CN117062520A - Automatic travel control system, combine harvester, method, program, and recording medium - Google Patents

Abstract

The automatic travel control system is provided with: a harvest rate obtaining unit (85 a) for obtaining a harvest rate, which is the harvest rate of grains per unit area in the unworked area; a calculation unit (85 b) for calculating, based on the harvest rate, an expected storage amount, which is the total amount of grains stored in the grain storage unit of the combine when the combine completes traveling on the next travel route; a setting unit (85 c) that sets a discharge movement target amount based on manual operation; and a determination unit (85 d) that compares the predicted storage amount with the discharge movement target amount, and determines whether or not to execute the automatic travel to the discharge parking position, that is, the discharge movement travel.

Description

Automatic travel control system, combine harvester, method, program, and recording medium

Technical Field

The present invention relates to an automatic travel control system, a combine, a method, a program, and a recording medium.

Background

Patent document 1 discloses a combine harvester that performs automatic travel. The combine harvester includes a grain amount detecting unit for detecting the amount of grains in the grain collecting box. The combine is configured to interrupt the harvesting operation and automatically move to the truck when the grain amount detecting unit detects that the grain amount is greater than or equal to a preset set value.

Prior art literature

Patent literature

Patent document 1: japanese patent laid-open No. 2001-69836

Disclosure of Invention

Problems to be solved by the invention

As shown in fig. 7, the combine of patent document 1 automatically moves to the truck even when the grain amount detection means detects a set value or more during the harvesting operation. In the illustrated example, the grain amount detection means detects a set value or more at a point a in the middle of traveling along the long side of the unharvested grain shaft region. When advancing from point a, the combine rolls the stalks before harvesting, and thus travels backward from point a to point B and forward to point C. That is, in the technique of patent document 1, there is a possibility that the work efficiency may be lowered due to the backward movement.

The invention aims to improve the operation efficiency of harvesting crops by automatic running of a combine harvester.

Means for solving the problems

As means for solving the above-described problems, an automatic travel control system according to the present invention controls automatic travel of a combine harvester harvesting a crop not in an operation area, the automatic travel control system comprising: a travel path generation unit that generates a travel path of the combine harvester in the non-working area; a travel route selection unit that selects a next travel route to be traveled next from the travel routes generated by the travel route generation unit; a harvest rate obtaining unit configured to obtain a harvest rate, which is a harvest rate of grains per unit area in the unworked area; a calculation unit that calculates an expected storage amount, which is a total amount of grains stored in a grain storage unit of the combine harvester when the combine harvester completes traveling on the next traveling route, based on the harvest rate; a setting unit that sets a discharge movement target amount based on a manual operation; and a determination unit that compares the estimated storage amount with the discharge movement target amount, and determines whether or not to execute the automatic travel to the discharge parking position, that is, the discharge movement travel.

According to this configuration, the estimated storage amount is compared with the target amount of the discharge movement, and it is determined whether or not the discharge movement travel is to be executed. That is, since it is determined whether or not to execute the discharging movement travel before traveling on the next travel path, it is possible to avoid the cereal grain storage unit from being filled during traveling on the travel path, and to improve the efficiency of the harvesting operation by the automatic travel.

Further, since the discharge movement target amount is set based on the manual operation, the discharge movement target amount can be appropriately adjusted, and the efficiency of the harvesting operation by the automatic travel can be further improved. For example, when the amount of grains actually stored in the grain storage unit is smaller than the estimated amount when the discharge movement travel is performed according to the determination of the determination unit, the discharge movement target amount may be increased. In this case, more grains can be stored in the grain storage unit during the automatic travel thereafter, and the number of times of the discharge travel can be reduced to improve the work efficiency. For example, when a situation occurs in which the grain storage unit is full during traveling on the travel route, the discharge movement target amount may be reduced. In this case, it can be determined that the discharge movement travel is performed at an earlier timing in the automatic travel thereafter, and it can be appropriately avoided that the grain storage unit is filled during the travel on the travel route.

In the present invention, it is preferable that the determination unit determines to execute the discharging travel when the estimated storage amount is larger than the discharging travel target amount, the travel path generation unit generates a discharging travel path from the current position of the combine to the discharging stop position based on the determination unit determining to execute the discharging travel, and the travel path selection unit selects the discharging travel path as the next travel path.

According to this configuration, since the discharge travel is performed when the expected storage amount is larger than the discharge travel target amount, it is possible to appropriately avoid the cereal grain storage unit from being filled during travel on the travel path. Further, when it is determined to execute the discharge movement travel, the discharge movement travel path is generated, and the discharge movement travel path is selected as the next travel path, so that the discharge of the grains of the grain storage unit can be appropriately executed.

In the present invention, it is preferable that the setting unit sets a value obtained by multiplying the full storage amount by a ratio input by a manual operation as the discharge movement target amount.

According to this configuration, since the value obtained by multiplying the input ratio by the full storage amount is set as the discharge movement target amount, the discharge movement target amount can be easily and intuitively set, which is preferable.

In the present invention, it is preferable that the combine harvester further includes a change unit that changes the full storage amount based on an output of a flow sensor that measures a flow rate of grains supplied to the grain storage unit.

The grain accumulation mode in the grain storage part is changed according to the flow rate of the grain supplied to the grain storage part. For example, when the flow rate is large, a large amount of grains accumulate at a position away from the supply port. When the flow rate is small, a large amount of grains accumulate near the supply port. If the sensor arranged in the grain storage unit for detecting the full amount is arranged at a position where a large amount of grains are accumulated, the sensor detects the grains earlier, so that the amount of grains actually stored in the grain storage unit is relatively small when the sensor detects the grains. If the sensor is disposed away from the location where the grains accumulate in large amounts, the sensor detects the grains later, so that the amount of grains actually stored in the grain storage unit is relatively large when the sensor detects the grains. According to this configuration, the full storage amount is changed based on the output of the flow sensor, so that the execution determination of the discharge travel can be appropriately performed.

In the present invention, it is preferable that the changing unit changes the full storage amount to a larger full storage amount as the output of the flow sensor is larger.

The present structure is suitable for a case where the supply port of the grain in the grain storage section is close to a sensor for detecting the full state. When the flow rate of grains supplied to the grain storage unit is large, a large amount of grains accumulate at a position away from the supply port and the sensor. Therefore, it is preferable that the sensor detects cereal grains later, and thus the storage amount is large. According to this configuration, the execution determination of the discharge movement travel can be more appropriately performed.

As means for solving the above-described problems, a combine harvester according to the present invention for harvesting crops in an unworked area by automatic travel, the combine harvester comprising: a grain storage section; a travel path generation unit that generates a travel path in the non-work area; a travel route selection unit that selects a next travel route to be traveled next from the travel routes generated by the travel route generation unit; a harvest rate obtaining unit configured to obtain a harvest rate, which is a harvest rate of grains per unit area in the unworked area; a calculation unit configured to calculate an expected storage amount, which is a total amount of grains stored in a grain storage unit of the combine harvester, when the travel on the next travel route is completed, based on the harvest rate; a setting unit that sets a discharge movement target amount based on a manual operation; and a determination unit that compares the estimated storage amount with the discharge movement target amount, and determines whether or not to execute the automatic travel to the discharge parking position, that is, the discharge movement travel.

As means for solving the above-described problems, the method of the present invention is a computer-implemented method for controlling automatic travel of a combine harvester which is provided with a grain storage unit and harvest crops in a non-working area, the method comprising the steps of: generating a travel path of the combine in the non-working area; selecting a next travel path to be traveled next from the travel paths; obtaining a harvest rate, which is a harvest amount of grains per unit area in the unworked land; calculating an expected storage amount, which is a total amount of grains stored in a grain storage unit of the combine harvester when the combine harvester completes traveling on the next traveling path, based on the harvest rate; setting a discharge movement target amount based on the manual operation; and comparing the estimated storage amount with the target amount of the discharge movement to determine whether or not to execute the automatic travel to the discharge parking position, that is, the discharge movement travel.

As means for solving the above-described problems, a program according to the present invention is for controlling automatic travel of a combine harvester which is provided with a grain storage unit and harvest crops in a non-working area, and the program is executed by a computer, and causes the computer to execute the steps of: generating a travel path of the combine in the non-working area; selecting a next travel path to be traveled next from the travel paths; obtaining a harvest rate, which is a harvest amount of grains per unit area in the unworked land; calculating an expected storage amount, which is a total amount of grains stored in a grain storage unit of the combine harvester when the combine harvester completes traveling on the next traveling path, based on the harvest rate; setting a discharge movement target amount based on the manual operation; and comparing the estimated storage amount with the target amount of the discharge movement to determine whether or not to execute the automatic travel to the discharge parking position, that is, the discharge movement travel.

As means for solving the above-described problems, a recording medium of the present invention records a program for controlling automatic travel of a combine harvester which is provided with a grain storage unit and harvest crops not in operation, and when the program is executed by a computer, the program causes the computer to execute the steps of: generating a travel path of the combine in the non-working area; selecting a next travel path to be traveled next from the travel paths; obtaining a harvest rate, which is a harvest amount of grains per unit area in the unworked land; calculating an expected storage amount, which is a total amount of grains stored in a grain storage unit of the combine harvester when the combine harvester completes traveling on the next traveling path, based on the harvest rate; setting a discharge movement target amount based on the manual operation; and comparing the estimated storage amount with the target amount of the discharge movement to determine whether or not to execute the automatic travel to the discharge parking position, that is, the discharge movement travel.

According to these configurations, the estimated storage amount is compared with the target amount of the discharge movement, and it is determined whether or not the discharge movement travel is executed. That is, since it is determined whether or not to execute the discharging movement travel before traveling on the next travel path, it is possible to avoid the cereal grain storage unit from being filled during traveling on the travel path, and to improve the efficiency of the harvesting operation by the automatic travel.

Drawings

Fig. 1 is a diagram showing an outline of an operation of the automatic travel control system.

Fig. 2 is a right side view of the combine.

Fig. 3 is a view showing an initial round trip in an agricultural field.

Fig. 4 is a diagram showing automatic travel based on the α -turn round travel mode.

Fig. 5 is a diagram showing automatic travel and discharge movement travel based on the U-turn round travel mode.

Fig. 6 is a control block diagram showing a structure related to control.

Fig. 7 is a flowchart showing a process performed by the control device of the combine harvester.

Detailed Description

An embodiment of the automatic travel control system according to the present invention will be described below with reference to the drawings. The present invention is not limited to the following embodiments, and various modifications can be made without departing from the spirit and scope of the present invention.

Fig. 1 shows an outline of the operation of the automatic travel control system. The system controls the automatic travel of the combine harvester harvesting crops in the non-working area. In the present system, the estimated storage amount and the discharge movement target amount are compared, and the determination unit 85d determines whether or not to cause the combine to perform the automatic travel to the discharge parking position PP (fig. 5), that is, the discharge movement travel. When the estimated storage amount is larger than the discharge movement target amount, the determination unit 85d determines to execute the discharge movement travel.

The estimated storage amount is calculated by the calculation section 85 b. The expected storage amount is the total amount of grains stored in the grain tank 7 (an example of the grain storage unit) of the combine when the combine completes traveling on the next traveling path. The next travel route is a route that the combine harvester selected by the travel control unit 84 (an example of the travel route selection unit, see fig. 6) travels next. In the example of fig. 1 and 5, the next travel path is a harvesting travel path L07.

The expected storage amount is calculated based on the harvest yield. In detail, the predicted storage amount is the sum of the current harvest amount and the predicted increase amount calculated based on the harvest yield.

The current harvest amount is the amount of grain stored in the grain tank 7 at the current time point (before the start of travel of the next travel path). The current harvest amount is calculated based on the output of the load sensor 10 that receives the load from the grain tank 7. In the present embodiment, the current harvest amount is calculated based on the output of the load sensor 10 and the flow rate of grain supplied to the grain tank 7 measured by the flow rate sensor 50.

The expected increase amount is an expected value of an increase amount of the storage amount of the grain tank 7 caused by the running of the next running path (harvesting running path L07). The expected increase is calculated by multiplying the area of the farmland harvested by the travel of the next travel route by the harvest rate. The harvest yield is the harvest per unit area of grain in the unworked land. The harvest rate is calculated during initial surrounding travel, which will be described later.

The discharge movement target amount is a value that becomes a determination criterion of whether or not to execute the discharge movement travel. The discharge movement target amount is set by the setting unit 85c based on a manual operation. In detail, the discharge movement target amount is set to a value obtained by multiplying the ratio input by the manual operation by the full storage amount. The ratio is entered by manual operation through the management terminal 60. The ratio may vary from 50% to 150%.

The full storage amount is the weight of the grain stored in the grain tank 7 when the grain tank 7 is full of the grain. The full storage amount is the weight of the grain stored in the grain tank 7 when the uppermost rice sensor 11a among the rice sensors 11 provided in the grain tank 7 detects the grain. In the present embodiment, the full storage amount is changed by the changing unit 85e based on the output of the flow sensor 50 that measures the flow rate of grain supplied to the grain tank 7. Specifically, the full storage amount is changed based on the flow rate of the grain supplied to the grain tank 7 measured by the flow rate sensor 50.

The reason why the change of the full storage amount is performed based on the flow rate of grains supplied to the grain tank 7 will be described. In the present embodiment, as shown in fig. 1 and 2, a grain release device 13 for diffusing and releasing grains into the grain tank 7 is disposed at an upper portion of a front end portion of the interior of the grain tank 7. The rice sensor 11 is disposed at a position forward of the inside of the grain box 7.

When the flow rate of the grain released from the grain releasing device 13 is relatively small, the grain falls toward the front position of the grain tank 7 as shown in the upper left diagram of fig. 1. Thus, as shown by the two-dot chain line illustrated in the upper left of fig. 1, grains are accumulated in the front position of the grain box 7. When the uppermost rice sensor 11a detects grains, the upper surface of the accumulated grains is in a shape indicated by a thick solid line. In this state, the rice sensor 11a detects the cereal grains, and therefore, it is determined that the cereal grain tank 7 is full, although the remaining amount of cereal grains stored in the rear portion of the cereal grain tank 7 is present. In other words, in the case where the flow rate of grain released from the grain releasing means 13 is relatively small, the full storage amount is relatively small.

When the flow rate of the grain released from the grain release device 13 is relatively large, the grain falls to a position behind the grain tank 7. Thus, the grains are accumulated in the rear position of the grain box 7. Unlike the above case, when the uppermost rice sensor 11a detects cereal grains, the cereal grain tank 7 is left with no (or little) cereal grain. Since the grain sensor 11a detects grains, it is determined that the grain tank 7 is full. In this case, the amount of grains stored in the grain tank 7 is larger than in the case where the flow rate of grains released from the grain releasing device 13 is smaller. In other words, in the case where the flow rate of grain released from the grain releasing means 13 is relatively large, the full storage amount is relatively large. For the above reason, in the present embodiment, the changing unit 85e changes the full storage amount to be larger as the output of the flow sensor 50 is larger.

[ integral Structure of combine harvester ]

Fig. 2 shows a general combine harvester equipped with an automatic travel control system. The combine harvester comprises a travelling machine body 2 which automatically travels through a pair of left and right crawler-type travelling devices 1 and a harvesting device 3 for harvesting plant-standing grain rods. The harvesting device 3 is provided in the front of the traveling machine body 2.

The front right side of the traveling body 2 is provided with a driving unit 5 covered with a cabin 4.

A threshing device 6 for threshing the stalks harvested by the harvesting device 3 and a grain box 7 for storing grains obtained by the threshing process are provided in a state of being arranged laterally behind the driving part 5. The grain box 7 is positioned on the right side of the machine body, and the threshing device 6 is positioned on the left side of the machine body. That is, the driving unit 5 is located in front of the grain box 7.

A grain discharging device 9 for discharging grains stored in the grain box 7 to the outside is provided at the rear of the traveling body 2 and at the rear of the grain box 7. The threshed grains are transported from the threshing device 6 to the inside of the grain box 7 by a grain transport mechanism 16. A grain release device 13 for diffusing and releasing grains conveyed by the grain conveying mechanism 16 into the grain tank 7 is provided at the front end portion of the interior of the grain tank 7.

A load sensor 10 for measuring a load is provided below the grain box 7. The load sensor 10 detects and outputs a load received from the grain tank 7. Based on the output of the load sensor 10, the mass (current harvest amount) of the grain stored in the grain bin 7 is calculated.

The combine harvester is provided with a flow sensor 50 for measuring the flow rate of grains supplied to the grain tank 7. In the present embodiment, the flow sensor 50 includes a temporary storage unit 51 and a measurement unit 52, and serves as a quality measurement device for measuring the quality of grains.

The temporary storage unit 51 receives and stores a part of the grains released from the grain release device 13 as grains for measurement. The measuring unit 52 irradiates light onto the grains stored in the temporary storage unit 51, and analyzes the transmitted light to measure the quality (moisture content, etc.) of the grains.

The temporary storage unit 51 stores a predetermined amount of grains. By measuring the time until a certain amount of grains is stored in the temporary storage unit 51, the flow rate (supply amount per unit time) of grains supplied to the grain tank 7 is calculated. The flow sensor 50 outputs the calculated flow rate of the grain to a control device 80 (described later).

A management terminal 60 is disposed in the driving unit 5. The management terminal 60 is a device capable of receiving a manual operation and displaying information. In the present embodiment, the management terminal 60 is fixed to the driver 5. The management terminal 60 may be detachable from the driving unit 5, or the management terminal 60 may be located outside the combine harvester.

The satellite positioning module 70 is installed above the driving section 5. The satellite positioning module 70 receives signals from GNSS (global navigation satellite system (Global Navigation Satellite System)) of artificial satellites, generates positioning data indicating the position of the host vehicle of the combine based on the received signals, and sends the positioning data to the host vehicle position calculating unit 81. As the GNSS, GPS, QZSS, galileo, GLONASS, beiDou and the like can be used.

[ harvesting operation based on combine harvester ]

The harvesting operation in the farmland by the combine harvester will be described with reference to fig. 3, 4, and 5. In this embodiment, as shown in fig. 2, an example in which the outer shape of the farmland is rectangular will be described.

In the illustrated example, the long sides of the farmland are parallel to the east-west direction, and the short sides of the farmland are in the north-south direction. A transport vehicle CV for transporting grains discharged from the combine is parked on the north side of the farmland, and a discharge parking position PP is set in the vicinity of the transport vehicle CV in the farmland.

First, as shown in fig. 3, harvesting travel (initial encircling travel) is performed so as to encircle the boundary line of the farmland in the region on the outer peripheral side of the farmland. The area that becomes the operated area by the initial surrounding travel is set as an outer peripheral area SA (see fig. 4), and the non-operated area inside the outer peripheral area SA is set as an operation target area CA (see fig. 4).

When harvesting the plant-raised grain stalks in the work area CA by the automatic travel, the outer peripheral area SA is used as a space for the combine to perform a direction change (turning travel described later). The outer peripheral area SA is also used as a space for moving to the discharge parking position PP and to the fuel supply place.

In order to secure a somewhat wide outer peripheral area SA, initial round travel is performed for about 2 to 4 weeks. The initial round-trip travel may be performed either manually or automatically. The initial round travel is performed such that one side (preferably, two opposite sides) of the work area CA is parallel to the longitudinal direction.

After the initial round travel, the plant valley poles of the harvesting work target area CA are automatically driven. In this automatic travel, an automatic harvesting travel, which harvesting the plant-standing grain stalks while automatically traveling along a harvesting travel path L (an example of a travel path) set in the work target area CA, and a turning travel, which is performed between one automatic harvesting travel and the next automatic harvesting travel, are repeated. The turning travel is an automatic travel on a turning travel path T connecting two harvesting travel paths L.

The automatic harvesting travel and the turning travel are performed in accordance with a predetermined travel pattern. As the travel modes, an α -turn round travel mode shown in fig. 4 and a U-turn round travel mode shown in fig. 5 are exemplified.

The α -turn round travel mode (fig. 4) is a travel mode as follows: the harvesting travel path L parallel to the four sides of the rectangular work area CA travels in sequence, and the turning travel is performed as an α -turn travel. The α -turn travel is performed by advancing in the extending direction of the preceding harvesting travel path L, backward travel including turn travel, and advancing in the extending direction of the next harvesting travel path L. The automatic travel based on the α -turn round travel mode is a helical travel. In the illustrated example, the combine is driven on harvesting driving paths L01, L02, L03, L04, and turning driving paths T01, T02, T03, T04 in this order.

In the case where the width of the outer peripheral region SA is narrow, it is difficult to perform the automatic travel based on the U-turn round travel mode, the automatic travel based on the α -turn round travel mode is performed before the U-turn round travel mode. In the case where the width of the outer peripheral region SA is sufficiently large to enable automatic running in the U-turn round running mode, automatic running in the α -turn round running mode may not be performed.

The U-turn surrounding travel mode (fig. 5) is a travel mode as follows: the harvesting travel paths L parallel to the two opposite sides of the rectangular region alternately travel in sequence from the outside, and turn in a U-turn travel. The U-turn travel is performed only by the forward travel including the turn travel. The automatic travel based on the U-turn round travel mode is a helical travel similar to the α -turn round travel mode.

In the illustrated example, the combine is in a state of ending harvesting travel on the harvesting travel path L05, U-turn travel on the turning travel path T05, and harvesting travel on the harvesting travel path L06, and traveling on the turning travel path T06.

When the longitudinal direction exists in the farmland, the harvesting travel path L traveling in the U-turn round travel mode is preferably a path parallel to both sides of the longitudinal direction parallel to the work area CA. That is, in the automatic travel based on the U-turn round travel mode, the automatic harvesting travel is preferably performed only on a path parallel to the longitudinal direction.

In the present embodiment, after the harvesting travel of one harvesting travel path L is ended and before the harvesting travel of the next harvesting travel path L is started, it is determined whether or not to execute the discharging travel. That is, each time harvesting travel on the harvesting travel path L ends, it is determined whether or not to execute the discharging travel.

In the example of fig. 5, the combine is in a state before the harvesting travel of the harvesting travel path L06 is ended and the harvesting travel of the harvesting travel path L07 is started. When the combine completes traveling on the harvesting travel path L07, which is the next travel path, the calculation unit 85b calculates an expected storage amount, which is the total amount of grains stored in the grain tank 7 of the combine, based on the harvest rate. The determining unit 85d compares the estimated storage amount with the discharge movement target amount, and determines whether or not to cause the combine to execute the automatic travel to the discharge parking position PP, that is, the discharge movement travel.

When the predicted storage amount is larger than the discharge movement target amount, it is determined to execute the discharge movement travel. The reason for this is that when the expected storage amount is larger than the discharge movement target amount, the grain tank 7 is highly likely to be filled (grains are detected by the rice sensor 11 a) during the harvesting travel along the harvesting travel path L07, which is the next travel path.

When it is determined to execute the discharging travel, the discharging travel path LU is generated, and the combine automatically travels on the discharging travel path LU and moves to the discharging stop position PP. When the estimated storage amount is equal to or less than the target amount of the discharge movement, it is determined that the discharge movement travel is not to be executed. In this case, the combine travels on the turning travel path T06 and performs harvesting travel on the harvesting travel path L07.

[ control-related Structure ]

The combine is provided with a control device 80. The control device 80 is a so-called ECU, and includes a memory (HDD, nonvolatile RAM, etc. not shown) for storing programs corresponding to functional units described later and a CPU (not shown) for executing the programs. The functions of the respective functional units are realized by executing programs by the CPU. That is, the control device 80 includes a non-transitory (non-transitory) recording medium storing a program.

The control device 80 includes a vehicle position calculating unit 81, a region calculating unit 82, a route calculating unit 83, a travel control unit 84, and a discharge control unit 85 as functional units.

The vehicle position calculating unit 81 calculates the position coordinates of the combine with time based on the positioning data generated by the satellite positioning module 70.

The area calculating unit 82 calculates the outer peripheral area SA and the work area CA based on the time-lapse position coordinates of the combine calculated by the vehicle position calculating unit 81. Specifically, the area calculation unit 82 calculates the travel locus of the combine in the surrounding travel (initial surrounding travel) on the outer peripheral side of the farmland based on the time-lapse position coordinates of the combine calculated by the vehicle position calculation unit 81.

The area calculating unit 82 sets an area on the outer peripheral side of the farmland in which the combine harvester is traveling while harvesting the plant-based valley bars as an outer peripheral area SA, based on the calculated travel locus of the combine harvester. The area calculation unit 82 sets an area on the inner side of the farmland than the calculated outer peripheral area SA as the work target area CA.

For example, in fig. 3, the path of the manual travel of the combine in the surrounding travel (initial surrounding travel) on the outer peripheral side of the farmland is indicated by an arrow. In the illustrated example, the combine is traveling around for 3 weeks. Then, when the initial round traveling is completed, the farmland is brought into a state shown in fig. 4.

As shown in fig. 4, the area calculating unit 82 calculates an area on the outer peripheral side of the farmland in which the combine harvester performs manual travel while harvesting the plant-standing grain stalks as an outer peripheral area SA, and calculates an area on the inner side of the farmland than the calculated outer peripheral area SA as a work target area CA.

The path calculation unit 83 calculates a harvesting travel path L for automatic harvesting travel inside the work object area CA based on the calculation result of the area calculation unit 82. That is, the route calculation unit 83 functions as a travel route generation unit that generates a travel route of the combine in the non-working area.

In the present embodiment, the harvesting travel path L is a plurality of grid lines extending parallel to four sides of the work area CA. Further, the path calculation unit 83 calculates a turning travel path T for connecting the two harvesting travel paths L for turning travel (α -turning travel, U-turning travel).

The route calculation unit 83 calculates the discharge movement travel route LU, which is the travel route of the discharge movement travel, based on the determination by the determination unit 85d to execute the discharge movement travel. The discharge travel path LU is a travel path from the current combine position to the discharge parking position PP. The discharge travel path LU may be a path smoothly connected to the turning travel path T, or may be a travel path from the end point of the harvesting travel path L to the discharge stop position PP.

The travel control unit 84 is configured to be able to control the travel device 1 and the harvesting device 3. The travel control unit 84 sets a travel path to be followed by travel from among the travel paths (harvesting travel path L, turning travel path T, discharge travel path LU, etc.) calculated by the path calculation unit 83. That is, the travel control unit 84 functions as a travel path selection unit that selects the next travel path to be traveled next from the travel paths generated by the path calculation unit 83.

The travel control unit 84 sets the travel route based on the travel mode (the α -turn round travel mode, the U-turn round travel mode) and the determination of the discharge travel by the determination unit 85d of the discharge control unit 85. Then, the travel control unit 84 controls the automatic travel of the combine based on the position coordinates of the combine calculated by the vehicle position calculating unit 81 and the set travel path. Specifically, the travel control unit 84 controls the travel device 1 of the combine to travel along the set travel path. Then, the travel control unit 84 operates the harvesting device 3 when the combine travels along the harvesting travel path L.

The travel control unit 84 selects the discharge travel route LU calculated by the route calculation unit 83 as the next travel route, based on the determination by the determination unit 85d that the discharge travel is to be executed. Then, the travel control unit 84 automatically travels the combine on the discharge travel path LU.

The discharge control unit 85 includes a harvest rate acquisition unit 85a, a calculation unit 85b, a setting unit 85c, a determination unit 85d, and a modification unit 85e.

The harvest rate obtaining unit 85a obtains the harvest rate, which is the harvest rate of grains per unit area in the non-work area (work target area CA). Specifically, the harvest rate obtaining unit 85a calculates the area of the non-work area where the harvesting is running based on the time-dependent change in the position coordinates of the combine calculated by the vehicle position calculating unit 81, and calculates the amount of grain obtained from the non-work area based on the time-dependent change in the storage amount of grain in the grain tank 7 detected by the load sensor 10. Then, the harvest rate obtaining unit 85a divides the amount of grain obtained from the unworked area by the area of the unworked area to calculate the harvest rate.

In the present embodiment, the harvest rate obtaining unit 85a calculates the harvest rate based on the area in which the initial round traveling is performed and the amount of grains obtained by the initial round traveling. The calculation of the harvest rate by the harvest rate obtaining unit 85a may be performed every time the harvesting travel of a predetermined area (or distance) is performed, or may be performed on the entire predetermined area.

The calculating unit 85b calculates an expected storage amount, which is a total amount of grains stored in the grain storage unit of the combine harvester when the combine harvester completes traveling on the next traveling path, based on the harvest rate. Specifically, the calculation unit 85b calculates the sum of the current harvest amount and the expected increase amount as the expected storage amount.

The calculating unit 85b calculates the current harvest amount based on the output of the load sensor 10 and the flow rate of the grain supplied to the grain tank 7 measured by the flow rate sensor 50. A table (or a function) indicating the relationship between the output of the load sensor 10 and the output of the flow sensor 50 and the current harvest amount is stored in advance in the memory of the control device 80. The calculation unit 85b calculates the current harvest amount by referring to a table stored in the memory of the control device 80.

The calculating unit 85b multiplies the harvest rate obtained by the harvest rate obtaining unit 85a by the area of the farmland harvested by the travel of the next travel route to calculate the expected increase amount. The calculation unit 85b multiplies the length of the next travel path by the harvesting width of the harvesting device 3 to calculate the area of the farmland harvested by the travel of the next travel path.

The setting unit 85c sets the discharge movement target amount based on the manual operation. Specifically, the setting unit 85c sets the discharge movement target amount to a value obtained by multiplying the ratio input by the manual operation by the full storage amount. The setting unit 85c causes the display device of the management terminal 60 to display a screen prompting the input of the ratio, and receives the input of the ratio from the operator. The setting unit 85c sets the discharge movement target amount to a value obtained by multiplying the full storage amount changed by the changing unit 85e by the inputted ratio.

The determination unit 85d compares the estimated storage amount calculated by the calculation unit 85b with the discharge movement target amount set by the setting unit 85c, and determines whether or not to execute the automatic travel to the discharge parking position PP, that is, the discharge movement travel. The determination unit 85d determines to execute the discharge movement travel when the estimated storage amount is greater than the discharge movement target amount, and determines not to execute the discharge movement travel when the estimated storage amount is equal to or less than the discharge movement target amount.

The changing unit 85e changes the full storage amount based on the output of the flow sensor 50 that measures the flow rate of grains supplied to the grain tank 7 of the combine harvester. The changing unit 85e changes the full storage amount to a larger full storage amount as the output of the flow sensor 50 is larger. A table (or a function) indicating the relationship between the output of the flow sensor 50 and the full storage amount is stored in advance in the memory of the control device 80. The changing unit 85e refers to a table stored in the memory of the control device 80 to change the full storage amount.

[ treatment by control device of combine harvester ]

The processing performed by the control device 80 of the combine is described with reference to fig. 7.

The setting unit 85c sets the discharge movement target amount based on the manual operation (step S01).

An initial round traveling based on the manual traveling is performed. That is, the combine is driven in the outer peripheral side region of the farmland by the manual operation of the operator (step S02).

The region calculating unit 82 calculates the outer peripheral region SA and the work target region CA (step S03).

The route calculation unit 83 calculates the harvesting travel route L (step S04).

The travel control unit 84 sets a travel route for the following travel (step S05).

The travel control unit 84 controls the travel device 1 of the combine to automatically travel the combine along the set travel path (step S06).

The harvest rate obtaining unit 85a obtains the harvest rate (step S07).

The calculation unit 85b calculates the expected storage amount based on the harvest rate (step S08).

The determining unit 85d determines whether or not to execute the discharge traveling (step S09).

If the determination unit 85d determines that the discharge traveling is not to be executed (step S09: no), step S05 is executed. That is, the travel control unit 84 selects and sets a travel path to be followed from among the harvesting travel paths L (step S05).

If the determination unit 85d determines to execute the discharge movement travel (yes in step S09), the route calculation unit 83 calculates the discharge movement travel route LU (step S10).

The travel control unit 84 sets the discharge travel path LU as the travel path for the next travel (step S11).

The travel control unit 84 controls the travel device 1 of the combine to automatically travel the combine along the discharge travel path LU (step S12). The process then ends.

The above-described processing is repeatedly performed until the entire work (harvesting work) of the work target area CA is completed.

The steps of the above-described processing may be changed in order, or a part thereof may be omitted. For example, step S01 (setting of the discharge movement target amount) may be performed after step S02 (initial round traveling), or may be performed according to an accepted manual operation.

In the present embodiment, the following method is performed.

A method executed by a computer for controlling automatic travel of a combine harvester which is provided with a grain box 7 and which harvests crops in a work object area CA, the method comprising the steps of:

generating a travel path of the combine in a work object area CA;

Selecting a next travel path to be traveled next from the travel paths;

obtaining a harvest rate, which is a harvest amount of grains per unit area in the work target area CA;

calculating an expected storage amount, which is a total amount of grains stored in a grain tank 7 of the combine when the combine completes traveling on the next traveling path, based on the harvest rate;

setting a discharge movement target amount based on the manual operation; and

and comparing the predicted storage amount with the target amount of the discharge movement to determine whether to execute the automatic travel to the discharge parking position PP, that is, the discharge movement travel.

In the present embodiment, a program described below is recorded in a memory (recording medium) of the control device 80 and executed.

A program for controlling automatic travel of a combine harvester for harvesting a crop in a work area CA, the combine harvester including a grain box 7, the program being executed by a computer, the program causing the computer to execute:

generating a travel path of the combine in a work object area CA;

selecting a next travel path to be traveled next from the travel paths;

obtaining a harvest rate, which is a harvest amount of grains per unit area in the work target area CA;

Calculating an expected storage amount, which is a total amount of grains stored in a grain tank 7 of the combine when the combine completes traveling on the next traveling path, based on the harvest rate;

setting a discharge movement target amount based on the manual operation; and

and comparing the predicted storage amount with the target amount of the discharge movement to determine whether to execute the automatic travel to the discharge parking position PP, that is, the discharge movement travel.

[ modification ]

(1) The harvest rate obtaining unit 85a may obtain the harvest rate by other methods. For example, the harvest rate obtaining unit 85a may obtain the harvest rate from another combine or an external agricultural system.

(2) The changing unit 85e may be configured to change the full storage amount to a smaller full storage amount as the output of the flow sensor 50 increases. This structure is suitable for a case where the distance between the rice sensor 11a and the grain releasing device 13 is relatively large, for example, a case where the rice sensor 11a is provided at a position rearward of the grain tank 7.

(3) The full storage amount may be a fixed value that is not changed. That is, the control device 80 may not include the changing unit 85 e.

(4) The discharge movement target amount may be a fixed value that is not changed. That is, the control device 80 may not include the setting unit 85 c.

(5) The manner of the flow sensor 50 is not limited to the above-described example. For example, the flow sensor 50 may be a sensor that detects the force applied from the grain released by the grain releasing device 13 and outputs the flow rate.

(6) The discharge control unit 85 may be configured to determine to execute the discharge traveling based on the detection of the cereal grains by the cereal sensor 11 a. Even if the combine is in the middle of the harvesting travel path L, when the rice sensor 11a detects cereal grains, the harvesting travel is interrupted and the discharging travel is performed.

Industrial applicability

The present invention can be applied to an automatic travel control system for controlling the automatic travel of a combine harvester for harvesting crops in an unworked area. The combine harvester can be a common combine harvester or a self-threshing combine harvester. Further, the present invention can be applied to a combine harvester, a method, a program, and a recording medium.

Description of the reference numerals

7: grain box (grain storage part)

50: flow sensor

83: route calculation unit (travel route generation unit)

84: travel control unit (travel route selection unit)

85a: harvest rate obtaining unit

85b: calculation unit

85c: setting part

85d: determination unit

85e: changing part

CA: work area (non-work area)

LU: discharging moving travel path

PP: discharging the parking position

Claims (9)

1. An automatic travel control system for controlling automatic travel of a combine harvester harvesting a crop not in an operation area, the automatic travel control system comprising:

a travel path generation unit that generates a travel path of the combine harvester in the non-working area;

a travel route selection unit that selects a next travel route to be traveled next from the travel routes generated by the travel route generation unit;

a harvest rate obtaining unit configured to obtain a harvest rate, which is a harvest rate of grains per unit area in the unworked area;

a calculation unit that calculates an expected storage amount, which is a total amount of grains stored in a grain storage unit of the combine harvester when the combine harvester completes traveling on the next traveling route, based on the harvest rate;

a setting unit that sets a discharge movement target amount based on a manual operation; and

and a determination unit that compares the estimated storage amount with the discharge movement target amount, and determines whether or not to execute the automatic travel to the discharge parking position, that is, the discharge movement travel.

2. The automatic travel control system according to claim 1, wherein,

when the estimated storage amount is larger than the target amount of the discharge movement, the determination unit determines to execute the discharge movement travel,

the travel path generating unit generates a travel path of the discharging movement from the current position of the combine to the discharge stop position, based on the determination by the determining unit that the discharging movement travel is to be executed,

the travel path selection unit selects the discharge travel path as a next travel path.

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

the setting unit sets a value obtained by multiplying the full storage amount by a ratio input by a manual operation as the discharge movement target amount.

4. The automatic travel control system according to claim 3, wherein,

the automatic travel control system includes a changing unit that changes the full storage amount based on an output of a flow sensor that measures a flow rate of grain supplied to the grain storage unit of the combine harvester.

5. The automatic travel control system according to claim 4, wherein,

the changing unit changes the full storage amount to a larger full storage amount as the output of the flow sensor is larger.

6. A combine harvester for harvesting crops in an unworked area by automatic travel, comprising:

a grain storage section;

a travel path generation unit that generates a travel path in the non-work area;

a travel route selection unit that selects a next travel route to be traveled next from the travel routes generated by the travel route generation unit;

a harvest rate obtaining unit configured to obtain a harvest rate, which is a harvest rate of grains per unit area in the unworked area;

a calculation unit configured to calculate an expected storage amount, which is a total amount of grains stored in a grain storage unit of the combine harvester, when the travel on the next travel route is completed, based on the harvest rate;

a setting unit that sets a discharge movement target amount based on a manual operation; and

and a determination unit that compares the estimated storage amount with the discharge movement target amount, and determines whether or not to execute the automatic travel to the discharge parking position, that is, the discharge movement travel.

7. A computer-implemented method for controlling automatic travel of a combine harvester having a grain storage and harvesting crops in an unworked area, the method comprising the steps of:

Generating a travel path of the combine in the non-working area;

selecting a next travel path to be traveled next from the travel paths;

obtaining a harvest rate, which is a harvest amount of grains per unit area in the unworked land;

calculating an expected storage amount, which is a total amount of grains stored in a grain storage unit of the combine harvester when the combine harvester completes traveling on the next traveling path, based on the harvest rate;

setting a discharge movement target amount based on the manual operation; and

and comparing the predicted storage amount with the target amount of the discharge movement to determine whether or not to execute the automatic travel to the discharge parking position, that is, the discharge movement travel.

8. A program for controlling automatic travel of a combine harvester which is provided with a grain storage unit and harvest crops not in operation, the program being executed by a computer, the program causing the computer to execute the steps of:

generating a travel path of the combine in the non-working area;

selecting a next travel path to be traveled next from the travel paths;

obtaining a harvest rate, which is a harvest amount of grains per unit area in the unworked land;

Calculating an expected storage amount, which is a total amount of grains stored in a grain storage unit of the combine harvester when the combine harvester completes traveling on the next traveling path, based on the harvest rate;

setting a discharge movement target amount based on the manual operation; and

and comparing the predicted storage amount with the target amount of the discharge movement to determine whether or not to execute the automatic travel to the discharge parking position, that is, the discharge movement travel.

9. A recording medium having recorded thereon a program for controlling automatic travel of a combine harvester having a grain storage unit and harvesting crops not in an operation area, the program being executed by a computer, the program causing the computer to execute the steps of:

generating a travel path of the combine in the non-working area;

selecting a next travel path to be traveled next from the travel paths;

obtaining a harvest rate, which is a harvest amount of grains per unit area in the unworked land;

calculating an expected storage amount, which is a total amount of grains stored in a grain storage unit of the combine harvester when the combine harvester completes traveling on the next traveling path, based on the harvest rate;

Setting a discharge movement target amount based on the manual operation; and

and comparing the predicted storage amount with the target amount of the discharge movement to determine whether or not to execute the automatic travel to the discharge parking position, that is, the discharge movement travel.