JP2022100634A - Grain culm reaping work method - Google Patents

Abstract

To provide a grain culm reaping work method that provides high grain culm reaping work efficiency and is capable of mitigating a calculation amount of a processing unit for setting a travel route of a combine-harvester.SOLUTION: After coordinate rotation is performed so that any side of a first region agrees with a coordinate axis of a virtual coordinate system on a controller on the basis of positions of first points at four corners of a preset quadrangular first region and a rectangular or square second region in which a combine-harvester is to automatically travel from a first point after the coordinate rotation to perform reaping work is set, a processing unit sets, on the virtual coordinate system on the basis of positions of second points at four corners of the second region and a reaping width of a reaping device, a travel route circling in the counterclockwise direction on which the combine-harvester is to automatically travel. The coordinate rotation is executed by taking a side adjacent in the counterclockwise direction to the side nearest to a previously designated start point of sides of the first region as a reference.SELECTED DRAWING: Figure 11

Description

INDUSTRIAL APPLICABILITY The present invention is a method for cutting a grain culm in which a combiner controls a combine to mow the grain culm on the outer periphery of the field, and then the combine automatically runs to cut the grain culm on the inner circumference of the field. It is about.

In the conventional method of cutting grain culms, there is known a method in which a combine carried into a field carries out cutting work of grain culms while traveling on a cutting route set based on a signal of a positioning satellite. (See Patent Document 1)

Japanese Unexamined Patent Publication No. 2017-162373

However, in the conventional method of cutting the grain culm, the automatically traveling combine is made to make a U-turn at the headland provided on the outside of the work area to perform the cutting work of the grain culm to be planted in the work area. There is a problem that the efficiency of cutting work of the culm is low, and the amount of calculation of the processing unit for setting the traveling route of the combine becomes excessively large.

Therefore, the present invention is to provide a method for cutting a grain culm, which has high efficiency in cutting the grain culm and can reduce the amount of calculation of a processing unit for setting a traveling path of the combine.

The present invention that solves the above problems is as follows.

That is, the invention according to claim 1 is a cutting device (3) for cutting the grain culm planted in the field, and a threshing device (4) for threshing the grain culm on the rear left side of the cutting device (3). It is a method of cutting a grain culm to be planted in a field by using a combine provided with a control unit (5) on which the operator rides on the rear right side of the cutting device (3).
The processing unit (21) of the controller (20) of the combine has the first region (A1 to A4) based on the positions of the first points (A1 to A4) at the four corners of the first rectangular region (A) set in advance. Coordinate rotation is performed so that any side of A) coincides with the coordinate axes of the virtual coordinate system on the controller (20), and the combine automatically travels from the first point (A1 to A4) after the coordinate rotation. After setting the rectangular or square second region (B) for cutting work, the processing unit (21) is located at the second points (B1 to B4) at the four corners of the second region (B). Based on the cutting width (W) of the cutting device (3), the traveling paths (CL1 to CL4) that the combine automatically travels in the counterclockwise direction are set on the virtual coordinate system.
The coordinate rotation is performed on the side of the first region (A) that is adjacent to the side closest to the predetermined start point in the counterclockwise direction as a reference. The method.

According to the second aspect of the present invention, the traveling path (CL1 to CL4) in the first lap is half the cutting width (W) of the cutting device (3) inside the outer peripheral edge of the second region (B). The traveling path (CL1 to CL4) after the second lap is set to the position of the cutting width (W) of the cutting device (3) inside the traveling path (CL1 to CL4) of the immediately preceding lap. This is the method for cutting the grain culm according to claim 1.

According to the third aspect of the present invention, the traveling points (C1 to C4) at both ends of the traveling route (CL1 to CL4) are located outside the second region (B) of the traveling route (CL1 to CL4) immediately before the traveling route (CL1 to CL4). The grain cutting operation according to claim 1 or 2, wherein the processing unit (21) stops the setting of the traveling path (CL1 to CL4) when the position is located from the traveling points (C1 to C4) at both ends. The method.

According to the invention according to claim 1, the processing unit (21) of the combine controller (20) is a first point (A1 to A4) at four corners of a preset square first region (A). Coordinate rotation is performed so that any side of the first region (A) coincides with the coordinate axes of the virtual coordinate system on the controller (20) based on the position, and the first point (A1 to A1) after the coordinate rotation is performed. After setting the rectangular or square second region (B) in which the combine automatically travels from A4) to perform the cutting work, the processing unit (21) moves to the second point at the four corners of the second region (B). Based on the position of (B1 to B4) and the cutting width (W) of the cutting device (3), a traveling path (CL1 to CL4) that orbits in the counterclockwise direction in which the combine automatically travels is set on the virtual coordinate system. Since the coordinate rotation is performed based on the side of the first region (A) that is adjacent to the side closest to the predetermined start point in the counterclockwise direction, the combine is rotated counterclockwise. The cutting work of the uncut coordinates can be efficiently performed, and the setting work can be performed quickly by reducing the amount of calculation for the processing unit (21) of the controller (20) to set the traveling route for automatically traveling the combine. ..

According to the invention of claim 2, in addition to the effect of the invention of claim 1, the traveling path (CL1 to CL4) of the first lap is cut inward from the outer peripheral edge of the second region (B). The cutting device (W) is set at a position half of the cutting width (W) of the device (3), and the traveling path (CL1 to CL4) after the second lap is inside the traveling path (CL1 to CL4) of the immediately preceding lap. Since it is set at the position of the cutting width (W) of 3), the cutting work of the uncut grain culm in the second region (B) can be performed more efficiently.

According to the invention of claim 3, in addition to the effect of the invention of claim 1 or 2, traveling points (C1 to C4) at both ends of the traveling route (CL1 to CL4) are outside the second region (B). ) Is located below the travel points (C1 to C4) at both ends of the travel route (CL1 to CL4) of the immediately preceding lap, the processing unit (21) stops setting the travel route (CL1 to CL4). Therefore, the automatic running of the combine can be stopped immediately at the end of cutting the uncut grain culm, and the combine can be moved to the outside of the second region (B).

It is a left side view of the combine. It is a plan view of a combine. It is a connection diagram of the positioning unit of the combine. It is a connection diagram of a combine controller. It is explanatory drawing of the 1st area where a field and an uncut culm are planted. It is explanatory drawing which makes the side of the 1st region coincide with the direction which is transmitted from the positioning unit. It is explanatory drawing of the 1st region and the 2nd region in which a combine automatically travels. It is explanatory drawing which sets the traveling route which a combine automatically travels. It is an enlarged view of FIG. It is explanatory drawing which stops the setting of the travel path in which the combine automatically travels. It is explanatory drawing of the harvesting work method of a grain culm by a combine.

As shown in FIGS. 1 and 2, the combine is provided with a traveling device 2 consisting of a pair of left and right crawlers traveling on the soil surface under the machine frame 1, and the grain culm in the field is cut on the front side of the machine frame 1. A reaping device 3 is provided, a threshing device 4 for threshing and sorting the harvested culms is provided on the rear left side of the reaping device 3, and a control unit 5 on which the operator rides is provided on the rear right side of the reaping device 3. ing.

An engine room 6 for mounting the engine E is provided on the lower side of the control unit 5, and a grain tank 7 for storing threshed and sorted grains is provided on the rear side of the control unit 5, and the grain tank 7 is provided. A discharge auger 8 is provided on the rear side, which comprises a threshing portion extending in the vertical direction for discharging grains to the outside and a horizontal discharge extending in the front-rear direction.

As shown in FIG. 3, the positioning unit 10 which is an RTK-GPS positioning method is composed of a positioning satellite 11, a base station 12 provided at a known position, and a mobile station 16 provided in a combine. As a result, the position of the mobile station 16, that is, the position of the combine is accurately obtained from the position information transmitted from the positioning satellite 11 to the mobile station 16 and the correction position information transmitted from the base station 12 to the mobile station 16. be able to.

The base station 12 includes a fixed communication device 13, a fixed GPS antenna 14 that receives position information from the positioning satellite 11, and a fixed data transmission antenna 15 that transmits correction position information to the mobile station 16. ing.

The mobile station 16 includes a mobile communication device 17, a mobile GPS antenna 18 that receives position information from the positioning satellite 11, and a mobile data transmission antenna 19 that receives correction position information from the base station 12. Has been done.

As shown in FIG. 4, the combine controller 20 is composed of a processing unit 21 including a CPU and the like, a storage unit 22 including a ROM, RAM, a hard disk drive, a flash memory and the like, and a communication unit 23 for data communication with the outside. It is formed.

The processing unit 21 determines that the point 1C1 of the traveling path is set from the point B1 or the like of the second region B, which will be described later, or the occurrence of the twisting phenomenon, and switches to the combine automatic traveling switch 35 or the like.

The storage unit 22 stores points A1 and the like in the first area A, which will be described later, input by the operator via the monitor 5A, and is periodically updated.

A monitor 5A, a mobile communication device 17, a mobile GPS antenna 18, and a mobile data transmission antenna 19 are connected to the input side of the controller 20 via a predetermined input interface circuit.

An automatic traveling switch 35, an automatic cutting switch 36, and a detachment switch 37 are connected to the output side of the controller 20 via a predetermined interface circuit.

As shown in FIG. 5, the operator steers the combine and circulates the combine counterclockwise around the outer peripheral portion of the field 30 to cut the grain culm at the ridge of the field. Further, at the final lap, the operator inputs a point (“first point” in the claim) A1 when the combine passes through the lower left part of the field according to the display of the monitor 5A on the touch panel provided in the control unit 5, and the field Enter point A2 when passing through the lower right part of the field, enter point A3 when passing through the upper right part of the field, and enter point A4 when passing through the upper left part of the field. The points A1 to A4 input by the operator are stored in the storage unit 22 of the controller 20. It should be noted that these points may be set without running the combine.

An uncut grain culm remains in the inner peripheral portion on a substantially trapezoid defined by a straight line connecting the points A1 and the points A2, and this is referred to as a first region A in the present specification. The straight line connecting the points A1 and A2 is the first side AL1, the straight line connecting the points A2 and the point A3 is the second side AL2, and the straight line connecting the points A3 and the point A4 is the third side AL3 and the point A4. The straight line connecting the points A1 is called the fourth side AL4.

FIG. 5 shows a first region A based on a coordinate system of coordinate information transmitted from the positioning satellite 11 to the mobile station 16 (hereinafter, may be referred to as a “positioning coordinate system”). That is, the east-west direction of the direction coincides with the Xa axis, and the north-south direction of the direction coincides with the Ya axis. However, if coordinate rotation and point setting described later are performed based on such a positioning coordinate system, the calculation load of the processing unit 21 of the controller 20 increases.

Therefore, in the present embodiment, conversion such as coordinate conversion is performed from the positioning coordinate system to the virtual coordinate system that holds the first region A in the storage unit 22, and the setting of the second region B described later on this virtual coordinate system is performed. Set various points. This makes it possible to reduce the calculation load related to the setting of areas and points. 6 to 10 show areas and points in the virtual coordinate system.

The points obtained on the virtual coordinate system are subjected to coordinate conversion from the virtual coordinate system to the positioning coordinate system (so-called "reverse transformation") when the travel route generation of the combine described later is completed, and the positioning coordinates are obtained. Steering control for autonomous travel is performed by comparing the point coordinates in the system with the coordinates transmitted from the positioning unit 10 to the mobile station 16.

In the coordinate conversion of the first region A to the virtual coordinate system, the coordinates are rotated with reference to a specific reference side (first side AL1 in this embodiment). At that time, since the first side is determined based on the combine's own machine position and the operator's intention display, it is possible to reduce the calculation load and facilitate the work.

After the first region A is set, the harvesting work (autonomous work) is performed by autonomous traveling, but it is also possible to perform the autonomous work by the combine that performed the harvesting work on the outer peripheral portion of the field 30. It is also possible to let a combine that can work do it.

If any of the points A1 to A4 is designated as the start point of the autonomous work by the operator before the coordinate conversion of the first region A to the virtual coordinate system is started, the point is counterclockwise. The extending side is used as the reference side for coordinate transformation.

If there is no operation to specify the start point by such an operator, the position of the combine's own machine is acquired, the point on the end point side in the counterclockwise direction on the side closest to that position is set as the start point, and the reference side is set as the reference side. decide.

If another aircraft is designated as a combine for autonomous work by the worker, the reference side is determined based on the position of the combine.

Further, the starting point can be designated as a point other than the points A1 to A4, and in that case, it is set in the same manner as the reference side determination based on the own machine position of the combine described above.

The instruction to generate a travel route can be given by an operating device mounted on the combine or by a portable mobile terminal. If the generation instruction is given by the mobile terminal and the start point is not specified, and the combine in charge of autonomous work is specified, the reference side is determined based on the position of the combine's own machine. , If not specified, the reference side is determined based on the position of the mobile terminal. Further, among the combines registered in the database, the combine closest to the first region A can be set as the combine in charge of autonomous work, and the reference side can be set.

If there are two parallel sides among the sides constituting the first region A, one of the two sides is used as the reference side without being based on the designation of the starting point or the position of the own machine as described above. You can also do it. Thereby, the calculation load can be reduced.

As shown in FIG. 6, in the present embodiment, the first side AL1 of the first region A is aligned on the X-axis. As a result, it is possible to reduce the amount of calculation for calculating the second region B in which the combine automatically cuts while traveling and the travel route in which the combine travels in the second region B. The second side AL2 of the first region A can be aligned on the Y axis.

As shown in FIG. 7, the region where the combine automatically cuts while traveling is referred to as the second region B in the present specification. The coordinates B1X of the lower left point (“second point” in the claim) B1 of the second region B are the coordinates A4X and the points A1 of the point A4 of the first region A in which the first side AL1 is aligned on the X axis. The coordinate B1Y of the point B1 is set to the large Y coordinate of the coordinate A1Y of the point A1 of the first region A and the coordinate A2Y of the point A2. In the present embodiment illustrated in FIG. 7, the coordinate B1X of the point B1 is set to the coordinate A1X, and the coordinate B1Y is set to the coordinate A1Y or the coordinate A2Y.

Next, the coordinate B2X of the point B2 at the lower right of the second area B is set to the small X coordinate of the coordinate A2X of the point A2 of the first area A and the coordinate A3X of the point A3, and the coordinate B2Y of the point B2 is the second. It is set to the large Y coordinate of the coordinate A1Y of the point A1 of the region A and the coordinate A2Y of the point A2. In the present embodiment illustrated in FIG. 7, the coordinate B2X of the point B2 is set to the coordinate A3X, and the coordinate B2Y is set to the coordinate A1Y or the coordinate A2Y. As a result, the side BL1 connecting the points B1 and the points B2 in a straight line can be aligned and extended on the X-axis.

Next, the coordinate B3X of the point B3 in the upper right part of the second area B is set to the small X coordinate of the coordinate A2X of the point A2 of the first area A and the coordinate A3X of the point A3, and the coordinate B3Y of the point B3 is the second. 1 The coordinates A3Y of the point A3 in the area A and the coordinates A4Y of the point A4 are set to the small Y coordinates. In the present embodiment illustrated in FIG. 7, the coordinate B3X of the point B3 is set to the coordinate A3X, and the coordinate B3Y is set to the coordinate A3Y. As a result, the side BL2 connecting the points B2 and the points B3 in a straight line can be extended parallel to the Y axis orthogonal to the X axis.

Next, the coordinate B4X of the point B4 in the upper left portion of the second area B is set to the large X coordinate of the coordinate A4X of the point A4 of the first area A and the coordinate A1X of the point A1, and the coordinate B4Y of the point B4 is the second. 1 The coordinates A3Y of the point A3 in the area A and the coordinates A4Y of the point A4 are set to the small Y coordinates. In the present embodiment illustrated in FIG. 7, the coordinate B3X of the point B4 is set to the coordinate A1X, and the coordinate B4Y is set to the coordinate A3Y. As a result, the side BL3 connecting the points B3 and the point B4 in a straight line can be extended parallel to the X-axis in the east-west direction transmitted from the positioning unit 10 to the mobile station 16, and the points B4 and the point B1 can be extended. The linearly connected sides BL4 can be extended parallel to the Y-axis orthogonal to the X-axis.

Further, the second region B partitioned by the side BL1, the side BL2, the side BL3, and the side BL4 is formed in a rectangular shape, and the combine can be automatically run to efficiently perform automatic cutting.

In the present embodiment illustrated in FIGS. 8 and 9, the combine invades from the lower right of the second region B and automatically travels in the second region B to perform automatic cutting.

The coordinates 1C1X and the coordinates 1C1Y of the point (“traveling point” in the claim) 1C1 at the lower right of the second region B of the traveling path of the first lap of the combine are calculated by the following equations. Note that the 1 before C at point 1C1 indicates the first lap for convenience, and the same applies to the following.

Coordinate 1C1X = Coordinate B2X-1 / 2 of point B2 × Cutting width W of the cutting device 3
Coordinate 1C1Y = Coordinate B2Y at point B2
The coordinates 1C2X and the coordinates 1C2Y of the point 1C2 in the upper right part of the second region B of the traveling path of the first lap of the combine are calculated by the following equations.

Coordinate 1C2X = Coordinate B3X-1 / 2 of point B2 × Cutting width W of the cutting device 3
Coordinate 1C2Y = Coordinate B3Y-1 / 2 of point B2 × Cutting width W of cutting device 3
As a result, the traveling path 1CL1 connecting the points 1C1 and the point 1C2 extends parallel to the side BL2, and the right side portion of the combine harvester 3 is moved on the side BL2 of the second region B to move the second region B. It is possible to suppress the uncut residue of the uncut grain culm inside. Note that the 1 in front of C in the travel route 1CL1 indicates the first lap for convenience, and the same applies to the following.

The coordinates 1C3X and the coordinates 1C3Y of the point 1C3 in the upper left portion of the second region B of the traveling path of the first lap of the combine are calculated by the following equations.

Coordinate 1C3X = Coordinate B4X + 1/2 of point B2 × Cutting width W of the cutting device 3
Coordinate 1C3Y = Coordinate B4Y-1 / 2 of point B2 × Cutting width W of cutting device 3
As a result, the traveling path 1CL2 connecting the points 1C2 and the point 1C3 extends parallel to the side BL3, and the right side portion of the combine harvester 3 is moved on the side BL3 of the second region B to move the second region B. It is possible to suppress the uncut residue of the uncut grain culm inside.

The coordinates 1C4X and the coordinates 1C4Y of the point 1C4 at the lower left of the second region B of the traveling path of the first lap of the combine are calculated by the following equations.

Coordinate 1C4X = Coordinate B1X + 1/2 of point B2 × Cutting width W of the cutting device 3
Coordinate 1C4Y = Coordinate B1Y + 1/2 of point B2 × Cutting width W of the cutting device 3
As a result, the traveling path 1CL3 connecting the points 1C3 and the point 1C4 extends parallel to the side BL4, and the right side portion of the combine harvester 3 is moved on the side BL4 of the second region B to move the second region B. It is possible to suppress the uncut residue of the uncut grain culm inside.

The coordinates 2C1X and the coordinates 2C1Y of the point 2C1 at the lower right of the second region B of the traveling path of the second lap of the combine are calculated by the following equations.

Coordinate 2C1X = Coordinate 1C1X-Mowing width W of the cutting device 3
Coordinate 2C1Y = Coordinate 1C1Y + Cutting width W of the cutting device 3
As a result, the traveling path 1CL4 connecting the points 1C4 and the points 2C1 extends parallel to the side BL1, and the right side portion of the combine harvester 3 is moved on the side BL1 of the second region B to move the second region B. It is possible to suppress the uncut residue of the uncut grain culm inside.

The coordinates 2C2X and the coordinates 2C2Y of the point 2C2 in the upper right part of the second region B of the traveling path of the second lap of the combine are calculated by the following equations.

Coordinate 2C2X = Coordinate 1C2X-Mowing width W of the cutting device 3
Coordinate 2C2Y = Coordinate 1C2Y-Mowing width W of the cutting device 3
As a result, the second lap traveling path 2CL1 connecting the points 2C1 and the point 2C2 is extended in parallel with the first lap traveling path 1CL1, and the right side portion of the combine harvester 3 is uncut in the second region B. By locating it on the outer peripheral portion of the grain culm, it is possible to suppress the uncut portion in the second region B.

The coordinates 2C3X and the coordinates 2C3Y of the point 2C3 in the upper left portion of the second region B of the traveling path of the second lap of the combine are calculated by the following equations.

Coordinate 2C3X = Coordinate 1C3X + Cutting width W of the cutting device 3
Coordinate 2C3Y = Coordinate 1C3Y-Mowing width W of the cutting device 3
As a result, the second lap traveling path 2CL2 connecting the points 2C2 and the point 2C3 is extended in parallel with the first lap traveling path 1CL2, and the right side portion of the combine harvester 3 is uncut in the second region B. By locating it on the outer peripheral portion of the grain culm, it is possible to suppress the uncut portion in the second region B.

The coordinates 2C4X and the coordinates 2C4Y of the point 2C4 at the lower left of the second region B of the traveling path of the second lap of the combine are calculated by the following equations.

Coordinate 2C4X = Coordinate 1C4X + Cutting width W of the cutting device 3
Coordinate 2C4Y = Coordinate 1C4Y + Cutting width W of the cutting device 3
As a result, the second lap traveling path 2CL3 connecting the points 2C3 and the point 2C4 is extended in parallel with the first lap traveling path 1CL3, and the right side portion of the combine harvester 3 is uncut in the second region B. By locating it on the outer peripheral portion of the grain culm, it is possible to suppress the uncut portion in the second region B.

The coordinates of points 3C1 to 3C4 of the traveling path after the third lap of the combine are calculated in the same manner as the coordinates of points 2C2 to 2C4 of the traveling path of the second lap of the combine. As a result, the second lap traveling path 2CL4 connecting the points 2C4 and the point 3C1 is extended in parallel with the first lap traveling path 1CL4, and the right side portion of the combine harvester 3 is uncut in the second region B. By locating it on the outer peripheral portion of the grain culm, it is possible to suppress the uncut portion in the second region B.

In the present embodiment illustrated in FIG. 10, the coordinates 4C1X and the coordinates 4C1Y of the point 4C1 at the lower right of the second region B of the traveling path of the fourth lap are calculated by the following equations.

Coordinate 4C1X = Coordinate 3C1X-Mowing width W of the cutting device 3
Coordinate 4C1Y = Coordinate 3C1Y + Cutting width W of the cutting device 3
The processing unit 21 compares the coordinate 4C1X of the point 4C1 with the coordinate 3C4X of the point 3C4 stored in the storage unit 22, and if the coordinate 4C1X is larger than the coordinate 3C4X, the traveling route of the fourth lap of the combine. The coordinates 4C2X and the coordinates 4C2Y of the point 4C2 in the upper right part of the second region B are calculated. Move. As a result, the combine can be quickly moved to the invasion position at the end of cutting the uncut culm and moved to another field. In the present embodiment shown in FIG. 10, since the coordinate 4C1X is larger than the coordinate 3C4X, the processing unit 21 continues to calculate the point 4C2. Further, the processing unit 21 turns on the automatic traveling switch 35 and the automatic cutting switch 36 of the combine to automatically drive the combine and continue the automatic cutting. Further, in the present specification, the case where the coordinate 4C1X is equal to or less than the coordinate 3C4X, that is, the coordinate 4C1X is outside the coordinate 3C4X in the second region B is referred to as a twist phenomenon.

The coordinates 4C2X and the coordinates 4C2Y of the point 4C2 in the upper right part of the second region B of the traveling path of the fourth lap of the combine are calculated by the following equations.

Coordinate 4C2X = Coordinate 3C2X-Mowing width W of the cutting device 3
Coordinate 4C2Y = Coordinate 3C2Y-Mowing width W of the cutting device 3
The processing unit 21 compares the coordinate 4C2Y of the point 4C2 with the coordinate 4C1Y of the point 4C1 stored in the storage unit 22, and if the coordinate 4C2Y is larger than the coordinate 4C1Y, the traveling route of the fourth round of the combine. The coordinates 4C3X and the coordinates 4C3Y of the point 4C3 in the upper left part of the second region B are calculated. Move. As a result, the combine can be quickly moved to the invasion position at the end of cutting the uncut culm and moved to another field. In the present embodiment shown in FIG. 10, since the coordinate 4C2Y is larger than the coordinate 4C1Y, the processing unit 21 continues to calculate the point 4C3. Further, the processing unit 21 turns on the automatic traveling switch 35 and the automatic cutting switch 36 of the combine to automatically drive the combine and continue the automatic cutting. Further, in the present specification, the case where the coordinate 4C2Y is equal to or less than the coordinate 4C1Y, that is, the coordinate 4C2Y is outside the coordinate 4C1Y in the second region B is referred to as a twist phenomenon.

The coordinates 4C3X and the coordinates 4C3Y of the point 4C3 in the upper left portion of the second region B of the traveling path of the fourth lap of the combine are calculated by the following equations.

Coordinate 4C3X = Coordinate 3C3X + Cutting width W of the cutting device 3
Coordinate 4C3Y = Coordinate 3C3Y-Mowing width W of the cutting device 3
The processing unit 21 compares the coordinate 4C3X of the point 4C3 with the coordinate 4C2X of the point 4C2 stored in the storage unit 22, and if the coordinate 4C3X is smaller than the coordinate 4C2X, the traveling route of the fourth lap of the combine. The coordinates 4C4X and the coordinates 4C4Y of the point 4C4 at the lower left of the second region B of the above are calculated. Move. As a result, the combine can be quickly moved to the invasion position at the end of cutting the uncut culm and moved to another field. In the present embodiment shown in FIG. 10, since the coordinate 4C3X is larger than the coordinate 4C2X, the processing unit 21 continues to calculate the point 4C4. Further, the processing unit 21 turns on the automatic traveling switch 35 and the automatic cutting switch 36 of the combine to automatically drive the combine and continue the automatic cutting. Further, in the present specification, the case where the coordinate 4C3X is equal to or higher than the coordinate 4C2X, that is, the coordinate 4C3X is outside the coordinate 4C2X in the second region B is referred to as a twist phenomenon.

The coordinates 4C4X and the coordinates 4C4Y of the point 4C4 at the lower left of the second region B of the traveling path of the fourth lap of the combine are calculated by the following equations.

Coordinates 4C4X = Coordinates 3C3X + Cutting width W of the cutting device 3
Coordinates 4C4Y = Coordinates 3C3Y + Cutting width W of the cutting device 3
The processing unit 21 compares the coordinate 4C4Y of the point 4C4 with the coordinate 4C3Y of the point 4C3 stored in the storage unit 22, and if the coordinate 4C4Y is smaller than the coordinate 4C3Y, the traveling route of the fifth lap of the combine. The coordinates 5C1X and the coordinates 5C1Y of the point 5C1 at the lower right of the second region B of the above are calculated. Move. As a result, the combine can be quickly moved to the invasion position at the end of cutting the uncut culm and moved to another field. In the present embodiment shown in FIG. 10, since the coordinates 4C4Y are smaller than the coordinates 4C3Y, the processing unit 21 continues to calculate the point 5C1. Further, the processing unit 21 turns on the automatic traveling switch 35 and the automatic cutting switch 36 of the combine to automatically drive the combine and continue the automatic cutting. Further, in the present specification, the case where the coordinate 4C4Y is equal to or higher than the coordinate 4C3Y, that is, the coordinate 4C4Y is outside the coordinate 4C3Y in the second region B is referred to as a twist phenomenon.

The coordinates 5C1X and the coordinates 5C1Y of the point 5C1 at the lower right of the second region B of the traveling path of the fifth lap of the combine are calculated by the following equations.

Coordinate 5C1X = Coordinate 4C1X-Mowing width W of the cutting device 3
Coordinate 5C1Y = Coordinate 4C1Y + Cutting width W of the cutting device 3
The processing unit 21 compares the coordinate 5C1X of the point 5C1 with the coordinate 4C4X of the point 4C4 stored in the storage unit 22, and if the coordinate 5C1X is larger than the coordinate 4C4X, the traveling route of the fifth lap of the combine. The coordinates 5C2X and the coordinates 5C2Y of the point 5C2 in the upper right part of the second region B are calculated. Move. As a result, the combine can be quickly moved to the invasion position at the end of cutting the uncut culm and moved to another field. In the present embodiment shown in FIG. 10, since the coordinate 5C1X is larger than the coordinate 4C4X, the processing unit 21 continues to calculate the point 5C2. Further, the processing unit 21 turns on the automatic traveling switch 35 and the automatic cutting switch 36 of the combine to automatically drive the combine and continue the automatic cutting.

The coordinates 5C2X and the coordinates 5C2Y of the point 5C2 in the upper right part of the second region B of the traveling path of the fifth lap of the combine are calculated by the following equations.

Coordinate 5C2X = Coordinate 4C2X-Mowing width W of the cutting device 3
Coordinate 5C2Y = Coordinate 4C2Y-Mowing width W of the cutting device 3
The processing unit 21 compares the coordinate 5C2Y of the point 5C2 with the coordinate 5C1Y of the point 5C1 stored in the storage unit 22, and if the coordinate 5C2Y is larger than the coordinate 5C4X, the traveling route of the fifth lap of the combine. The coordinates 5C3X and the coordinates 5C3Y of the point 5C3 in the upper left part of the second region B of the above are calculated. Move. As a result, the combine can be quickly moved to the invasion position at the end of cutting the uncut culm and moved to another field. In the present embodiment shown in FIG. 10, the coordinate 5C2Y is the coordinate 5C1Y or less, that is, the twisting phenomenon has occurred, so that the processing unit 21 stops creating the traveling route. Further, the processing unit 21 turns off the automatic traveling switch 35 and the automatic cutting switch 36 of the combine, turns on the release switch 37, and moves the combine to the point 1C1 at the lower right of the second region B which is the intrusion position.

<How to harvest the grain culm with a combine>
As shown in FIG. 11, in step S1, the operator circulates the combine around the outer peripheral portion of the field 30 counterclockwise to cut the grain culm at the ridge of the field, and proceeds to step S2.

In step S2, the operator inputs the positions of points A1 to A4 of the first region A to the monitor 5A when passing through the lower left, lower right, upper right, and upper left of the field, and proceeds to step S3. ..

In step S3, the processing unit 21 of the controller 20 automatically travels the combine based on the points A1 to A4 of the first region A and automatically cuts the points B1 to B4 of the second region B having a rectangular shape or a square shape. Is set, and the process proceeds to step S4. As a result, it is possible to set a second area in which the combine automatically travels and automatically cuts.

In step S4, the processing unit 21 aligns the side BL1 linearly connecting the points B1 and B2 on the X-axis, and proceeds to step S5. As a result, it is possible to suppress the calculation of the points C1 to C4 of the traveling path on which the combine automatically travels, and the calculation amount related to the presence or absence of the twisting phenomenon of the traveling path. The second side AL2 of the first region A can be aligned on the Y axis.

In step S5, the processing unit 21 bases the points B1 to B4 of the second region B and the 1/2 cutting width W of the combine harvester 3 to the points 1C1 to 1C4 of the traveling path of the first round of the combine. Is set, and the process proceeds to step S6. As a result, the right side portion of the cutting device 3 can be moved along the outer peripheral edge of the second region B, and uncut culms in the second region B can be suppressed from being left uncut.

In step S6, the processing unit 21 determines whether or not there is a twisting phenomenon, and if it is determined that there is no twisting phenomenon, the process proceeds to step S7, and if it is determined that there is a twisting phenomenon, the process proceeds to step S11.

In step S7, the processing unit 21 turns off the release switch 37 that moves the combine to the intrusion position, and proceeds to step S8.

In step S8, the processing unit 21 turns on the automatic traveling switch 35 for automatically traveling the traveling device 2 of the combine and the automatic cutting switch 36 for automatically cutting the cutting device 3 of the combine, and proceeds to step S9.

In step S9, the processing unit 21 is based on the points n-1C1 to n-1C4 of the lap one lap before (referred to as the n-1 lap) and the cutting width W of the combine harvester 3, and is the source of the combine. The points nC1 to nC4 of the lap (referred to as the nth lap) are set, and the process proceeds to step S10. As a result, the right side portion of the combine harvester 3 can be moved along the outer peripheral edge of the uncut culm in the second region B, and the uncut portion of the uncut culm in the second region B is suppressed. be able to.

In step S10, the processing unit 21 determines whether or not there is a twisting phenomenon, returns to step S8 when it is determined that there is no twisting phenomenon, and proceeds to step S11 when it is determined that there is a twisting phenomenon.

In step S11, the processing unit 21 turns off the automatic traveling switch 35 for automatically traveling the combine traveling device 2 and the automatic cutting switch 36 for automatically harvesting the combine harvesting device 3, and proceeds to step S12.

In step S12, the processing unit 21 turns on the release switch 37 that moves the combine to the intrusion position, and moves the combine to the intrusion position. As a result, the combine can be quickly moved to the invasion position at the end of cutting the uncut culm and moved to another field.

3 Mowing device 4 Threshing device 5 Control unit 20 Controller 21 Processing unit A 1st area A 1 point (1st point)
A2 point (1st point)
A3 point (1st point)
A4 point (1st point)
B 2nd area B 1 point (2nd point)
B2 point (2nd point)
B3 point (2nd point)
B4 point (2nd point)
BL1 side BL2 side BL3 side BL4 side C1 point (running point)
C2 point (driving point)
C3 point (driving point)
C4 point (driving point)
CL1 Travel route CL2 Travel route CL3 Travel route CL4 Travel route W Cutting width

Claims (3)

A reaping device (3) for reaping the culm planted in the field, a threshing device (4) for threshing the culm on the rear left side of the reaping device (3), and a rear of the reaping device (3). It is a method of cutting culms to be planted in a field using a combine provided with a control unit (5) on the right side.
The processing unit (21) of the controller (20) of the combine has the first region (A1 to A4) based on the positions of the first points (A1 to A4) at the four corners of the first rectangular region (A) set in advance. Coordinate rotation is performed so that any side of A) coincides with the coordinate axes of the virtual coordinate system on the controller (20), and the combine automatically travels from the first point (A1 to A4) after the coordinate rotation. After setting the rectangular or square second region (B) for cutting work, the processing unit (21) is located at the second points (B1 to B4) at the four corners of the second region (B). Based on the cutting width (W) of the cutting device (3), the traveling paths (CL1 to CL4) that the combine automatically travels in the counterclockwise direction are set on the virtual coordinate system.
The coordinate rotation is performed on the side of the first region (A) that is adjacent to the side closest to the predetermined start point in the counterclockwise direction as a reference. Method. The traveling path (CL1 to CL4) in the first lap is set at a position half of the cutting width (W) of the cutting device (3) inside the outer peripheral edge of the second region (B), and the second The grain culm according to claim 1, wherein the traveling path (CL1 to CL4) after the first lap is set at the position of the cutting width (W) of the cutting device (3) inside the traveling path (CL1 to CL4) of the immediately preceding lap. Cutting work method. On the outside of the second region (B), the traveling points (C1 to C4) at both ends of the traveling route (CL1 to CL4) are the traveling points (C1 to C4) at both ends of the traveling route (CL1 to CL4) in the immediately preceding lap. The method for cutting the grain culm according to claim 1 or 2, wherein the processing unit (21) stops the setting of the traveling route (CL1 to CL4) when the position is higher than the above.

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