JP2017195804A - combine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a combine capable of efficiently executing a reaping operation and an unloading operation.SOLUTION: A combine 1 that acquires position information using a GPS and can travel autonomously sets a grain unloading position Db for minimizing a total time of a stand-by time for an unloading operation and a travelling time according to field information fI including information on a position Da in which grains can be unloaded, information on a travelling operation route, and information on a capacity of a grain tank 61 in which grains are stored, which are input in advance respectively, and information on a calculated yield of grains per unit travelling distance, and notifies the outside of the information on the unloading position Db.SELECTED DRAWING: Figure 7

Description

  The present invention is a combine that can acquire position information using GPS and can run autonomously, and sets the discharge position of the harvested grain and sets the discharge position in advance in a vehicle for transporting the grain. The present invention relates to a combine having a configuration for notification.

  2. Description of the Related Art Conventionally, a combine (traveling harvester) that acquires position information using GPS and can autonomously travel is known (see Patent Document 1). The combine described in Patent Document 1 is a limit distance that the vehicle can travel before the storage amount in the tank reaches the upper limit so that it can be determined when the grain in the tank is discharged before the tank is full. Is provided.

  The traveling course of the combine is set in advance by combining the sections from one start point to one end point in the field. Then, according to the above-described configuration for calculating the limit distance, the combine before the predetermined interval that the storage amount in the tank reaches the upper limit amount during the cutting operation in the predetermined interval in the field. Can be predicted in the interval. Therefore, the combine can discharge the grains in the tank after interrupting the cutting operation at the end point of the section immediately before the predetermined section before the storage amount of the tank reaches the upper limit amount. That is, the cutting operation can be prevented from being interrupted at a position between the start point and the end point of the predetermined section.

JP-A-2015-181371

  According to the technique described in Patent Document 1, since the position of the transport vehicle that is the discharge destination of the grain from the tank is not determined based on the tank capacity and the traveling course, the combine is When discharging the grains, it is necessary to approach the vicinity of the transport vehicle waiting outside the field. Therefore, there is a possibility that the time for which the cutting operation is interrupted and only traveling is extended. In other words, if the transport vehicle is waiting in the vicinity of the position where the harvesting operation is interrupted before the tank storage amount reaches the upper limit amount, the time for simply traveling can be reduced without performing the harvesting and discharging operations. .

  Therefore, there is a demand for a combine that can efficiently perform the cutting and discharging operations by simply shortening the traveling time.

  An object of this invention is to provide the combine which can implement a cutting operation and discharge | emission operation | work efficiently.

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

The invention according to claim 1
It is a combine that can acquire position information using GPS and can run autonomously,
Each of the field information including the position where the grain can be discharged, the information on the traveling work route, the information on the capacity of the tank for storing the grain, and the calculated yield of the grain per unit travel distance are input. According to the information, a grain discharge position that minimizes the total time of the standby time and the travel time of the discharge work is set, and the information on the discharge position is notified to the outside.

The invention according to claim 2 is the combine according to claim 1,
The discharge position is set in consideration of the time required for the vehicle carrying the grain to leave after returning from the field.

The invention according to claim 3 is the combine according to claim 1 or claim 2,
It has an auger for discharging the grain to the outside of the tank,
The discharge position is set in accordance with the discharge range of the auger input in advance.

  As effects of the present invention, the following effects can be obtained.

  According to the first aspect of the present invention, the distance that the cutting operation is interrupted and only traveled is reduced, and the time during which the combine is simply stopped (waiting) without performing the cutting operation or the discharging operation is reduced. Working time is reduced. Therefore, it is possible to provide a combine that can efficiently perform the cutting operation and the discharging operation.

  According to the second aspect of the present invention, since the time for which the combine waits until the vehicle returns to the field is reduced, the cutting operation and the discharging operation can be performed efficiently. Therefore, it is possible to provide a combine that can efficiently perform the cutting operation and the discharging operation.

  According to the invention which concerns on Claim 3, when the said combine discharges a grain, the position adjustment between the said combine and a vehicle becomes unnecessary. Therefore, it is possible to provide a combine that can efficiently perform the cutting operation and the discharging operation.

It is a side view of a combine. (A) is a schematic plan view of a combine for explaining rotation of the discharge auger, and (B) is a schematic front view of the combine for explaining raising and lowering of the discharge auger. It is a block diagram which shows the control system of a combine. It is a block diagram which shows the structure for acquiring the positional information on a combine. It is a figure which shows an example of the agricultural field information containing a driving | operation work path | route. It is a conceptual diagram for demonstrating the combine which sets a discharge position. It is a conceptual diagram for demonstrating the combine which sets a discharge position in consideration of the time required for a vehicle to return after leaving a field. (A) is a graph showing the relationship between each position of the combine in the field and the change in time, in which the combine waits at the discharge position until the vehicle returns, and (B) is the field Is a graph showing the relationship between each position of the combine and the change in time when the time when the vehicle returns to the field coincides with the time when the combine arrives at the discharge position. ) Is a graph showing the relationship between each position of the combine in the field and the change in time, in the case where the vehicle is kept waiting until the combine arrives at the discharge position.

  Below, the combine 1 as embodiment of this invention is demonstrated using FIG. The combine 1 is an autonomous traveling combine that can autonomously travel and work, and can travel and work unattended. In other words, the unmanned steerable combine 1 can autonomously travel from the slope connected to the field into the field with the harvested object, and can autonomously travel from the field to the outside of the field. It is configured to be able to. Furthermore, the combine 1 is comprised so that it may drive | work, turn, and work autonomously within a farm field.

  As shown in FIG. 1, the combine 1 is mainly composed of a traveling unit 10, a cutting unit 2, a transport unit 3, a threshing unit 4, a sorting unit 5, a storage unit 6, and a power unit 7. ing. In addition, in FIG. 1, the front-back direction and the up-down direction of the combine 1 are represented.

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

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

  The mowing unit 2 is provided in front of the traveling unit 10. The cutting unit 2 includes a reel 21, a cutting blade 22, and a divider 23. The reel 21 causes a grain culm in the field. Further, the reel 21 is configured to be rotatable around a rotation axis that faces in the left-right direction. The cutting blade 22 cuts the culm caused by the reel 21. The divider 23 is disposed in front of the cutting blade 22. The divider 23 projects forward from the left and right side walls 25 of the cutting frame 24 to form the front end and the left and right ends of the cutting unit 2.

  The conveyance unit 3 is provided behind the cutting unit 2. The transport unit 3 includes an auger 31 and a conveyor 32. The auger 31 collects the cereals cut by the cutting blade 22 and feeds them to the conveyor 32. The conveyor 32 sends the cereals fed by the auger 31 to the threshing unit 4. The mowing unit 2 and the transport unit 3 constitute a front working machine.

  The conveyor 32 of the transport unit 3 is accommodated in the feeder house 33. The feeder house 33 is rotatably connected to the machine body 9. The rear end portion of the feeder house 33 is supported by the front portion of the frame member constituting the chassis 13. The front end portion of the feeder house 33 supports the rear end portion of the cutting frame 24.

  The threshing unit 4 is provided behind the transport unit 3. The threshing unit 4 includes a rotor 41 and a sieve mesh 42. The rotor 41 threshs the grains from the cereals fed by the transport unit 3. Moreover, the rotor 41 conveys the grain candy. The sieve mesh 42 supports the cereals conveyed by the rotor 41 and sifts the grains (drops the grains).

  The sorting unit 5 is provided below the threshing unit 4. The sorting unit 5 includes a swing device 51 and a blower device 52. The oscillating device 51 sifts through the cereals that have fallen from the sieve mesh 42 to select the grains. The air blower 52 blows away the cereal waste that has fallen with the cereal and the cereal waste left on the swinging device 51.

  The storage unit 6 is provided on the side of the threshing unit 4 and the sorting unit 5. The storage unit 6 includes a Glen tank 61 and a discharge auger 62. The Glen tank 61 stores the grains that have been conveyed from the sorting unit 5. The discharge auger 62 is a device used when discharging the grains in the grain tank 61.

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

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

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

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

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

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

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

  The connecting portion 64 is a member that forms the proximal end portion of the discharge auger 62. One end of the connecting part 64 is rotatably connected to the rear part of the Glen tank 61 so that the internal space of the connecting part 64 communicates with the inside of the Glen tank 61. Further, the other end portion of the connection portion 64 is fixed to the main body portion 63 so that the internal space of the connection portion 64 communicates with the internal space of the main body portion 63. The discharge auger 62 rotates around the connecting portion 64 as the connecting portion 64 rotates relative to the grain tank 61.

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

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

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

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

  The combine 1 is provided with information networks in various places so that the maximum performance can be exhibited. Specifically, in addition to the power unit 7, the components of the combine 1 constitute a controller area network (CAN) that can share information with each other.

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

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

  The engine speed sensor 101 detects the speed of a crankshaft (not shown) of the engine 71. The travel speed sensor 102 detects the travel speed of the combine 1. The gyro sensor 103 as an inclination angle sensor detects the angular velocity of the inclination (pitch) in the front-rear direction, the angular velocity of the inclination (roll) in the left-right direction, and the angular velocity of the turn (yaw) as the displacement of the body 9 of the combine 1. . The direction sensor 104 detects the traveling direction of the combine 1. The steering sensor 105 detects the steering direction of the combine 1.

  Moreover, the combine 1 is equipped with the structure which detects the volume of the grain stored in the Glen tank 61. FIG. The grain sensor 106 having the configuration of a weight sensor detects the weight of the grain stored in the glen tank 61. In order to detect the volume of two or more kinds of harvesting objects, the specific gravity (density) of the reference grain is preset as a set value and is corrected for each type of harvesting object with respect to the reference set value. Value is set. Or the specific gravity (density) of the grain which changes with every kind of cutting object as a setting value is preset. By using the detected kernel weight and the density as the set value, the control device 80 can calculate the kernel volume with respect to the kernel weight detected by the kernel sensor 106. Furthermore, the control device 80 detects this calculated value as the volume value of the grain in the Glen tank 61.

  As each of these sensors, a sensor having a known configuration can be used. A signal from each sensor is transmitted to the control device 80. Based on the signals acquired from the gyro sensor 103 and the orientation sensor 104 among these pieces of information, the control device 80 calculates or derives the posture of the combine 1 (direction, forward / backward direction of the body, left / right inclination of the body, turning direction). Recognize by etc.

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

  At this time, the control device 80 detects the engine 71 based on input information (detection information) from an engine speed sensor 101 that detects the state of the engine 71, a temperature sensor, and an oil temperature sensor (all not shown). 71 is controlled. Moreover, the control apparatus 80 changes the conveyance speed in the conveyance part 3 with the change of the cutting speed, changes the rotation speed of the rotor 41 of the threshing part 4 according to a processing amount, Control for changing the opening of the sheave mesh 42 according to the processing amount is executed. Furthermore, the control device 80 controls the traveling unit 10 so that the steering direction is changed based on position information, displacement and orientation information, field information fI (see FIG. 5), and the like, which will be described later.

  In addition, as each setting value required for the operation | work which the combine 1 implements, the action | operation of each structure is programmed along a driving | running | working operation | work path | route or for every driving | running | working state. The combine 1 can perform a predetermined operation according to such a program. In the combine 1, emergency stop, temporary stop, restart, change of the running speed, change of the engine speed, automatic adjustment of the height position of the cutting part 2, Setting values for automatic adjustment of the conveyance speed and the like are stored in the storage unit 82 in advance.

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

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

  Further, the information stored in advance in the storage unit 82 includes information on the capacity of the Glen tank 61. That is, the memory | storage part 82 has memorize | stored the volume of the Glen tank 61 for storing the grain to be harvested.

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

  The control device 80 has a communication unit 83. The communication unit 83 has a function of communicating with an external configuration of the combine 1. The control device 80 is capable of communicating with another vehicle such as a combine, another vehicle 100 (see FIG. 6), a portable terminal (see FIG. 6), and the like that transports the harvested product through the communication unit 83. The control device 80 is configured such that necessary information is input from the external configuration by reading and analyzing the information transmitted from the external configuration, and the stored information such as a program can be rewritten. It may be.

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

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

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

  Thus, based on the signals transmitted from the GPS satellites 90, 90,..., The position information of the combine 1 is acquired at the set time interval in the mobile communication device 91, and the displacement of the combine 1 is detected from the gyro sensor 103 and the direction sensor 104. Information and orientation information are detected.

  Based on the position information, displacement information, and azimuth information, the control device 80 of the combine 1 controls each of the travel unit 10 and the power unit 7 so that the combine 1 travels along a preset travel work route. Control the configuration. Moreover, the combine 1 performs the predetermined | prescribed operation | work set along the driving | running | working operation | work path | route according to the present position, when the control apparatus 80 recognizes position information, or sets for every driving | running | working state of the combine 1. Work can be carried out.

  Each set value is set differently for each of two or more kinds of harvesting objects such as rice or beans. That is, each set value may differ for every cutting object. Or the control apparatus 80 of the combine 1 can use each setting value corrected according to the kind of cutting object with respect to a reference | standard setting value according to the kind of cutting object while storing the setting value used as a reference | standard beforehand. .

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

  As the farm field information fI, position information (map information) on the outer circumference of each farm field Fa / Fb that is a work range is set in advance. The operator confirms each field Fa / Fb by visual observation or the like in advance, and designates the outer periphery of each field Fa / Fb as the field edge E on the data map. Alternatively, it is possible to adopt a method that replaces visual observation by utilizing satellite photographs, drones, and the like.

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

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

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

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

  The travel work route that is set includes a route that enters the field Fa through the slope SLa, a route that travels and cuts in the field Fa, a route that exits from the field Fa through the slope SLb, and a slope. A path that enters the field Fb through the path SLb, a path that travels and harvests in the field Fb, and a path that exits from the field Fb through the slope SLc are included. Each path that enters the farm fields Fa and Fb through the slopes SLa and SLb and each path that exits from the farm fields Fa and Fb to the slopes SLb and SLc are set as paths that intersect the field edge E.

  According to the traveling work route shown in FIG. 5, the combine 1 travels on the slopes SLa and SLc, passes through the side of the predetermined field end E (the lower side in the figure), and enters each field Fa and Fb. enter in. The combine 1 performs a cutting operation while turning straight toward the center of each of the farm fields Fa and Fb while traveling straight in each farm field Fa and Fb. And the combine 1 leaves each field Fa * Fb from the edge | side (upper side in a figure) of another field edge E. As shown in FIG. In addition, according to environments, such as a shape of a farm field, the different driving | operation path | routes may be set for every farm field.

  The field information fI includes information on the grain dischargeable position Da. That is, the memory | storage part 82 (refer FIG. 3) of the control apparatus 80 shows the information of dischargeable position Da set as a position of the vicinity of the position which the vehicle 100 (refer FIG. 6) which conveys grain can stand by and parks. Stored in advance. The dischargeable position Da is set at a position on the travel work route.

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

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

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

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

  Note that field information such as lodging may also be included in the field information fI. Although not shown in the figure, the area where the cutting object is lying is plotted for each block of the map information as the lying area in the fields Fa and Fb. The lodging level of the object to be cut is set in a plurality of stages such as “heavy”, “medium”, and “light”. Furthermore, although not shown, the direction of lodging in each lodging area, such as the traveling direction, the reverse direction, the left or right direction, and the inconsistent direction in which these are mixed, is also set as the field information fI. Further, the amount of water applied to the object to be cut and the amount of water remaining on the ground can also be set for each lodging region separately from the degree of lodging as the lodging state.

  The combine 1 automatically sets the traveling speed in consideration of the state of lodging of each of the fields Fa and Fb. As a traveling speed of the combine 1 that travels along the traveling work route, a traveling speed that is a reference that does not correspond to lodging is set in advance. The traveling speed is set lower as the level of lodging increases with respect to the reference traveling speed.

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

  Moreover, the combine 1 can recognize the volume value of the grain in the glen tank 61 based on the weight of the grain which the grain sensor 106 detects. Using such information, that is, the volume value and the travel distance, the combine 1 can change the travel distance with respect to the change in the volume value and the total travel with respect to the accumulated volume value of the grain as a yield per unit travel distance. Calculate distance, etc. The combine 1 calculates the yield per unit travel distance for every predetermined time or for every predetermined travel distance.

  Alternatively, as described above, the storage unit 82 (see FIG. 3) of the control device 80 stores in advance information on the area for each field Fa / Fb and information on the harvest amount per field Fa / Fb. In addition, the width dimension of the cutting part 2 and the information on the travel distance of the combine 1 required for the cutting work for each field Fa / Fb can be stored in advance. The combine 1 can calculate the yield per unit area and the yield per unit travel distance by using each piece of information. Thus, the combine 1 may calculate and recognize the harvest amount per unit travel distance before the start of the cutting operation. In addition, according to the information on the area for each field, the information on the travel distance, and the information on the width of the cutting unit 2, the combine 1 is able to display the harvested area in each field while traveling along the traveling work route. It is also possible to calculate and recognize the area and the area of the remaining unreached region.

  The combine 1 uses GPS to acquire its own position information on the inside and outside of the farm fields Fa and Fb every predetermined time. Further, the gyro sensor 103 (see FIG. 3) of the combine 1 detects the inclination angle of the current position of the combine 1. Furthermore, the storage unit 82 (see FIG. 3) of the control device 80 is preliminarily input with the field information fI including the travel work route information and the field end E information as described above. Then, the combine 1 enters the field Fa while traveling along the traveling work route set in the field information fI.

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

  Next, the control in which the combine 1 sets the discharge position Db will be described with reference to FIG. The following is an example in which one combine 1 carries out a cutting operation in the fields Fa and Fb, and one vehicle 100 carries the harvested and harvested grains.

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

  As described above, according to the configuration in which the discharge position Db is notified to the outside in advance, the combine 1 can continue the cutting operation while moving toward the discharge position Db and can receive the grain from the discharge auger 62. The vehicle 100 can be waited in advance in the vicinity of the proper discharge position Db. As a result, the combine 1 can reduce the distance traveled by interrupting the cutting operation, and can also reduce the time during which the combine 1 is stopped (standby) without performing the cutting operation or the discharging operation.

  The traveling time is a time during which the combine 1 simply travels without performing a cutting operation or a discharging operation. The waiting time for the discharge time is a time during which the combine 1 stops traveling and stops the discharge work, and is a time during which the operation of the discharge auger 62 is stopped. The combine 1 sets the discharge position Db so that the waiting time for such discharge work is eliminated and the traveling time is shortened.

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

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

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

  In this way, the traveling time during which the cutting operation is interrupted and only traveling is calculated, and based on the calculation result, the combine 1 sets the predetermined position of the dischargeable position Da at the shortest position from the turning position Pt1 as the discharge position Db. Set. Then, the combine 1 transmits information on the set discharge position Db to the outside before reaching the discharge position Db, for example, before reaching the turning position Pt1. Even after transmitting the information on the discharge position Db, the combine 1 continues to perform the cutting operation, turns rightward at the turning position Pt1, and then moves straight toward the discharging position Db. Note that the combine 1 travels at the turning position Pt1 after raising the height position of the cutting unit 2 or reducing the rotation speed of the reel 21 (see FIG. 1) to interrupt the cutting operation. .

  When the combine 1 arrives at the discharge position Db, the combine 1 turns to the left to align the direction of the vehicle body along the side of the field edge E. Then, according to a predetermined program and set values, the discharge operation is started. Then, after discharging the grain from the Glen tank 61, the combine 1 newly sets a full position Pf. On the other hand, the vehicle 100 stands by in the vicinity of the discharge position Db before the combine 1 arrives at the discharge position Db. The vehicle 100 loads the grain discharged from the grain tank 61 of the combine 1 and transports the grain to a joint preparation facility (not shown).

  Information is transmitted from the combine 1 to the vehicle 100 or the portable terminal via a communication network including a plurality of base stations (not shown). Upon receiving the notification, the driver of the vehicle 100 can move the vehicle 100 to the vicinity of the discharge position Db and wait at the position before the combine 1 arrives at the discharge position Db. Thus, even if the combine 1 has arrived at the discharge position Db, the vehicle 100 has not yet arrived in the vicinity of the discharge position Db, and a situation occurs in which the combine 1 cannot start the discharge operation. Can be prevented. Information transmitted from the combine 1 to the vehicle 100 or the portable terminal is shared by being distributed to a data center, a server, etc., and then recorded in the data center, server, etc.

  When setting the discharge position Db, the combine 1 uses information about specifications such as a rotation direction, a rotation amount, a lift amount, and an extension amount of the discharge auger 62 that are input in advance. That is, the combine 1 is in the dischargeable range R so that the dischargeable range R (see FIG. 2A) of the discharge auger 62 overlaps the region where the vehicle 100 is parked to receive the discharged kernels. Accordingly, the discharge position Db is set. This prevents the combine 1 from approaching or leaving the position where the vehicle 100 stops in order to receive the discharged grain, so that when the combine 1 discharges the grain, Position adjustment between the combine 1 and the vehicle 100 becomes unnecessary. That is, since it is not necessary for either the combine 1 or the vehicle 100 to move for position adjustment, the grain can be appropriately discharged to the vehicle 100 by the operation of the discharge auger 62.

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

  Moreover, the combine 1 calculates the time required for the vehicle 100 to return after leaving the field Fa / Fb, and sets the discharge position Db based on the calculated time required.

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

  Alternatively, information is transmitted to the combine 1 by a necessary operation performed by a person carrying a portable terminal such as a driver of the vehicle 100. When the driver brings the portable terminal into the vehicle and the vehicle 100 moves away from the vicinity of the discharge position Db, and when the vehicle 100 returns to the parking position near the farm fields Fa and Fb near the dischargeable position Da, the portable terminal is used. The necessary information is transmitted to the combine 1. Thereby, the combine 1 can count and recognize the time from when the vehicle 100 leaves the farm field Fa · Fb until it returns to the farm field Fa · Fb.

  Alternatively, the vehicle 100 and the combine 1 are configured to be communicable via wireless communication. When the vehicle 100 leaves the vicinity of the discharge position Db and when the vehicle 100 returns to the parking position, the driver transmits necessary information to the combine 1 by operating the operation tools such as operation buttons in the vehicle. .

  The control in which the combine 1 sets the discharge position Db in consideration of the time required for the vehicle 100 to return after leaving the field Fa / Fb will be described in detail with reference to FIG.

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

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

  On the other hand, as described above, the combine 1 calculates the time from when the vehicle 100 leaves the field Fa / Fb until it returns to the field Fa / Fb. In the example shown in FIG. 7, the combine 1 is required for the vehicle 100 to return to the field Fa / Fb from the time required to reach the dischargeable position Da from the current position Pp via the turning position Pt3. Judge that the time is longer. That is, even if the combine 1 reaches the dischargeable position Da, the vehicle 100 has not returned to the farm fields Fa and Fb.

  Further, the time required for the combine 1 to return to the field Fa / Fb is shorter than the time required for the combine 1 to turn from the current position Pp to the dischargeable position Da at the full position Pf. It is determined. That is, when the combine 1 arrives at the full position Pf from the current position Pp, turns the traveling direction in the reverse direction and then goes straight, and then reaches the dischargeable position Da, the vehicle 100 moves to the farm fields Fa and Fb. I'm back.

  On the other hand, if the combine 1 turns around at a predetermined position before the full position Pf, the combine 1 can move to the dischargeable position Da in accordance with the time required until the vehicle 100 returns to the field Fa / Fb. Therefore, the combine 1 is a predetermined position where the harvesting operation is interrupted in order to make the time elapsed until the vehicle 100 returns and the time taken for the movement of the vehicle 100 to reach the dischargeable position Da from the current position Pp. The interruption position Ps is set together with the discharge position Db.

  According to the configuration in which the interruption position Ps is set, the combine 1 reaches the interruption position Ps from the current position Pp, turns the traveling direction in the reverse direction, goes straight, and then reaches the dischargeable position Da. And the time when the vehicle 100 returns to the field Fa / Fb can be matched. That is, when the cutting operation is interrupted at the interruption position Ps and moved toward the dischargeable position Da, the combine 1 arrives at the dischargeable position Da in accordance with the time when the vehicle 100 returns to the field Fa / Fb. be able to.

  Here, the time required for the combine 1 to interrupt the cutting operation at the turning position Pt3, perform the discharging operation at the discharging position Db, and restart the cutting operation at the turning position Pt3 to reach the original full position Pf. T3 (see FIG. 8A), the combine 1 interrupts the cutting operation at the interruption position Ps, performs the discharging operation at the discharging position Db, and further resumes the cutting operation at the original interruption position Ps and then returns to the original position. The time T4 (see FIG. 8B) required to reach the full position Pf, the combine 1 interrupts the cutting operation at the full position Pf, performs the discharge operation at the discharge position Db, and further returns to the original full position Pf. The time T5 (see FIG. 8C) required for restarting the mowing operation will be described.

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

  The traveling speed Vc is the traveling speed of the combine 1 during the cutting operation on the traveling route. The travel speed Vr is the travel speed of the combine 1 before and after turning on the travel route.

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

  When the discharging operation is completed, the combine 1 turns and then moves toward the turning position Pt3 at the traveling speed Vr. When the discharging operation is completed, the combine 1 calculates and sets the next full position Pf. Then, the cutting operation is resumed at the turning position Pt3. That is, the combine 1 moves along the travel work route at the travel speed Vc. And in time T3, it reaches | attains the original full position Pf set before discharging | emitting a grain.

  Next, in FIG. 8B, a case where the combine 1 interrupts the cutting operation at the interruption position Ps will be described. After passing the turning position Pt3 to the interruption position Ps, the combine 1 rotates toward the dischargeable position Da after performing the cutting operation at a constant traveling speed Vc. Then, the combine 1 goes straight to the dischargeable position Da at a constant travel speed Vr. The combine 1 arrives at the dischargeable position Da at time Td4, and then starts the discharge operation by operating the discharge auger 62. As described above, the combine 1 calculates that the vehicle 100 returns to the field Fa / Fb at the time Td4, and thus can start the discharge operation at the same time as it arrives at the dischargeable position Da.

  Compared with the above-described case (that is, when the combine 1 interrupts the cutting operation at the turning position Pt3), the cutting operation is continued from the turning position Pt3 to the interruption position Ps. Kernels are stored. Therefore, it is considered that the time Ts required for the discharging operation when the combine 1 interrupts the cutting operation at the interruption position Ps is longer than the time Tt3 required for the discharging operation when the combine 1 interrupts the cutting operation at the turning position Pt3. It is done. However, in this example, the time Ts required for the discharging operation when the combine 1 interrupts the cutting operation at the interruption position Ps, and the time Tt3 required for the discharging operation when the combine 1 interrupts the cutting operation at the turning position Pt3. The difference between the full position Pf and the discharge position Db is treated as a difference that does not affect the comparison of the time required for reciprocation between the full position Pf and the discharge position Db. That is, the time Ts and the time Tt3 are substantially the same. Further, a time Tf described later (a time required for the discharging work when the combine 1 interrupts the cutting work at the full position Pf) Tf is also substantially the same as the time Ts and the time Tt3.

  When the discharging operation is completed, the combine 1 turns and moves toward the interruption position Ps at the traveling speed Vr. Then, the cutting operation is resumed at the interruption position Ps. That is, the combine 1 moves along the travel work route at the travel speed Vc. And in time T4, it reaches | attains the original full position Pf set before discharging | emitting a grain.

  Next, in FIG. 8C, a case where the combine 1 interrupts the cutting operation at the full position Pf will be described. From the turn position Pt3 and further through the interruption position Ps to the full position Pf, the combine 1 turns toward the dischargeable position Da after performing the cutting operation at a constant traveling speed Vc. Then, the combine 1 goes straight to the dischargeable position Da at a constant travel speed Vr. The combine 1 arrives at the dischargeable position Da at time Td5, and then starts the discharge operation. Since the vehicle 100 has already arrived at the dischargeable position Da at time Td4, the combine 1 can start the discharge operation at the same time as it arrives at the dischargeable position Da without waiting for the vehicle 100.

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

  As shown in FIGS. 8A and 8B, time T3 is longer than time T4. That is, by setting the discharge position Db so that the combine 1 moves toward the dischargeable position Da after interrupting the cutting operation at the interruption position Ps, the waiting time for the discharge work is eliminated. Thus, since the time which the combine 1 waits until the vehicle 100 returns to the agricultural field Fa * Fb can be eliminated, the cutting operation and the discharging operation can be performed efficiently. Furthermore, since the combine 1 can advance the cutting work in the region between the turning position Pt3 and the interruption position Ps instead of waiting for the vehicle 100 at the discharging position Db, the cutting work and the discharging work can be efficiently performed. Can do. Moreover, since the volume of the grain stored in the Glen tank 61 can be increased compared with the case where the cutting operation is interrupted at the turning position Pt3, the total number of discharges in the entire cutting operation can be reduced.

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

  Thus, the combine 1 sets the predetermined position of the dischargeable position Da, which is the shortest position from the interruption position Ps, as the discharge position Db in consideration of the travel time including turning and the standby time of the discharge work. Then, the combine 1 transmits information on the set discharge position Db to the outside before reaching the discharge position Db, for example, before reaching the interruption position Ps or the turning position Pt3. Even after transmitting the information on the discharge position Db, the combine 1 continues the cutting operation to the interruption position Ps, turns in the reverse direction at the interruption position Ps, and then proceeds straight toward the discharge position Db. The combine 1 interrupts the cutting operation by raising the height position of the cutting unit 2 or decreasing the rotation speed of the reel 21 (see FIG. 1) at the interruption position Ps.

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

Claims (3)

It is a combine that can acquire position information using GPS and can run autonomously,
The field information including the information on the position where the grain can be discharged, the information on the traveling work route, the information on the capacity of the tank for storing the grain, and the grain harvest per unit travel distance, which are input in advance, respectively. The combine which sets the discharge position of the grain which minimizes the sum total time of waiting time of discharge work, and traveling time according to quantity information, and notifies the information on the discharge position outside.   The combine according to claim 1, wherein the discharge position is set in consideration of a time required for the vehicle carrying the grain to leave after returning from the field. It has an auger for discharging the grain to the outside of the tank,
The combine according to claim 1 or 2, wherein a discharge position is set in accordance with a dischargeable range of the auger input in advance.

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