JP2023087971A - combine - Google Patents

Abstract

To grasp accurately a planting region in a field; and to calculate highly precisely a planting area, an expected yield, an expected work time, an expected fuel consumption or the like.SOLUTION: A combine includes a GNSS unit 102 for acquiring machine body positional information, traveling state discrimination means for discrimination between harvesting travel and non-harvesting travel, harvesting travel route specification means for specifying a harvesting travel route of a machine body based on the machine body positional information and a discrimination result by the traveling state discrimination means, and field outer shape map calculation means for calculating a field outer shape map based on the harvesting travel route.SELECTED DRAWING: Figure 11

Description

TECHNICAL FIELD The present invention relates to a combine harvester capable of acquiring outline map information of a field.

A work vehicle that performs teaching travel has been proposed in order to perform automatic travel and the like. For example, in the unmanned work method for a field work vehicle disclosed in Patent Document 1, first, perimeter teaching is performed by manually driving the perimeter of the field, which is the work area, so that the map coordinates and the reference running direction of the field are determined. Calculated. Next, by setting a traveling work route for traveling the entire area in the field, and automatically traveling on the route based on the position information in the field and the traveling direction information of the vehicle that is obtained from time to time on the route. , the work travel for the entire area in the field is carried out by autopilot.
Patent Literature 2 discloses a method of calculating a target travel route of an automatically traveling rice transplanter that performs seedling planting work by repeating linear work traveling. This rice transplanter is equipped with a GPS for measuring the position of the vehicle body, and the starting point is the position of the GPS antenna when the teaching SW is pressed at the start of teaching, and the end point is the position of the GPS antenna when the teaching SW is pressed at the end of teaching. and Based on the obtained start point and end point information, a reference line connecting the start point and the end point is calculated. generated as the target route of

JP-A-10-66406 JP 2008-67617 A

In recent years, it has been proposed to acquire outline map information of a field in order to calculate the planting area of the field. In Patent Document 1, since outer circumference teaching travel is performed, it is possible to acquire the contour map information of the farm field. The time and fuel required for the perimeter teaching run is a waste of money. In Patent Document 2, it is difficult to acquire field contour map information because the outer circumference teaching travel is not performed.

The present invention has been created with the aim of solving these problems in view of the actual situation as described above. traveling state determining means for determining non-harvesting travel; harvesting travel route identifying means for specifying a harvesting travel route of the machine based on the machine body position information and the determination result of the traveling state determining device; and an agricultural field contour map calculating means for calculating an agricultural field contour map based on the above.
According to a second aspect of the invention, there is provided the combine according to the first aspect, further comprising closed figure determination means for determining whether or not the harvesting travel route is a closed figure.
Further, the invention of claim 3 is the combine harvester according to claim 1 or 2, wherein the farm field contour map calculating means calculates the farm field contour map based on the harvest travel route when the harvest travel route is a closed figure. is characterized by calculating
Further, the invention of claim 4 is the combine harvester according to any one of claims 1 to 3, wherein when the harvesting travel path is not a closed figure, a It is characterized by further comprising virtual line segment generation means for generating virtual line segments.
Further, the invention of claim 5 is the combine harvester according to any one of claims 1 to 4, further comprising enable/disable selection means for allowing an operator to select whether or not the harvest travel route, which is the basis of the field contour map, is enabled or disabled. It is characterized by further comprising:
According to a sixth aspect of the present invention, there is provided the combine harvester according to any one of the second to fifth aspects, wherein grid map generating means for generating a grid map showing a field in a grid; The closed figure determination means determines whether or not the harvest travel route is a closed figure based on the shape of the filled grid, and the farm field outline map calculation means is characterized in that a farm field contour map is calculated based on the machine position information located on the filled contour of the grid.

According to the first aspect of the invention, in the harvesting operation of the combine harvester, the harvesting travel is performed from the outer peripheral side of the field, and the field outline map is calculated based on the actual harvesting travel route. It not only eliminates wastage of crops and fuel, but also enables the planting area of a field to be accurately determined and the planting area, predicted yield, predicted working time, predicted fuel consumption, etc. to be calculated with high accuracy.
Moreover, according to the invention of claim 2, since the closed figure determining means for determining whether the harvest travel route is a closed figure is provided, it is possible to clarify the situation in which an accurate field outline map can be calculated.
Further, according to the third aspect of the invention, when the harvesting travel route is a closed figure, the farm field contour map is calculated based on the harvesting travel route, so an accurate farm field contour map can be obtained.
Further, according to the fourth aspect of the invention, when the harvesting travel route is not a closed figure, the virtual line segment generating means for generating a virtual line segment between the ends of the harvesting travel route is provided. is not a closed figure, the field outline map can be calculated based on the figure closed by the virtual line segment.
Further, according to the fifth aspect of the invention, since the availability selection means for allowing the operator to select the availability of the harvesting travel route that is the basis of the field outline map is provided, not only can the adaptability to irregular farm fields be improved, but also It is possible to prevent erroneous calculation of the outline map.
Further, according to the sixth aspect of the invention, the closed figure determination means determines whether or not the harvest travel route is a closed figure based on the shape of the filled grid. Calculation load can be reduced compared to the case of determining Further, since the farm field outline map calculation means calculates the farm field outline map based on the machine position information located on the contour of the filled grid shape, the accuracy of the farm field outline map is higher than in the case of calculating based on the grid shape. You get a map.

BRIEF DESCRIPTION OF THE DRAWINGS It is a top view of the combine which concerns on one Embodiment of this invention. It is a left view of a combine. It is a left view which shows the inside of a threshing part. It is a top view which shows the inside of a threshing part. It is a right view which shows the inside of a grain lifting apparatus. It is front sectional drawing of the threshing part which shows the grain return path|route after quality measurement. It is a rear view which shows a quality measurement part. It is a right view which shows the inside of a grain tank. It is a rear view which shows the inside of a grain tank. It is a top view which shows the inside of a grain tank. It is a block diagram which shows the control structure of a combine. FIG. 11 is an explanatory diagram showing a filling process of a grid map; FIG. 4 is an explanatory diagram showing a display screen of a display unit (an initial display state of agricultural field divisions based on a grid map); It is explanatory drawing which shows the display screen of a display part (a confirmation operation waiting state of an agricultural field division). FIG. 10 is an explanatory diagram showing a display screen of the display unit (display state of agricultural field divisions based on a regenerated grid map); (A) to (E) show the outline map creation procedure for a rectangular field (A) to (E) show the outline map creation procedure for farm road turn fields (A) to (C) show the outline map creation procedure of the defect type field (A) is an explanatory diagram of straight line estimation by the method of least squares, and (B) is an explanatory diagram of joining point division of a curve and section linear interpolation. It is a flowchart which shows the processing procedure of agricultural field division estimation control. 4 is a flowchart showing a processing procedure of grid generation control; 4 is a flowchart showing a processing procedure for yield calculation; 4 is a flowchart showing a processing procedure of predictive control;

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described below with reference to the drawings. 1 and 2, reference numeral 1 denotes a combine harvester. The combine harvester 1 is a general-purpose combine harvester having a machine body 3 supported by a pair of left and right crawler-type running devices 2 . A reaping unit 5 for reaping grain culms in a field is provided in front of the machine body 3 so as to be able to move up and down. is provided. On the other side of the machine body 3, a threshing section 7 for threshing and sorting the culms harvested and conveyed by the harvesting section 5 is provided. A grain tank 10 for storing grains threshed and sorted by the threshing unit 7 is arranged behind the operation unit 6, and the grains stored in the grain tank 10 are arranged behind the grain tank 10. A discharge auger 11 is provided for discharging the grains out of the machine.

The reaping unit 5 includes a divider 12 for dividing grain culms in a field, a reciprocating cutting blade 13 for reaping the grain culms divided by the divider 12, and a bucket-shaped blade disposed behind the cutting blade 13. and a reel 15 disposed above the divider 12 and the cutting blade 13 for raking the grain culms backward. A blade 13 is configured for reaping. The culms cut by the cutting blade 13 are laterally fed by the platform auger 16 in the platform 14, and the harvested grains are fed together with the culms into the threshing chamber 19 of the threshing section 7 by the feeder 17. .

As shown in FIGS. 2 to 4, the threshing unit 7 has a handling chamber 19 into which the culms harvested by the harvesting unit 5 are thrown, and a sorting chamber 9 arranged below the handling chamber 19. , the threshing processing of the culms is performed in the threshing chamber 19, and the sorting processing of the threshed material is performed in the sorting chamber 9. In the handling chamber 19, a handling cylinder 20 having a spiral guide plate 20a attached to its outer peripheral surface is rotatably accommodated. A plurality of projecting teeth 20b are provided. In addition, the lower side of the threshing chamber 19 (lower portion of the threshing drum 20) is formed by a semi-cylindrical receiving net 21 along the outer circumference of the threshing drum 20, and the culms thrown into the threshing chamber 19 , are rotated together with the threshing cylinder 20 by the threshing teeth 20b, and are threshed by being rubbed by the receiving net 21 while being transported to the rear side of the machine body by the guide plate 20a.

The sorting chamber 9 includes an oscillating sorting body 22 disposed below the receiving net 21, a winnow fan 23 for blowing sorting air from the front lower side of the oscillating sorting body 22 to the rear upper side, and a blower. a fan 24; The oscillating sorting body 22 has a two-stage structure, consisting of an upper feed pan 25, a chaff sieve 26 and a straw rack 27, and a lower grain sieve 29, a chaff sieve 30 and a straw rack 31. It is provided continuously in the lower stage, and is rocked back and forth to sort out the material to be treated by specific gravity.

The feed pan 25 is a corrugated transport plate, receives the processed material leaking from the receiving net 21 and the secondary material described later, and transports them backward. The chaff sieves 26, 30 are composed of a plurality of fins arranged side by side with a predetermined interval in the front-rear direction, and sort the rearward-transferred processed materials with the sorting air of the winnow fan 23 and the blower fan 24, and sieve them. Separately, the grains that have passed through a grain sieve 29 made of a wire mesh member with a predetermined mesh drop to the first spiral 32 as the first grain.

On the other hand, the processed material transported to the terminal end of the swing sorting body 22 falls through the straw rack 27 , the chaff sieve 30 and the straw rack 31 to the second spiral 33 . Further, the long straw whose drop is restricted by the straw rack 31 is transported to the end thereof and discharged out of the machine. The handling chamber 19 and the sorting chamber 9 can be accessed by the operator by opening upward a side cover 36 supported by the machine body 3 so as to be openable and closable.

As shown in FIGS. 3 to 5, the first helix 32 is interlocked with a grain lifting device 37 for lifting the first grain to the grain tank 10, and the second helix 33 is connected to A reducing device 40 is interlocked with a reducing chamber 39 arranged on one side of the handling chamber 19 for transferring the second product. A horizontal reduction spiral 41 is axially mounted in the reduction chamber 39 in parallel with the reduction cylinder 20 . The cylinder 20 is conveyed in a direction opposite to the conveying direction, that is, from the rear to the front.

The reducing chamber 39 has a threshing chamber reducing port 42 facing the threshing starting end of the threshing chamber 19 at its front end. It is ejected by a projecting plate 43 fixed to the front end of 41 and returned to the handling chamber 19 through the handling chamber return opening 42 .

As shown in FIGS. 3 to 5, a storage horizontal spiral 45 and a quality measuring section 50 are arranged in front of the upper end portion of the grain lifting device 37 . The storage horizontal helix 45 is arranged along the left-right direction, receives the grain that jumps forward from the upper end of the grain lifting device 37 , conveys it to the right side, and drops it into the grain tank 10 . Also, the quality measuring unit 50 is arranged in front of the storage horizontal spiral 45, selectively receives the grain that is ejected forward from the upper end portion of the grain lifting device 37, and measures the quality thereof. That is, the quality measurement unit 50 measures the quality of the grain in the grain flow path on the upstream side of the grain tank 10 . Thereby, the timing of quality measurement can be brought forward compared with the conventional method of measuring quality within the grain tank 10 .

As shown in FIGS. 4 to 7, the quality measurement unit 50 stores the sorted grains in a storage unit 61, and the storage measurement type grain measurement device 60 that measures the quality of a large number of stored grains. and a moisture sensor 70 (moisture measuring means), which is a single-grain measuring type grain measuring device for measuring the quality of one or several sorted grains.

The storage measurement type grain measuring device 60 includes a grain entrance 62 that receives the grains ejected forward from the upper end of the grain lifting device 37 , an entrance shutter 63 that opens and closes the grain entrance 62 , and an entrance shutter 63 for opening and closing the grain entrance 62 . A storage part 61 for storing the received grains, a grain outlet 64 formed in the lower part of the storage part 61 for returning the grains in the storage part 61 onto the rocking sorter 22, and opening and closing the grain outlet 64. an imaging chamber 67 provided on one side of the storage portion 61 and through which the grains in the storage portion 61 can be visually recognized through the transparent member 66; A light-emitting element 68 such as an LED that illuminates the grains in the storage section 61 via a camera 69 that is arranged in the imaging chamber 67 and captures an image of the grains in the storage section 61 illuminated by the light-emitting element 68. Prepare.

When quality measurement is performed by the storage measurement type grain measuring device 60, the entrance shutter 63 is opened while the bottom shutter 65 is closed, the grain is received from the grain inlet 62, and the received grain is stored in the storage unit 61. do. When the grains in the storage section 61 reach a predetermined amount, the grains in the storage section 61 are illuminated by the light emitting element 68 through the transparent member 66, and the grains in the storage section 61 illuminated by the light emitting element 68 are illuminated. An image is taken by the camera 69 . After imaging, the bottom shutter 65 is opened to return the grains in the storage section 61 onto the rocking sorter 22, and the entrance shutter 63 is closed. The grain image captured by the camera 69 is displayed on, for example, a liquid crystal monitor 101 (liquid crystal panel with a touch panel) provided in the operation unit 6 .

Moisture sensor 70 is provided on the other side of reservoir 61 . The grain intake portion 71 of the moisture sensor 70 is arranged in the grain storage path from the grain entrance 62 to the storage portion 61, and the grains passing through the grain storage path are branched to form the grain intake portion 71 of the moisture sensor 70. The grains are taken into the measurement unit 72 and the moisture content of the taken-in grains is measured. Also, the grains after measurement are discharged from the discharge port 73 and returned onto the rocking sorter 22 .

Specifically, the moisture sensor 70 of this embodiment includes a grain intake unit 71 composed of a pair of sampling screws 74, and a measurement unit 72 containing a moisture meter (not shown) or the like. . The grain intake unit 71 feeds the grains on the pair of sampling screws 74 into the measuring unit 72 one by one based on the rotational driving of the pair of sampling screws 74 in a predetermined direction. The measuring unit 72 measures the moisture content of the grain between a crushing unit (not shown) that crushes the fed grain and a pair of electrodes (not shown) arranged to sandwich the crushed grain. a moisture meter; Moisture meters measure the moisture content of grains based on changes in electrical resistance and capacitance between a pair of electrodes. The measurement result of the moisture meter is displayed on the liquid crystal monitor 101, for example.

Inside the grain tank 10, as shown in FIGS. 8-10, there is a horizontal discharge spiral 46 disposed at the bottom of the grain tank 10 for discharging the grain in the grain tank 10 to the discharge auger 11. And, the first to third accumulation height detection sensors 81 to 83 (accumulation height detection means) for detecting the grain accumulation height in the grain tank 10, and the grains in the grain tank 10 are stirred. A leveling device 90 is provided for leveling the grain piled surface.

The first and second heap height detection sensors 81 and 82 irradiate the grain heaping surface with laser light, and detect the heap height of the grain based on the return time of the reflected light. distance sensor. In addition, the third accumulation height detection sensor 83 is a contact sensor (for example, a capacitance sensor) that includes a plurality of detection units 83a arranged in the vertical direction and detects the contact or proximity of the grains to the detection unit 83a. be.

The first piled-up height detection sensor 81 is provided on the ceiling of the grain tank 10 and detects the grain piled-up height based on the reflected light of the downwardly irradiated laser beam. In a situation where the grain tank 10 is dusty and the grain tank 10 is dusty, the laser beam may be attenuated and the detection accuracy may decrease. distance becomes too close, the detection accuracy may decrease.

The second accumulation height detection sensor 82 is provided at an intermediate height (approximately 1/3 of the height of the tank) of the front wall of the grain tank 10, and detects the reflected light of the laser beam emitted obliquely downward. Based on the grain heap height is detected. According to such a second piled-up height detection sensor 82, the grain piled-up height can be detected with high accuracy even in a low piled state in which the detection accuracy of the first piled-up height detection sensor 81 is lowered.

The third piled-up height detection sensor 83 is suspended from the ceiling of the grain tank 10 and detects the piled-up grain height by a plurality of detectors 83a arranged vertically. According to such a third heaping height detection sensor 83, the grain heaping height can be detected with high accuracy even in a nearly full state where the detection accuracy of the first heaping height detection sensor 81 is lowered.

The leveling device 90 includes a rotating shaft 91 rotatably installed between the bottom and the ceiling of the grain tank 10, and a plurality of (for example, six) stirring rods 92 projecting horizontally from the rotating shaft 91. and a leveling drive motor 93 which is provided on the ceiling of the grain tank 10 and drives a rotary shaft 91 to rotate. The plurality of stirring rods 92 are provided at predetermined distances in the height direction and at predetermined angles in the rotation direction. According to such a leveling device 90, when the rotating shaft 91 and the plurality of stirring rods 92 rotate according to the driving of the leveling drive motor 93, the grains in the grain tank 10 are stirred by the plurality of stirring rods 92. and the deposition surface is leveled.

As shown in FIG. 9 , the combine 1 is provided with a GNSS unit 102 as position information acquisition means for acquiring position information of the body 3 . As the GNSS unit 102, for example, an RTK-GNSS positioning system capable of highly accurate positioning with an error of several cm is adopted. The RTK-GNSS positioning system performs GNSS positioning such as GPS with a fixedly installed base station and a moving mobile station (Combine 1), respectively, and corrects signals sent from the base station to the mobile station in real time. By correcting the positioning data, highly accurate positioning with an error of several centimeters is realized. In addition, if two GNSS antennas are installed on the mobile station with a predetermined interval, not only the absolute position of the mobile station but also the traveling direction (azimuth) of the mobile station can be detected with high accuracy based on the two positioning results. it becomes possible to

As shown in FIG. 11, the combine 1 is provided with a control unit 100 that performs various controls. On the input side of the control unit 100, in addition to the moisture sensor 70 described above, the touch panel of the liquid crystal monitor 101, the pile height detection sensors 81 to 83 and the GNSS unit 102, a measurement switch for turning ON/OFF execution of the yield calculation described later is provided. 103, a measurement interruption switch 104 for interrupting yield calculation, a crop setting switch 105 for setting crops to be harvested, a forced moisture measurement switch 106 for forcing moisture measurement by the moisture sensor 70, a reaping clutch and a threshing clutch. a power clutch switch 107 for ON/OFF operation, a grain discharge switch 108 for turning ON/OFF grain discharge by the discharge auger 11, a vehicle speed sensor 109 for detecting vehicle speed, and fuel in a fuel tank (not shown) and a grid adjustment button 110 for adjusting the grid size, which will be described later, are connected.

Further, on the output side of the control unit 100, in addition to the liquid crystal monitor 101 and the leveling drive motor 93 described above, a reaping clutch drive motor 111 for turning ON/OFF the reaping clutch and a threshing clutch driving motor 111 for turning the threshing clutch ON/OFF are provided. a motor 112;
A discharge clutch driving motor 113 for turning ON/OFF the discharge clutch is connected. Also, the control unit 100 can communicate with an external communication device 114 such as a smartphone, and can store various data in the cloud 115 via the external communication device 114 .

The control unit 100 includes, as a functional configuration realized by cooperation of hardware and software, travel state determination means, harvest travel route identification means, grid map generation means, grid filling means, and field outline acquisition. long side determining means; grid size changing means; harvest volume calculating means; and harvest weight calculating means. Further, as a specific functional configuration for realizing the farm field outline acquisition means, it is provided with a closed figure determination means, a propriety selection means, a virtual line segment generation means, and a farm field outline map calculation means.

The traveling state discrimination means distinguishes between harvesting traveling and non-harvesting traveling. For example, when the harvesting clutch and the threshing clutch are turned on by the power clutch switch 107 and the vehicle speed sensor 109 detects a vehicle speed equal to or higher than a predetermined speed, it is determined that the vehicle is in the harvesting state.

The harvesting travel route identifying means identifies the harvesting travel route of the machine body 3 based on the machine body position information acquired by the GNSS unit 102 and the determination result of the traveling state determining means. For example, as shown in FIG. 12, all travel routes including harvest travel and non-harvest travel are stored as a direction coordinate group in a state in which harvest travel routes and non-harvest travel routes can be identified.

The grid map generating means generates a grid map GM showing a field with a grid G. FIG. The initial grid map GM is composed of grids G arranged in the east-west direction and the north-south direction, for example, based on the orientation. The initial grid G is, for example, a 0.3 m x 0.3 m square grid corresponding to the rows of the crop.

The grid filling means fills the grid D on the harvest travel route. For example, as shown in FIG. 13, the grid map GM is displayed on the liquid crystal monitor 101, and the grid G on the harvest travel route is filled out and displayed in real time. At this time, considering the width of the harvesting operation of the combine 1, as shown in FIG. 12, grids G overlapping the width of the harvesting operation are painted out. In the harvesting work by the combine harvester 1, normally, the harvesting travels counterclockwise from the outer periphery of the field. Therefore, based on the filling display of the grid G, not only can the outline of the field be recognized, but also the progress of the harvesting work can be easily checked. can be grasped.

The field outline acquisition means acquires field outline information (hereinafter sometimes referred to as field section information). For example, the farm field contour map calculated by the farm field contour map calculating means is acquired. Calculation of the field contour map by the field contour map calculation means will be described later.

The long side determining means determines the long side of the outer shape of the field. The grid map generation means regenerates the grid map GM in which the alignment direction of the grid G is parallel or perpendicular to the long side direction after the determination by the long side determination means is completed, and displays it on the liquid crystal monitor 101 . For example, as shown in FIG. 15, when the liquid crystal monitor 101 is a horizontally long monitor that is longer in the horizontal direction than in the vertical direction, the grid G is displayed so as to be aligned in the vertical and horizontal directions, and the grid map GM is regenerated. After that, without changing the arrangement direction of the grid G to be displayed, the field contour map is displayed so that the long sides are along the horizontal direction. As a result, the farm field outline map can be efficiently displayed in accordance with the oblong liquid crystal monitor 101 .

The grid size changing means changes the size of the grid G according to the operation of the grid adjustment button 110 . For example, if the field is large, the grid G can be coarsened to reduce processing, and if the field is small, the grid G can be fined to display a highly accurate grid map.

The closed figure determining means determines whether the harvesting travel route is a closed figure or whether the traveling route including the harvesting travel route and the non-harvesting travel route is a closed figure. At this time, the closed figure judging means judges whether or not it is a closed figure based on the shape of the filled grid G. FIG.

The approval/disapproval selection means allows the operator to select approval/disapproval of the harvesting travel route that is the basis of the field outline map. For example, after it is determined that the harvest travel route is a closed figure, as shown in FIG. . When a forced determination button (not shown) is operated, the farm field outline map is calculated based on the harvest travel route that does not form a closed figure.

The virtual line segment generation means generates a virtual line segment between the ends of the harvesting travel route when the harvesting travel route that is the basis of the farm field outline map is not a closed figure, and forces the harvesting travel route. Make it a closed figure. For example, as shown in (A) of FIG. 16, when a part of the harvest travel route is interrupted due to GNSS communication failure, etc., as shown in (B) of FIG. Then, processing is performed to paint out the grid G of the discontinued portion (torn portion). In addition, when the harvesting travel is performed on a farm road that makes a turn on a farm road, as shown in FIG. A process of filling the grid G so as to connect one ends and the other ends of the two straight lines indicating the travel route with the shortest straight line is performed.

The farm field outline map calculation means calculates a farm field outline map based on the harvest travel route. For example, the field outline map calculation means of the present embodiment includes a process of determining the outline area of the closed figure in the grid map GM (FIGS. 16(C) and 17(C)), and (D) in FIG. 16 and (D) in FIG. 17), and processing for linking discontinuous portions of the extracted direction coordinate group with an additional direction coordinate group ((E ), (E) of FIG. 17), and a process of generating the contour lines of the agricultural field sections based on the group of directional coordinates subjected to connection processing ((A) and (B) of FIG. 19).

The process of generating the contour lines of the farm field section is based on, for example, the process of estimating a straight line from the directional coordinate group corresponding to the contour of the farm field by the method of least squares ((A) in FIG. 19). A curve is divided at junction points, and a process of linearly interpolating the divided sections is performed ((B) in FIG. 19). After that, the points of intersection of adjacent straight lines are calculated, and polygons are generated by connecting the points of intersection with straight lines.

In addition, the farm field outline map calculation means of the present embodiment can also calculate a farm field outline map of a deficient farm field as shown in FIG. 18 . In such a deficient type field, as shown in FIG. 18A, after entering the field, the projecting portion of the field is harvested in the clockwise direction and then cut counterclockwise in some cases. If the group of direction coordinates of such a harvesting travel route is connected, the outline becomes a partially crossed contour line as shown in FIG. 18(B). As shown in FIG. 18C, the farm field outline map calculation means of the present embodiment performs alignment processing for unifying the orientation of the direction coordinate group included in the outer frame area of the closed figure to the reaping traveling direction (counterclockwise). I do. As a result, it is possible to calculate an accurate field contour map even for a defect-type field.

The harvested volume calculation means calculates the harvested volume of the crop in the grain tank 10 based on the detection results of the first to third accumulation height detection sensors 81 to 83 regardless of the type of crop (see table including). For example, when the detection height of the second pile height detection sensor 82 is equal to or less than the first threshold, the harvest volume of the crop is calculated based on the detection height of the second pile height detection sensor 82, and the second When the height detected by the pile height detection sensor 82 exceeds the first threshold and the height detected by the first pile height detection sensor 81 is less than or equal to the second threshold (second threshold>first threshold), the first The harvested volume of the crop is calculated based on the height detected by the first pile height detection sensor 81, and when the height detected by the first pile height detection sensor 82 exceeds the second threshold, the third pile height is calculated. The crop volume is calculated based on the height detected by the height detection sensor 83 .

The harvested weight calculation means calculates the volume of the crop in the grain tank 10 based on the harvested volume calculated by the harvested volume calculation means, the detection result of the moisture sensor 70, and the bulk density of the crop set by the crop setting switch 105. Calculate the harvest weight. The bulk density is data indicating the weight per unit volume, and the control unit 100 stores in advance the bulk density for each crop that can be set with the crop setting switch 105 . Also, since the bulk density changes according to the moisture content (moisture content), the harvested weight is increased or decreased based on the detection result of the moisture sensor 70 . When the type of crop is changed by the crop setting switch 105, the control unit 100 not only changes the bulk density used to calculate the harvested weight, but also calculates the moisture content of the crop from the detection result of the moisture sensor 70. The calibration curve used in this process is also changed according to the type of crop.

Next, a processing procedure of the control unit 100 that implements the above functional configuration will be described with reference to flowcharts shown in FIGS. 20 to 23. FIG.

As shown in FIG. 20 , in the farm field division estimation control, the control unit 100 first generates a temporary grid map GM in which the grids G are arranged in the east-west direction and the north-south direction (S101). is obtained (S102), a directional coordinate group indicating the harvesting travel route is generated, and the grid G on the harvesting travel route is painted over (S103).

Next, the control unit 100 judges the operation of the forced confirmation button (S104), and if the judgment result is yes, skips steps S105 to S107 and jumps to step S108. , it is determined whether or not the filled area is a closed figure (S105). If the determination result is NO, the control unit 100 returns to step S102, and if the determination result is YES, displays the partition confirmation button (S106), and determines the operation of the partition confirmation button (S107). If the control unit 100 determines that the OK button B1 of the partition confirmation buttons has been operated, the process proceeds to step S108, and if it determines that the cancel button B2 of the partition confirmation buttons has been operated, the controller 100 returns to step S102.

After proceeding to step S108, the control unit 100 sequentially executes a plurality of processes (S108 to S114) relating to the calculation of the field outline map described above. These processes include a process of interpolating the broken portion of the grid line segments indicating the harvesting travel route to form a closed figure (S108: a process corresponding to (B) in FIG. 16 and (B) in FIG. 17); Processing for extracting the outer frame area of the figure (S109: processing corresponding to (C) in FIG. 16 and (C) in FIG. 17), and extracting outer frame line segments (direction coordinate group) included in the outer frame area processing (S110: processing corresponding to (D) of FIG. 16 and (D) of FIG. 17), processing of unifying the harvesting traveling direction of the outer frame line segment (S111: processing corresponding to (C) of FIG. 18 ), connecting adjacent line segments among the outer frame line segments (S112: processing corresponding to (E) in FIG. 16), and processing for connecting divergent line segments among the outer frame line segments (S113: Processing corresponding to (E) in FIG. 17), and processing for generating contour lines of agricultural field sections (S114: processing corresponding to FIG. 19).

As shown in FIG. 21 , in the grid generation control, the control unit 100 acquires the field section information (field contour map) (S201), determines the longest side of the field section (S202), and determines the longest side of the field section. A grid map GM in which the grids G are arranged is regenerated as a reference (S203). As a result, as shown in FIG. 15, it is possible to efficiently display the agricultural field divisions according to the oblong liquid crystal monitor 101 .

As shown in FIG. 22, in the yield calculation, the control unit 100 determines the start of measurement based on the ON operation of the measurement switch 103 (S301). Read (S302) and determine the set crop (S303). When the set crop is soybeans, the control unit 100 sets the calibration curve for soybeans as the calibration curve for the moisture sensor 70 and reads the coefficient for soybeans as the bulk density (S304). The calibration curve for rice is set as the calibration curve for the sensor 70, and the coefficient for rice is read as the bulk density (S305). At the same time, the coefficient for wheat is read as the bulk density (S306). In the present embodiment, three types of crops, ie, soybean, rice, and wheat, are exemplified as crops set by the crop setting switch 105, but there is no limit to the types of set crops, and other crops such as corn can also be set. can do.

Next, the control unit 100 reads the detection values of the first to third accumulation height detection sensors 81 to 83 and the moisture sensor 70 (S307), and then the harvested amount (volume) in the grain tank 10, the current Calculate the cumulative yield (volume) up to and the expected yield (volume) of the field (S308). Here, the expected yield (volume) of the field is calculated as the yield (volume) per unit area based on the cumulative yield (volume) up to now and the cumulative yield up to now (calculated from the grid map GM). It is obtained by multiplying the yield (volume) per unit area by the total area of the field (calculated from the field outline map).

Next, after calculating the average grain moisture content, the control unit 100 converts the weight per unit volume based on the average grain moisture content and bulk density, and converts this converted weight and yield (volume) into Based on this, the harvested amount (weight) in the grain tank 10, the cumulative harvested amount (weight) up to now, and the expected harvested amount (weight) of the field are calculated (S309). After storing these calculated values (S310), the control unit 100 returns to the higher-level routine.

As shown in FIG. 23, in predictive control, the control unit 100 acquires aircraft position information from the GNSS unit 102, harvest information from the first to third accumulation height detection sensors 81 to 83, calculated field section information, and the like. After that (S401), the total harvested area is calculated from the filled range of the harvesting travel route (S402), and the harvested amount per unit area, working time and fuel consumption are calculated (S403). After that, based on the total area of the field, the harvested amount per unit area, the working time, and the fuel consumption, the control unit 100 determines the expected harvested amount, the expected fuel consumption, the expected total working time, the expected end time, The degree of progress of the harvesting work, the expected number of times of discharge, etc. are calculated (S404). These calculation results can be displayed on the liquid crystal monitor 101 or transmitted to the outside.

According to the present embodiment configured as described above, the combine harvester 1 includes the GNSS unit 102 that acquires the machine body position information, the running state discrimination means that discriminates between the harvesting run and the non-harvesting run, and the machine body position information and the running state. Harvesting travel route specifying means for specifying the harvest travel route of the machine based on the discrimination result of the discriminating device; and farm field contour map calculating means for calculating the farm field contour map based on the harvest traveling route. In other words, in the harvesting operation of the combine 1, focusing on the fact that the harvesting travel is performed from the outer periphery of the field, the farmland contour map is calculated based on the actual harvesting travel route, thereby eliminating waste of time and fuel due to teaching travel. In addition, it is possible to accurately grasp the planting area of the field and to calculate the planting area, predicted yield, predicted work time, predicted fuel consumption, etc. with high accuracy.

Further, the combine 1 is further provided with a closed figure determining means for determining whether or not the harvesting travel route is a closed figure, so it is possible to clarify the situation in which an accurate field contour map can be calculated.

Further, when the harvest travel route is a closed figure, the farm field contour map calculation means calculates the farm field contour map based on the harvest travel route, so that an accurate farm field contour map can be obtained.

Further, if the harvesting travel route is not a closed figure, the virtual line segment generating means for generating a virtual line segment between the ends of the harvesting travel route is further provided. Also, the field outline map can be calculated based on the figure closed by the virtual line segment.

In addition, the combine 1 is further provided with a propriety selection means for allowing the operator to select propriety of the harvest travel route, which is the basis of the field outline map. can prevent it from coming out.

The combine 1 further includes grid map generating means for generating a grid map GM showing the field as a grid G, and grid filling means for filling the grid G on the harvesting travel route. Since it is determined whether or not the harvest travel route is a closed figure based on the shape of the grid G obtained, the calculation load can be reduced compared to the case of determining a closed figure based on the machine body position information. In addition, since the farm field contour map calculating means calculates the farm field contour map based on the machine position information located on the outline of the shape of the filled grid G, the field contour map is calculated with higher precision than when calculating based on the grid shape. A contour map is obtained.

1 Combine 3 Machine body 5 Reaping unit 7 Threshing unit 10 Grain tank 70 Moisture sensor 81 First pile height detection sensor 82 Second pile height detection sensor 83 Third pile height detection sensor 90 Leveling device 100 Control Part 101 LCD monitor 102 GNSS unit 105 Crop setting switch 110 Grid adjustment button 114 External communication device 115 Cloud G Grid GM Grid map

Claims (6)

position information acquisition means for acquiring position information of the aircraft;
a running state discrimination means for discriminating between harvesting running and non-harvesting running;
Harvesting travel route specifying means for specifying a harvest travel route of the machine based on the machine body position information and the determination result of the running state discrimination means;
a farm field contour map calculating means for calculating a farm field contour map based on the harvest travel route. 2. The combine according to claim 1, further comprising closed figure determination means for determining whether the harvest travel route is a closed figure. 3. The combine according to claim 1, wherein said farm field contour map calculating means calculates the farm field contour map based on said harvesting travel route when said harvesting travel route is a closed figure. 4. The method according to any one of claims 1 to 3, further comprising virtual line segment generation means for generating a virtual line segment between ends of the harvesting travel route when the harvesting travel route is not a closed figure. 1. The combine according to item 1. 5. The combine according to any one of claims 1 to 4, further comprising propriety selection means for allowing an operator to select propriety of the harvest travel route, which is the basis of the field outline map. a grid map generating means for generating a grid map showing a field in a grid;
a grid filling means for filling the grid on the harvest travel route;
The closed figure determination means determines whether or not the harvest travel route is a closed figure based on the shape of the filled grid,
6. The field contour map calculation means according to any one of claims 2 to 5, wherein the field contour map calculation means calculates the field contour map based on the machine position information located on the outline of the filled grid shape. combine.

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