JP2024015257A - Work management system and work management method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To perform efficient automatic traveling.

SOLUTION: A work management system comprises: a satellite antenna receiving a satellite signal from a satellite; a satellite positioning module 80 outputting positioning data corresponding to one's own vehicle position on the basis of the satellite signal; a yield output portion 20 outputting the yield measured by a yield sensor 19; a data acquisition portion 90 acquiring the positioning data and the yield; an area calculation portion 84 calculating the worked land area of a worked land and the unworked land area of an unworked land according to the positioning data acquired during traveling on the worked land; a yield ratio calculation portion 71 calculating a yield ratio, which is a yield per unit area on the worked land, according to the yield acquired during traveling on the worked land and the worked land area; and a total yield estimation portion 72 estimating the total yield of grains expected to be harvested on the unworked land.

SELECTED DRAWING: Figure 4

COPYRIGHT: (C)2024,JPO&INPIT

Description

The present invention relates to a work management system and a work management method for managing and controlling the work of a combine harvester that harvests crops in a field.

As a combine harvester, for example, one described in Patent Document 1 is already known. This combine harvester is capable of harvesting operation in which crops are harvested in a field using a harvesting device (referred to as a "reaping device" in Patent Document 1) while traveling by a traveling device. Further, this combine harvester includes a grain tank (referred to as a "grain tank" in Patent Document 1) that stores the crops harvested by the harvesting device.

This combine is configured to automatically travel based on signals received from a GPS satellite, and also has a yield sensor (referred to as "grain amount detection means" in Patent Document 1) that detects the amount of grain in the grain tank. It is equipped with When the value detected by the yield sensor exceeds the set value, this combine harvester stops harvesting and automatically moves to the vicinity of the transport vehicle (discharge point) in order to discharge the grain from the grain tank. .

Japanese Patent Application Publication No. 2001-69836

However, in the automatic travel of conventional combines, depending on the position where the amount of grain to be discharged is reached, automatic travel including movement to discharge the grains may not be efficient. For example, if the amount of grain that needs to be discharged is reached far from the edge of the field, the combine will retreat to the turning area (unworked area) of the field where it has already been harvested, and then move to the discharge point. Therefore, it was necessary to perform inefficient automated driving.

An object of the present invention is to perform efficient automatic driving.

A work management system according to an embodiment of the present invention includes a grain tank that stores grains harvested and threshed from crops, and a yield sensor that measures the yield of grains stored in the grain tank. , a work management system for a combine harvester that harvests crops in an outer peripheral area of a field by manually traveling, and harvests crops while automatically traveling in an unworked area inside an already worked area where the manual traveling has been performed. a satellite antenna provided on the combine to receive a satellite signal from a satellite; a satellite positioning module provided in the combine to output positioning data corresponding to the vehicle position based on the satellite signal; a yield output unit that outputs the yield measured by the yield sensor; a data acquisition unit that acquires the positioning data and the yield; and a data acquisition unit that acquires the positioning data and the yield; an area calculation unit that calculates the area of the already worked land and the area of the unworked land of the unworked land, and the yield per unit area of the already worked land from the yield obtained during the manual traveling and the area of the already worked land; a yield rate calculation unit that calculates a yield rate that is, and a total yield estimation unit that estimates a total yield of grain expected to be harvested on the unworked land from the area of the unworked land and the yield rate. Equipped with.

By estimating the total yield of unworked land in this way, it is possible to easily manage the harvesting work in this field or other fields once the surrounding mowing is completed. Furthermore, when generating a travel route for automatic driving on unworked land, the total yield to be harvested on unworked land can be taken into consideration. Therefore, the total yield serves as a guideline, and it becomes possible to efficiently generate a driving route for automatic driving.

Further, it may include a discharge number calculation unit that divides the total yield by the discharge yield of the grain tank and rounds the result to a decimal point to calculate a minimum required number of discharges during automatic travel in the unworked area. preferable.

With such a configuration, it becomes easy to optimize the timing of discharging grains, and it becomes possible to efficiently generate a travel route for automatic travel.

Further, when grains are discharged during the manual running, it is preferable that the discharge number calculation unit calculates the number of discharges by using the yield stored at the time of discharge during the manual running as the discharge yield.

By setting the yield when actually discharged as the discharge yield, it becomes possible to calculate a more realistic number of discharges.

Further, an emission standard yield calculation unit that calculates an emission standard yield that is a yield that is less than the emission yield from the total yield and the number of emissions, and a driving route generation unit that generates an automatic driving route based on the emission standard yield. It is preferable to include a part.

In order to generate an efficient travel route in automatic driving, it is preferable to generate a route that efficiently moves to the discharge point. In order to move efficiently to the discharge point, it is important to cut through unworked land and move directly to the discharge point. Therefore, when the end of the unworked land is reached, the yield of stored grains needs to be a yield suitable for being discharged. The discharge standard yield determined as above is a standard yield calculated from the minimum required number of discharges, and even if discharge is performed at the discharge standard yield, the final number of discharges will not change. Therefore, when generating a travel route, it is possible to give a range of yield at the time of discharge so that the discharge is between the discharge standard yield and the discharge yield. Along with this, the degree of freedom when generating a running route is increased, and when the end of the unworked area is reached, the yield of stored grain is suitable for discharging. This makes it easier. As a result, it becomes easier to generate an efficient travel route.

The invention further includes a discharge point setting unit that sets a discharge point for discharging the grains stored in the grain tank, and the travel route generation unit generates the automatic travel route in consideration of the discharge points. preferable.

By considering the discharge point, it is possible to generate a travel route so that harvesting ends at the edge of the unworked land closer to the discharge point, making it easier to generate an efficient travel route.

Furthermore, the work management method according to an embodiment of the present invention includes a grain tank for storing grains harvested and threshed from a crop, and a yield sensor for measuring the yield of grains stored in the grain tank. work performed on a combine that harvests crops in the outer peripheral area of a field by manually traveling, and harvesting crops while automatically traveling in an unworked area inside the already worked area where the manual traveling has been performed. A management method, comprising: receiving a satellite signal from a satellite; calculating positioning data corresponding to the vehicle position of the combine based on the satellite signal; and acquiring the positioning data and the yield; a step of calculating the area of the already worked land and the area of the unworked land from the positioning data acquired during the manual travel; and the yield and the area of the already worked land acquired during the manual travel. a step of calculating a yield rate, which is the yield per unit area in the already worked land, from the area; and a step of calculating the grain expected to be harvested in the unworked land from the unworked land area and the yield rate. and a step of calculating the total yield of grains.

By estimating the total yield of unworked land in this way, it is possible to easily manage the harvesting work in this field or other fields once the surrounding mowing is completed. Furthermore, when generating a travel route for automatic driving on unworked land, the total yield to be harvested on unworked land can be taken into consideration. Therefore, the total yield serves as a guideline, and it becomes possible to efficiently generate a driving route for automatic driving.

Further, it is preferable to include a step of dividing the total yield by the discharge yield of the grain tank and rounding up the decimal value to calculate the minimum required number of discharges during automatic travel in the unworked area.

With such a configuration, it becomes easy to optimize the timing of discharging grains, and it becomes possible to efficiently generate a travel route for automatic travel.

Moreover, when the grains are discharged during the manual running, it is preferable to calculate the number of discharges by using the yield stored at the time of discharge during the manual running as the discharge yield.

By setting the yield when actually discharged as the discharge yield, it becomes possible to calculate a more realistic number of discharges.

Further, it is preferable to include the steps of calculating an emission standard yield, which is a yield that is less than the emission yield, from the total yield and the number of emissions, and generating an automatic driving route based on the emission standard yield. .

With such a configuration, when generating a travel route, it is possible to give a range of yield at the time of discharge so that the discharge is between the discharge standard yield and the discharge yield. Therefore, the degree of freedom when generating a travel route is improved, and when the end of the unworked area is reached, it is possible to ensure that the yield of stored grain is suitable for discharging. It becomes easier. As a result, it becomes easier to generate an efficient travel route.

Preferably, the method further includes a step of setting a discharge point for discharging the grains stored in the grain tank, and the automatic travel route is generated in consideration of the discharge point.

By considering the discharge point, it is possible to generate a travel route so that harvesting ends at the edge of the unworked land closer to the discharge point, making it easier to generate an efficient travel route.

It is a left side view of a combine. FIG. 2 is a diagram showing an overview of automatic travel of a combine harvester. FIG. 3 is a diagram showing a driving route during automatic driving. FIG. 2 is a functional block diagram showing the configuration of a management/control system of a combine harvester. It is a figure explaining discharge of grain performed during a harvest run. It is a figure explaining a preliminary adjustment route. It is a figure showing the flow in the management and control method of a combine.

Embodiments for carrying out the present invention will be described based on the drawings. In the following explanation, the direction of arrow F shown in FIG. 1 will be referred to as "front", the direction of arrow B will be referred to as "rear", the direction toward the front of the paper in FIG. 1 will be referred to as "left", and the direction toward the back will be referred to as "right". shall be. Further, the direction of arrow U shown in FIG. 1 is defined as "up", and the direction of arrow D is defined as "down".

[Overall configuration of combine harvester]
As shown in FIGS. 1 and 2, the combine harvester includes a crawler-type traveling device 11, a driving section 12, a threshing device 13, a grain tank 14, a harvesting device H, a conveyance device 16, a grain discharge device 18, and a satellite positioning module. It is equipped with 80.

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

Further, the driving unit 12, the threshing device 13, and the grain tank 14 are provided above the traveling device 11. A supervisor who monitors the work of the combine harvester can board the operating section 12. Note that the supervisor may monitor the work of the combine from outside the combine.

The grain discharge device 18 is provided above the grain tank 14. Further, the satellite positioning module 80 is attached to the upper surface of the driving section 12.

Harvesting device H is provided at the front of the combine. The conveying device 16 is provided on the rear side of the harvesting device H. The harvesting device H also includes a cutting mechanism 15 and a reel 17.

The cutting mechanism 15 cuts the planted grain culms in the field. Moreover, the reel 17 rake in the planted grain culm to be harvested while being rotated. With this configuration, the harvesting device H harvests grains (hereinafter also referred to as "crops") in the field. The combine harvester is capable of harvesting operation in which the harvesting device H harvests grains in the field while traveling by the traveling device 11.

In this way, the combine includes a harvesting device H that harvests grains in a field, and a traveling device 11.

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

In this way, the combine harvester includes a grain tank 14 that stores grains harvested by the harvesting device H.

A communication terminal 2 is arranged in the driving section 12 . In FIG. 1, the communication terminal 2 is fixed to the operating section 12. However, the present invention is not limited to this, and the communication terminal 2 may be configured to be detachable from the operating section 12. Further, it may be taken out of the combine harvester.

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

The procedure for performing harvesting work in a field using a combine harvester is as explained below.

First, the driver/supervisor manually operates the combine harvester and, as shown in Figure 2, performs a harvest run around the outer periphery of the field along the boundary line of the field (hereinafter referred to as "peripheral mowing"). ). As a result, the area that has become a mown area (already worked area) is set as the outer peripheral area SA. Then, the area left as unmoved land (unworked land) inside the outer peripheral area SA is set as the work target area CA. FIG. 2 shows an example of the outer peripheral area SA and the work target area CA. Note that perimeter mowing is performed by manual driving, but in this case, perimeter mowing may be done by a driver riding on the combine harvester and operating the combine, but it is also possible for a supervisor or the like to drive the combine by remote control. It's okay.

Further, at this time, in order to ensure a certain degree of width of the outer circumferential area SA, the driver drives the combine two to three laps. In this traveling, the width of the outer circumferential area SA increases by the working width of the combine every time the combine goes around once. After the first two to three laps are completed, the width of the outer peripheral area SA becomes about two to three times the working width of the combine harvester.

The outer circumferential area SA is used as a space for the combine harvester to change direction when automatically traveling to harvest in the work area CA. Furthermore, the outer circumferential area SA is also used as a space for movement, such as when moving to a grain discharge location or a fuel replenishment location after completing a harvest run.

Note that the transport vehicle CV shown in FIG. 2 can collect and transport grains discharged from the combine harvester. At the time of grain discharge, the combine moves to the vicinity of the transport vehicle CV, and then the grain is discharged to the transport vehicle CV by the grain discharge device 18.

Once the outer peripheral area SA and the work area CA are set, a travel route in the work area CA is calculated, as shown in FIG. The calculated travel route is sequentially generated based on the work travel pattern, and becomes a route along which the combine harvester automatically travels along the generated travel route. In addition to the U-shaped turning pattern shown in Fig. 3 in which the combine harvester changes direction along a U-shaped turning path, the combination harvester uses an α turning pattern in which the combine harvester changes direction while repeatedly moving forward and backward. The vehicle has a turning pattern and a switchback turning pattern in which the vehicle changes direction in a narrower area than the U turning pattern while traveling in reverse. Such turning travel including backward movement is also performed when the grain tank 14 is full and the combine, which has left the travel route in the work area CA, is aligned with the transport vehicle CV.

[About management and control related to automatic driving]
The configuration for managing and controlling automatic driving will be described below with reference to FIGS. 4 to 6.

The management and control system of the combine includes a control unit 5 consisting of a large number of electronic control units called ECUs, and various input/outputs that perform signal communication (data communication) with this control unit 5 through a wiring network such as an in-vehicle LAN. Consists of equipment.

The communication unit 66 is used for the management and control system of this combine to exchange data with the communication terminal 2 or with a management computer installed at a remote location. The communication terminal 2 includes a tablet computer operated by a supervisor standing in a field or a driver and supervisor riding a combine harvester, a computer installed at home or a management office, and the like. The control unit 5 is a core element of this control system, and is shown as a collection of a plurality of ECUs. Signals from the satellite positioning module 80 are input to the control unit 5 through the on-vehicle LAN. Note that some of the components of the control unit 5 may be placed in the communication terminal 2.

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

The input processing section 90 is connected to a satellite positioning module 80, a yield output section 20, a traveling state sensor group 63, a working state sensor group 64, a traveling operation unit (not shown), and the like. The input processing section 90 receives information from these and provides the information to various functional sections within the control unit 5. The driving state sensor group 63 includes an engine rotation speed sensor, an overheat detection sensor, a brake pedal position detection sensor, a shift position detection sensor, a steering position detection sensor, and the like. The work state sensor group 64 includes a harvesting device (harvesting device H (see FIG. 1)), a threshing device 13 (see FIG. 1), a conveyance device 16 (see FIG. 1), and a grain discharge device 18 (see FIG. 1). The sensor includes sensors that detect the driving state of the grain, and sensors that detect the state of the grain culm and grain.

The own vehicle position calculation unit 55 determines the own vehicle as map coordinates (or field coordinates) of a specific point on the vehicle body 10 (see FIG. 1) that is set in advance, based on the positioning data sequentially sent from the satellite positioning module 80. Calculate the position and the positions of both ends of the harvest width. The vehicle body orientation calculation unit 56 determines the vehicle body orientation indicating the orientation of the vehicle body 10 (see FIG. 1) in the traveling direction by determining the travel trajectory in minute time from the vehicle position sequentially calculated by the vehicle position calculation unit 55. decide. Further, the vehicle body orientation calculation unit 56 can also determine the vehicle body orientation based on the orientation data included in the output data from the inertial navigation module 82.

The field management unit 83 calculates the external shape of the field, the external shape of the work target area CA, the area of the field, the area of the work target area CA, etc. based on the own vehicle position calculated by the own vehicle position calculation unit 55. For example, the field management section 83 includes an area calculation section 84, a shape calculation section 85, and the like. The shape calculation unit 85 calculates the outer shape of the field and the outer shape of the work target area CA. The area calculation unit 84 calculates the area of the field and the area of the work target area CA. Note that the field management section 83 may include a discharge point setting section 86 that sets a discharge point at which grains are discharged to the transport vehicle CV.

The yield management unit 70 manages the yield used to determine a travel route for automatic driving. Therefore, the yield management unit 70 estimates the yield rate, which is the yield of crops per unit area of the field, the total yield that can be harvested in the work target area CA, and the like. In addition, the yield management unit 70 calculates the minimum number of times the stored grains are discharged and the yield of grains when the grains should be discharged, which are required at the minimum when harvesting the crops in the work target area CA. Specifically, the yield management section 70 can include a yield rate calculation section 71, a total yield calculation section 72 (corresponding to a total yield estimation section), a discharge frequency calculation section 73, a discharge standard yield calculation section 74, and the like. Note that the yield management section 70 can include all of these or a combination of some of these.

The yield rate calculating unit 71 calculates a yield rate, which is a yield per unit area, from the yield of grains harvested in the outer circumferential area SA and the area of the outer circumferential area SA in circumferential cutting. Specifically, the yield rate is calculated by dividing the yield of grains harvested in the outer peripheral area SA by the area of the outer peripheral area SA. The yield of grains harvested in the outer circumference area SA is determined from the increase in the amount of grains stored in the grain tank 14 from the start to the end of peripheral mowing by manual travel. Note that when grains are discharged during perimeter mowing, the amount of increase in grains before and after that is integrated. Further, the yield of grains harvested in the outer peripheral area SA may be calculated by the yield rate calculation unit 71, but may also be calculated by other functional units such as other functional units in the yield management unit 70. The area of the outer peripheral area SA is determined by the area calculation unit 84 subtracting the area of the work target area CA from the area of the field.

The total yield calculation unit 72 estimates the total yield of grains expected to be harvested in the entire work target area CA from the area of the work target area CA and the yield rate. Specifically, the total yield is calculated by multiplying the area of the work target area CA by the yield rate. Thereby, it becomes possible to efficiently generate a travel route for automatic travel in the work target area CA, with reference to the total yield and consideration of grain discharge.

The discharge frequency calculation unit 73 calculates the minimum required amount during automatic driving in the work target area CA based on the discharge yield, which is the yield stored in the grain tank 14 when grains are discharged, and the total yield of the work target area CA. Calculate the number of emissions. Specifically, the number of discharges is determined by dividing the total yield by the discharge yield and rounding the result up to an integer value. The discharge yield may be a full yield of the grain tank 14 or a yield that is a predetermined percentage or a predetermined amount lower than the full grain yield, a discharge yield required from an external source, a yield corresponding to the loading capacity of a transport vehicle, or a yield at the time of discharge in advance. The yield can be defined as . Furthermore, when grains are discharged during perimeter mowing, the yield at the time of discharge may be taken as the discharge yield. By calculating the number of discharges in this way, it is possible to set an efficient discharge timing in consideration of the number of discharges and to create an efficient travel route in automatic driving in the work area CA, as illustrated in the later section. It becomes possible to generate.

The discharge standard yield calculation unit 74 calculates the discharge standard yield from the total yield of the work target area CA and the discharge count calculated by the discharge count calculation unit 73. The discharge standard yield is the yield of grains stored in the grain tank 14, which is used as a guideline for discharging grains during automatic driving. Specifically, the discharge standard yield is calculated by dividing the total yield by the number of discharges. By calculating the emission standard yield in this way, as will be exemplified in the latter part, the automatic driving route in the work area CA can be efficiently generated while setting an efficient discharge timing using the emission standard yield as a guide. It becomes possible to do so.

The travel route generation unit 54 generates a travel route for automatic travel in the work target area CA based on the external shape of the field, the external shape of the work target area CA, and the like. The driving route used in automatic driving can be generated by the driving route generation unit 54 by itself using a route calculation algorithm, but it is also possible to use one generated by the communication terminal 2, a remote management computer, etc. and downloaded. It is possible. Note that the travel route calculated by the travel route generation unit 54 can be used for the purpose of guidance for the combine to travel along the travel route even in manual operation.

Additionally, this combine harvester can run in both automatic mode, where harvesting is carried out automatically, and manual mode, where harvesting is carried out manually. When performing automatic driving, an automatic driving mode is set, and when performing manual driving, a manual driving mode is set. Switching of the driving mode is managed by a driving mode management section (not shown) or the like.

In addition, when generating the driving route for automatic driving, the driving route generation unit 54 uses any one of the total yield of the work target area CA, the number of discharges calculated by the number of discharges calculation unit 73, and the discharge standard yield. They can also be considered in combination as appropriate. Further, the driving route generating section 54 can also generate the driving route by taking into consideration the discharge points set by the discharge point setting section 86.

By generating a travel route that automatically travels through the work area CA in consideration of the total yield of the work target area CA, the travel route including the discharge drive to the discharge point can be efficiently created while referring to the discharge yield. can be generated. It is also possible to calculate the remaining yield from the yield of grains harvested during automatic driving, and as automatic driving progresses, it is possible to change to an efficient travel route at any time based on the remaining yield in the work target area CA.

In addition, by generating a travel route that automatically travels through the work area CA in consideration of the number of times of ejection, automatic travel between the time of ejecting grains and the time of ejecting the next grain can be performed according to the number of times of ejection. By making the distance of harvesting travel even, etc., it is possible to easily and efficiently generate an optimal travel route.

In addition, the traveling route is determined by estimating the timing at which grains need to be discharged, such as when the discharge yield is reached, and taking into account the route to the discharge point, and determining the timing when the discharge yield is reached in the work target area. It is desirable to generate it at a timing that allows CA to be cut through.

For example, as shown in FIG. 5, a combine harvester that is running automatically travels across the work area CA at a certain position, then turns and crosses the work area CA at another position. Repeat the run. A combine harvester (shown as a traveling vehicle body 10 in the figure) is set near the transport vehicle CV to discharge the stored grains when the yield of grains stored in the grain tank 14 reaches the discharge yield. Move to the discharge point PO. When the discharge yield is reached, if the combine harvester is traveling at a position inside the work target area CA (for example, position PF1), the combine moves backward along the travel route where it has already harvested, turns around in the outer peripheral area SA, and The vehicle travels on the discharge travel route LO1 toward the discharge point PO. However, if the vehicle moves backward along the travel route and heads toward the discharge point PO in this way, the discharge travel route LO1 becomes longer due to discharge, and the efficiency of automatic travel deteriorates.

In contrast, by generating a travel route that automatically travels through the work area CA in consideration of the discharge standard yield, the yield when discharging grains can be set within a range that does not exceed the full yield from the discharge standard yield. All you have to do is consider the yield you have. Therefore, it is possible to easily generate a travel route so that the timing of moving to the discharge point is the timing of mowing through the work target area CA. For example, as shown in FIG. 5, if a yield is reached at position PF2 at the end of the work area CA, with a width greater than or equal to the discharge standard yield and less than or equal to the full yield, the user continues to move forward and follow the discharge travel route LO2. You can go through it and head to the discharge point PO. As a result, an efficient travel route can be easily generated.

Furthermore, as shown in FIG. 6, in order to easily generate an efficient driving route, the driving route generation unit 54 adjusts the length of the work target area CA in the direction along the driving route during automatic driving. A preliminary adjustment route LR for performing preliminary adjustment traveling may be generated. By performing preliminary adjustment travel in this way, a travel route is generated in automatic driving such that the exhaust yield is reached at the timing of cutting through the work target area CA, so as not to reach the exhaust yield within the work target area CA. This makes it easier. For example, a travel route can be generated such that the exhaust yield is reached at the end of the work area CA during reciprocating travel. As a result, it is possible to always head to the discharge point PO through the discharge travel path LO2 that does not involve reversing, and discharge an appropriate amount of grains. As a result, it becomes possible to easily generate an efficient travel route that allows for efficient grain discharge and efficient discharge travel. The discharge yield at this time may be a discharge standard yield, a predetermined ratio of the discharge standard yield or more to the full yield, or a yield that is less than a predetermined yield. Further, although the figure shows an example in which the preliminary adjustment path LR is generated at the end of one side of the work target area CA, the preliminary adjustment path LR may be generated at the ends of two opposing sides.

Note that at least a part of the area of the work target area CA, the yield rate, the total yield of the work target area CA, the number of discharges calculated by the discharge number calculation unit 73, and the discharge standard yield are those that have been checked in advance. It is also possible to use one obtained from the outside via the input processing section 90. When acquiring from the outside, the input processing unit 90 or the travel route generation unit 54 and other functional units include an area acquisition unit that acquires the area of the work target area CA, a yield rate acquisition unit that acquires the yield rate, and a total yield acquisition unit. It functions as a data acquisition unit such as a total yield acquisition unit that acquires the number of discharges, a discharge number acquisition unit that acquires the number of discharges, and a discharge standard yield acquisition unit that acquires the discharge standard yield.

Further, it is preferable that the traveling route generation unit 54 generates the preliminary adjustment route so that the harvesting work in the work area CA is finished on one side facing the entrance from the ridge in the field.

A method for managing and controlling automatic driving will be described below using FIGS. 4 to 7. Note that the method described below may be realized by the device configuration shown in FIG. 4 described above, but may be realized by any other arbitrary configuration. Furthermore, the method described below can be implemented using a program. For example, the program is stored in the storage device 92 and executed by the control unit 91 including a CPU, an ECU, and the like. Further, the storage device 92 and the control section 91 may be provided in the control unit 5, but may also be provided in different locations.

Satellite signals from satellites are continuously received, and positioning data corresponding to the vehicle's position is calculated (step #1 in FIG. 7).

Further, the yield of grains continuously stored in the grain tank 14 is measured (step #2 in FIG. 7).

While continuously calculating the positioning data and measuring the yield in this way, the combine harvester performs circumferential cutting of the outer peripheral area SA of the field (step #3 in FIG. 7).

After performing surrounding mowing, the external shape of the work target area CA (unworked area), which is the unmown area (unworked area) inside the outer peripheral area SA (already worked area), is determined from the continuously calculated positioning data. The outer shape of the outer peripheral area SA (the outer shape of the field) is calculated. In addition, the area of the work target area CA and the area of the outer peripheral area SA are calculated (step #4 in FIG. 7).

Further, a yield rate, which is the yield per unit area when the outer circumferential area SA is mown, is calculated from the yield of grains harvested during the circumferential mowing and the area of the outer circumferential area SA. Specifically, the yield rate is determined by dividing the yield of grains harvested during circumferential cutting by the area of the outer circumferential area SA. It should be noted that the obtained yield rate can be estimated to be applicable to harvesting in the entire field, and can be used for generating a driving route for the work target area CA by automatic driving (step #5 in FIG. 7).

Then, the total yield of grains expected to be harvested in the work area CA is calculated from the area of the work area CA and the yield rate. Specifically, the total yield is calculated by multiplying the area of the work target area CA by the yield rate. By referring to the total yield, it is possible to efficiently generate a travel route for automatic travel in the work area CA while taking grain discharge into consideration (step #6 in FIG. 7).

Next, from the discharge yield and the total yield of the work area CA, the minimum number of grain discharges required when automatically traveling through the work area CA is calculated. Specifically, the minimum number of times grains are discharged is determined by dividing the total yield by the discharge yield and rounding the result up to the nearest whole number. Note that the discharge yield here refers to the full yield of the grain tank 14, the yield that is a predetermined percentage or a predetermined amount less than the full grain yield, the discharge yield required from the outside, the capacity corresponding to the loading capacity of the transport vehicle, Alternatively, the yield may be predefined as the yield at the time of discharge. Furthermore, when grains are discharged during perimeter mowing, the yield at the time of discharge may be taken as the discharge yield (step #7 in FIG. 7).

As mentioned above, if automatic driving is performed until the emission yield is reached, if the exhaust yield is reached inside the work area CA, it will be necessary to retreat to move to the emission point PO, etc., making efficient automatic driving impossible. It may not be possible to do so. On the other hand, by determining the minimum number of times grains are ejected that is required, when generating a driving route for automatic driving, the number of times of grain ejection is taken into account, even if the amount of grain ejection is not reached. , it may be possible to generate a travel route that starts moving to the discharge point PO at a convenient position for moving to the discharge point PO. As a result, it becomes possible to generate an efficient travel route during automatic travel in the work target area CA.

Next, the discharge standard yield is calculated from the total yield of the work target area CA and the minimum required number of grain discharges. Specifically, the discharge standard yield is calculated by dividing the total yield of the work area CA by the minimum required number of grain discharges. The emission standard yield obtained in this way corresponds to the yield when the yields emitted during each automatic driving are equally distributed when ejecting grains at the minimum required number of times. . Then, the discharge standard yield is the yield that is less than the discharge yield. Therefore, as the yield at the time of discharge that is taken into consideration when generating a travel route for automatic driving, a yield that is greater than or equal to the discharge standard yield and less than or equal to the discharge yield can be used. In this way, it is possible to have a range in the yield at the time of discharge that is taken into account when generating the travel route, so movement to the discharge point PO can be started at a convenient position for moving to the discharge point PO. It becomes possible to more easily generate such a travel route (step #8 in FIG. 7).

Next, when generating a travel route for the work target area CA by automatic travel, a preliminary adjustment route is first generated. The preliminary adjustment route is a route on which harvesting travel is performed in order to shorten the length of the external shape of the work target area CA so that the length of automatically traveling back and forth through the work target area CA is shortened. Therefore, the preliminary adjustment route is a route that travels in a direction that intersects the reciprocating direction. By harvesting the pre-adjustment route, the work target area CA has an optimal shape for subsequent reciprocating automatic travel. The optimal shape is, for example, a shape that does not result in an exhaust yield in the middle of the travel route in the work area CA (inside the work area CA) during automatic driving. As described above, if the exhaust capacity is reached in the middle of the travel route, it becomes impossible to move efficiently to the exhaust point PO. Therefore, it is preferable to generate a travel route such that the yield is such that movement to the discharge point PO can be started at the end of the work target area CA. The preliminary adjustment route is a route for changing the shape of the work target area CA into a shape that facilitates generation of such a travel route. Such a preliminary adjustment path is generated based on the total yield of the above-mentioned work target area CA. Furthermore, it is preferable to consider the discharge yield. As mentioned above, the discharge yield is the full yield of the grain tank 14 or a yield that is a predetermined percentage or a predetermined amount less than the full yield, the discharge yield required from the outside, the capacity corresponding to the loading capacity of the transport vehicle, or The yield may be predefined as the yield at the time of discharge (step #9 in FIG. 7).

For the total yield, the total yield obtained in step #6 of FIG. good.

Furthermore, when generating the preliminary adjustment route, a discharge point for discharging the grains stored in the grain tank 14 may be set in advance, and the preliminary adjustment route may be generated in consideration of the discharge point. Further, the preliminary adjustment route may be generated so that the harvesting work in the work area CA is completed on one side of the sides configuring the work area CA that faces the entrance from the ridge in the field.

Next, a travel route for automatic travel to the work area CA where harvesting is not performed is generated (step #10 in FIG. 7).

Finally, harvesting is performed by automatic driving on the work target area CA that has not been harvested. The process ends when the harvest run for all areas is completed (step #10 in FIG. 7).

Note that the generation of a driving route in automatic driving can also be performed by considering at least one of the yield rate, total yield, number of discharges, and discharge standard yield. Further, when generating the travel route, a discharge point for discharging the grains stored in the grain tank 14 may be set in advance, and the travel route may be generated in consideration of the discharge point.

In the above-mentioned embodiment, the following individual embodiments can also be combined and implemented.

[Alternative Embodiment 1]
The yield rate, total yield, number of discharges, and discharge standard yield are calculated based on information from the perimeter mowing of the field, and in the perimeter mowing, a map of the field is created. When creating a field map, an operation is performed using a field map creation start switch or the like to start creating the field map. Further, the operation of the field map creation start switch may be restricted so that it is possible only when the assist switch is input (assist mode is in the ON state) and the work state is related to automatic driving. Furthermore, perimeter mowing may be started only in the harvesting state and in the state where the field map creation start switch is input. By providing the above regulations, it is possible to avoid creating a field map at an inappropriate position, and it is possible to create an appropriate field map when mowing around the field.

Note that the harvesting state is a state in which the harvesting device H (see FIG. 1) is at a predetermined height, and may also be a state in which the threshing device 13 (see FIG. 1) is in operation. Furthermore, if the field map creation start switch is not input in a state where it is determined that the surrounding area is being mowed, a warning may be issued. This can prevent forgetting to input the field map creation start switch. Whether or not the surrounding area is being mowed can be determined based on whether the assist switch is input in a location where no map has been created, whether the harvesting device H (see FIG. 1) is in a predetermined position, etc.

Further, if the positioning state of the satellite positioning module 80 (see FIG. 1) deteriorates during circumference mowing (while creating a field map), a warning may be issued, and furthermore, the creation of the field map or the harvesting work may be interrupted. Thereby, it is possible to prevent an inaccurate field map from being created.

The above-mentioned warning can be given to the communication terminal 2 (see Fig. 1) such as a VT (virtual terminal), the operating section 12 (see Fig. 1), etc., and may be performed by sounding a warning sound, lighting a warning lamp, etc. .

[Alternative Embodiment 2]
The calculated yield rate, total yield, number of discharges, and discharge standard yield, as well as the completion of each work, the predicted time when the grain tank 14 (see Figure 1) will be full or a predetermined yield, and the traveling stopped. Even if information such as an abnormal stop or a clogging detected in the harvesting device H (see Figure 1), etc., is sent to a terminal such as a smartphone of a veteran worker or manager, etc. good. This makes it possible to receive necessary instructions and advice from others, and to encourage others to perform necessary tasks such as moving a transport vehicle.

[Alternative Embodiment 3]
Creation of a field map including calculation of the external shape and area of the field and work area CA and automatic travel in the work area CA can be performed using two or more different working machines such as combine harvesters. As a result, while one working machine is automatically traveling in the work area CA, the other working machine is mowing the surrounding area, thereby making it possible to efficiently perform harvesting work on many fields. Additionally, since experience is required for perimeter mowing, harvesting can be done more efficiently by having experienced workers perform the perimeter mowing and less experienced workers monitoring the automated driving. .

Further, the work machine that performs surrounding cutting is not a work machine that can automatically run, but a work machine that is equipped with a satellite positioning module 80 (see FIG. 1) that can record measurement data and a communication device. . In this case, the positioning data may be transmitted to a management server or the like, the management server may create information such as a field map, and transfer the information to the work machine that runs automatically. With this, it is possible to harvest fields by automatic driving with a simpler configuration. Further, the work machine that performs surrounding cutting may be a work machine that cannot automatically travel, but is retrofitted with a satellite positioning module 80 (see FIG. 1) and a communication device.

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

The present invention is suitable for various harvesting vehicles such as combines.

14 Grain tank 15 Cutting mechanism 16 Conveying device 17 Reel 18 Grain discharge device 19 Yield sensor 20 Yield output section 54 Travel route generation section 71 Yield rate calculation section 72 Total yield calculation section 73 Discharge frequency calculation section 74 Emission standard yield calculation section 80 Satellite positioning module 84 Area calculation unit 86 Discharge point setting unit 90 Input processing unit

Claims (2)

It has a grain tank that stores the grains harvested and threshed from the crops, and a yield sensor that measures the yield of the grains stored in the grain tank. A work management system for a combine harvester that harvests crops while automatically traveling on unworked land inside the already worked land where the harvesting run has been performed,
a satellite antenna provided on the combine and receiving satellite signals from a satellite;
a satellite positioning module that is provided in the combine and outputs positioning data corresponding to the own vehicle position based on the satellite signal;
a yield output unit provided in the combine harvester and outputting the yield measured by the yield sensor;
a data acquisition unit that acquires the positioning data and the yield;
an area calculation unit that calculates an area of the already worked area of the already worked area and an area of the unworked area of the unworked area from the positioning data acquired while driving in the already worked area;
a yield rate calculation unit that calculates a yield rate that is a yield per unit area in the existing working area from the yield obtained while driving in the existing working area and the area of the existing working area;
A work management system comprising: a total yield estimation unit that estimates a total yield of grain expected to be harvested on the unworked land from the unworked land area and the yield rate. It has a grain tank that stores the grains harvested and threshed from the crops, and a yield sensor that measures the yield of the grains stored in the grain tank. and a work management method performed on a combine harvester that harvests crops while automatically traveling on unworked land inside the already worked land where the harvesting run has been performed,
a step of receiving a satellite signal from a satellite and calculating positioning data corresponding to the own vehicle position of the combine harvester based on the satellite signal;
acquiring the positioning data and the yield;
Calculating the area of the already worked area and the area of the unworked area of the unworked area from the positioning data acquired while driving in the area of the existing work;
Calculating a yield rate, which is the yield per unit area in the existing working area, from the yield obtained while driving in the existing working area and the area of the existing working area;
A work management method comprising the step of calculating the total yield of grain expected to be harvested on the unworked land from the unworked land area and the yield rate.

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