control unit 1511: Manual travel control unit 1512: Automatic travel control unit 1513: Travel route setting unit 153: Grain storage information generation unit 154: discharge timing prediction unit 100CA: unworked area SA: outer peripheral area

Claims

A traveling route generation system that generates an automatic traveling route in a harvester that harvests a crop of the unworked land while reciprocating the unworked land of the field by automatic traveling along traveling paths that are parallel to each other,
A yield obtaining unit that obtains a yield rate that is a yield per unit area in the field,
An area acquisition unit that acquires an area of the unworked land,
From the yield rate and the area, a total yield estimating unit that estimates the total yield of kernels that are expected to be harvested in the unworked land,
Travel that generates a preliminary adjustment route that performs automatic travel prior to the reciprocating travel so that the shape of the unworked ground becomes an optimal shape for the reciprocating travel based on the shape of the unworked ground and the total yield. A traveling route generation system including a route generation unit.
The optimal shape for harvesting is a shape that does not result in emission yield in the middle of the traveling route,
The travel route generation system according to claim 1, wherein the travel route generation unit generates the preliminary adjustment route in consideration of the emission yield.
The travel route generation system according to claim 2, wherein the discharge yield is a yield in a state where the grain tank is full.
The travel route generation system according to claim 2, wherein the discharge yield is set to be equal to or more than a predetermined ratio of the yield when the grain tank is full.
A discharge point setting unit that sets a discharge point for discharging the kernel stored in a kernel tank to one end side of the traveling path on an outer side of the unworked land,
The travel route generation unit generates the preliminary adjustment route such that the discharge yield is obtained on a side on which one end or the other end of the travel route is located, among sides constituting an outer shape of the unworked land. The travel route generation system according to any one of 2 to 4.
The traveling route generation unit is configured to include, on the opposite side across the traveling route, one side facing the entrance from the ridge in the field or one side facing the entrance, of the sides constituting the unworked land, The travel route generation system according to any one of claims 1 to 5, wherein the preliminary adjustment route is generated so as to complete a harvest operation of an unworked land.
The travel route generation system according to any one of claims 1 to 6, wherein the preliminary adjustment route is a route for adjusting a length of the travel route of the reciprocating travel.
The travel route generation system according to any one of claims 1 to 7, wherein the preliminary adjustment route is a route along a direction intersecting the travel route.
The travel route generating system according to any one of claims 1 to 7, wherein the preliminary adjustment route is a route along an outer periphery of the unworked land.
A traveling route generation method for generating an automatic traveling route in a combine harvesting a crop of the unworked land while automatically reciprocating the unworked land of the field along a traveling path parallel to each other,
Obtaining a yield rate that is the yield per unit area in the field,
A step of acquiring the area of the unworked land;
From the yield rate and the area, the step of estimating the total yield of the grain is expected to be harvested in the unworked land,
A step of generating a preliminary adjustment path for performing automatic traveling prior to the reciprocation, based on the shape of the unreached land and the total yield, such that the shape of the unreached land becomes an optimal shape for the reciprocation. A driving route generation method comprising:
The optimal shape for harvesting is a shape that does not result in emission yield in the middle of the traveling route,
The travel route generation method according to claim 10, wherein the preliminary adjustment route is generated in consideration of the emission yield.
The travel route generation method according to claim 11, wherein the discharge yield is a yield when the grain tank is full.
The travel route generation method according to claim 11, wherein the discharge yield is set to be equal to or more than a predetermined ratio of the yield when the grain tank is full.
A discharge point for discharging the kernel stored in the kernel tank is set at one end of the traveling path on the outer side of the unworked land,
14. The pre-adjustment route is generated such that the discharge yield is obtained on a side on which one end or the other end of the travel route is located among sides constituting an outer shape of the unworked land. The driving route generation method according to the paragraph.
Of the sides constituting the unworked land, the harvesting of the unworked land is performed on one side facing the entrance from the ridge in the field or on the side opposite to the one side facing the entrance with the traveling path interposed therebetween. The traveling route generation method according to any one of claims 10 to 14, wherein the preliminary adjustment route is generated so as to end.
The travel route generation method according to any one of claims 10 to 15, wherein the preliminary adjustment route is a route for adjusting a length of the travel route of the reciprocating travel.
The travel route generation method according to any one of claims 10 to 16, wherein the preliminary adjustment route is a route along a direction intersecting the travel route.
The travel route generation method according to any one of claims 10 to 16, wherein the preliminary adjustment route is a route along an outer periphery of the unworked land.
A traveling route generating program for generating an automatic traveling route in a combine harvesting a crop of the unworked land while automatically reciprocating the unworked land of the field along a traveling path parallel to each other,
A function of obtaining a yield rate that is a yield per unit area in the field,
A function of acquiring the area of the unworked land,
From the yield rate and the area, the function of estimating the total yield of the grain is expected to be harvested in the unworked land,
A function of generating a preliminary adjustment path for performing automatic traveling prior to the reciprocation, based on the shape of the unoccupied land and the total yield, so that the shape of the untreated land becomes an optimal shape for the reciprocation. When,
Route generation program for causing a computer to realize the operation.
A recording medium recording a traveling route generation program for generating an automatic traveling route in a combine harvesting crops of the unworked land while reciprocating in an unworked land of the field along an automatic traveling along a traveling path parallel to each other. So,
A function of obtaining a yield rate that is a yield per unit area in the field,
A function of acquiring the area of the unworked land,
From the yield rate and the area, the function of estimating the total yield of the grain is expected to be harvested in the unworked land,
A function of generating a preliminary adjustment path for performing automatic traveling prior to the reciprocation, based on the shape of the unoccupied land and the total yield, so that the shape of the untreated land becomes an optimal shape for the reciprocation. When,
Recording medium for recording a traveling route generation program for causing a computer to realize the above.
A grain tank that stores the grain obtained by harvesting and threshing the crop, and a yield sensor that measures the yield of the grain stored in the grain tank, and manually harvests the crop in the outer peripheral area in the field A work management system for a combine that harvests a crop while automatically traveling on an unworked land inside the already-worked land where the manual traveling has been performed,
A satellite antenna provided in the combine, for receiving a satellite signal from a satellite;
A satellite positioning module that is provided in the combine and outputs positioning data corresponding to the vehicle position based on the satellite signal;
A yield output unit that is provided in the combine and outputs the yield measured by the yield sensor,
A data acquisition unit that acquires the positioning data and the yield,
From the positioning data acquired at the time of the manual traveling, an area calculation unit that calculates an already-worked area of the already-worked area and an un-worked area of the un-worked area,
From the yield obtained at the time of the manual traveling and the area of the already-worked land, a yield rate calculation unit that calculates a yield rate that is a yield per unit area in the already-worked land,
A work management system comprising: a total yield estimating unit configured to estimate a total yield of kernels that are expected to be harvested in the unworked land from the unworked land area and the yield rate.
22. The apparatus according to claim 21, further comprising a discharge frequency calculation unit configured to calculate the minimum required discharge frequency during the automatic traveling of the unworked land by raising the decimal part after dividing the total yield by the discharge yield of the grain tank. Work management system as described.
23. The method according to claim 22, wherein when discharging the grain during the manual driving, the discharge frequency calculating unit calculates the discharge frequency by setting the yield stored at the time of discharging during the manual driving as the discharge yield. Work management system.
From the total yield and the number of discharges, an emission-based yield calculation unit that calculates an emission-based yield that is equal to or less than the emission yield,
24. The work management system according to claim 22, further comprising: a traveling route generation unit configured to generate an automatic traveling route based on the emission reference yield.
A discharge point setting unit that sets a discharge point for discharging the kernel stored in the kernel tank,
25. The work management system according to claim 24, wherein the travel route generation unit generates the automatic travel route in consideration of the discharge point.
A grain tank that stores the grain obtained by harvesting and threshing the crop, and a yield sensor that measures the yield of the grain stored in the grain tank, and manually harvests the crop in the outer peripheral area in the field A work management method performed on a combine that harvests a crop while automatically traveling on an unworked land inside the already-worked land where the manual traveling was performed,
Receiving a satellite signal from a satellite, and calculating positioning data corresponding to the own vehicle position of the combine based on the satellite signal;
Obtaining the positioning data and the yield,
From the positioning data obtained at the time of the manual traveling, a step of calculating the work area of the work area and the work area of the work area, and
A step of calculating a yield rate that is a yield per unit area in the already-worked land from the yield and the already-worked land area acquired during the manual traveling,
Calculating a total yield of kernels expected to be harvested in the unworked land from the unworked land area and the yield rate.
27. The work according to claim 26, further comprising a step of dividing the total yield by the discharge yield of the grain tank, and then moving up the decimal portion to calculate a minimum required discharge frequency during the automatic traveling of the unworked land. Management method.
28. The work management method according to claim 27, wherein when the grain is discharged during the manual traveling, the number of discharges is calculated using the yield stored at the time of the discharging during the manual traveling as the discharge yield.
From the total yield and the number of discharges, a step of calculating a discharge reference yield that is a yield equal to or less than the discharge yield,
And generating an automatic traveling route based on the emission reference yield.
A step of setting a discharge point for discharging the kernel stored in the kernel tank,
The work management method according to claim 29, wherein the automatic traveling route is generated in consideration of the discharge point.
A grain tank that stores the grain obtained by harvesting and threshing the crop, and a yield sensor that measures the yield of the grain stored in the grain tank, and manually harvests the crop in the outer peripheral area in the field A work management program for monitoring the work of a combine that harvests a crop while automatically running on an unworked land inside the already-worked land where the manual running was performed,
A function of receiving a satellite signal from a satellite and calculating positioning data corresponding to the own vehicle position of the combine based on the satellite signal;
A function of acquiring the positioning data and the yield,
From the positioning data acquired at the time of the manual traveling, a function of calculating the work area of the work area and the work area of the work area, and
A function of calculating a yield rate that is a yield per unit area in the already-worked land from the yield and the already-worked land area acquired during the manual traveling;
From the unworked land area and the yield rate, a function of calculating the total yield of kernels expected to be harvested in the unworked land,
Work management program to make a computer realize.
A grain tank that stores the grain obtained by harvesting and threshing the crop, and a yield sensor that measures the yield of the grain stored in the grain tank, and manually harvests the crop in the outer peripheral area in the field A recording medium recording a work management program for monitoring the work of a combine harvesting crop while automatically traveling on an unworked land inside the already-worked land where the manual running was performed,
A function of receiving a satellite signal from a satellite and calculating positioning data corresponding to the own vehicle position of the combine based on the satellite signal;
A function of acquiring the positioning data and the yield,
From the positioning data acquired at the time of the manual traveling, a function of calculating the work area of the work area and the work area of the work area, and
A function of calculating a yield rate that is a yield per unit area in the already-worked land from the yield and the already-worked land area acquired during the manual traveling;
From the unworked land area and the yield rate, a function of calculating the total yield of kernels expected to be harvested in the unworked land,
Recording medium on which a work management program for causing a computer to realize the above is recorded.
A harvester that automatically travels in a reciprocating traveling pattern in which a plurality of parallel work traveling paths are connected by a turning traveling path and travels,
A crop tank for storing the crop,
A travel route setting unit that sets the work travel route in a non-work area at predetermined intervals,
An automatic travel control unit that performs automatic travel along the work travel path based on the work travel path and the vehicle position,
A discharge timing prediction unit that predicts a specific work travel path that is the work travel path and a discharge timing occurrence position in the specific work travel path that is the work travel path in which the discharge timing of the crop tank is generated based on a harvest amount per unit traveling distance,
An adjusted travel route that delays the discharge timing until a travel end point is created by setting the harvest width smaller than the harvest width in the specific work travel route, and the automatic travel is performed instead of the adjusted work route in place of the specific work travel route A traveling route adjustment unit to be given to the control unit;
Harvester equipped with.
The travel route adjustment unit creates the adjusted travel route by laterally shifting the specific work travel route in a direction in which the harvest width decreases, and creates the adjusted travel route by the lateral shift of the specific work travel route. 34. The harvester according to claim 33, wherein the work travel path in the unworked area is laterally shifted to set the interval to the predetermined interval.
34. The harvester according to claim 33, wherein the travel route adjustment unit newly creates a virtual travel route parallel to the specific work travel route as the adjusted travel route.
The travel route adjustment unit laterally shifts the specific work travel route and the work travel route in the non-work area in a direction away from the virtual travel route, and a value of the lateral shift is determined based on the specific work travel route from the predetermined interval. The harvester according to claim 35, wherein the harvester is a value obtained by subtracting an interval between a route and the virtual traveling route.
The traveling route adjustment unit creates an updated traveling route in which the harvest width is equal to an unworked region remaining after traveling on the adjusted traveling route, and the work traveling route set earlier in the unworked region. 36. The harvester according to claim 35, wherein is replaced with the updated travel route.
A harvesting machine having a harvest tank for storing the harvest, a traveling pattern creating system that creates a reciprocating traveling pattern that automatically travels by connecting a plurality of parallel work traveling paths by a turning traveling path,
A travel route setting unit that sets the work travel route in a non-work area at predetermined intervals,
An automatic travel control unit that performs automatic travel along the work travel path based on the work travel path and the vehicle position,
A discharge timing prediction unit that predicts a specific work travel path that is the work travel path and a discharge timing occurrence position in the specific work travel path that is the work travel path in which the discharge timing of the crop tank is generated based on a harvest amount per unit traveling distance,
An adjusted travel route that delays the discharge timing until a travel end point is created by setting the harvest width smaller than the harvest width in the specific work travel route, and the automatic travel is performed instead of the adjusted work route in place of the specific work travel route A traveling route adjustment unit to be given to the control unit;
A running pattern creation system equipped with
A harvesting machine having a harvest tank for storing the harvest, a traveling pattern creating program for creating a reciprocating traveling pattern for automatically traveling by connecting a plurality of parallel work traveling paths by a turning traveling path,
A travel route setting function for setting the work travel route in a non-work area at predetermined intervals;
A discharge timing prediction function for predicting a specific work travel path that is the work travel path and a discharge timing occurrence position in the specific work travel path, the discharge timing of the crop tank being generated based on a harvest amount per unit travel distance,
A travel route adjustment function for creating an adjusted travel route that delays the discharge timing until a travel end point by setting a harvest width smaller than the harvest width in the specific work travel route,
Running pattern creation program to make the computer realize.
A harvester having a harvest tank for storing the harvest, a recording medium that records a traveling pattern creation program that creates a reciprocating traveling pattern that automatically travels by connecting a plurality of parallel work traveling paths by a turning traveling path,
A travel route setting function for setting the work travel route in a non-work area at predetermined intervals;
A discharge timing prediction function for predicting a specific work travel path that is the work travel path and a discharge timing occurrence position in the specific work travel path, the discharge timing of the crop tank being generated based on a harvest amount per unit travel distance,
A travel route adjustment function for creating an adjusted travel route that delays the discharge timing until a travel end point by setting a harvest width smaller than the harvest width in the specific work travel route,
Recording medium on which a running pattern creation program for causing a computer to realize the above is recorded.
A harvesting machine having a harvest tank for storing the harvest, a traveling pattern creating method for creating a reciprocating traveling pattern for automatically traveling by connecting a plurality of parallel work traveling paths by a turning traveling path,
A travel route setting step of setting the work travel route in a non-work area at predetermined intervals;
A discharge timing prediction step of predicting a specific work travel path that is the work travel path and a discharge timing occurrence position in the specific work travel path that is the work travel path in which the discharge timing of the crop tank is generated based on a harvest amount per unit traveling distance,
A travel route adjustment step of creating an adjusted travel route that delays the discharge timing until a travel end point by setting a harvest width smaller than the harvest width in the specific work travel route,
A traveling pattern creating method comprising: