JP6910283B2 - Area determination system - Google Patents

Description

The present invention relates to an area determination system for calculating a work target area in a field.

Patent Document 1 describes an invention of an automatically traveling harvester (“combine” in Patent Document 1). In the harvesting work using this harvesting machine, the worker manually operates the harvesting machine at the beginning of the harvesting work, and performs the harvesting run so as to go around the outer peripheral portion in the field.

In the running on the outer peripheral portion, the direction in which the harvester should run is recorded. Then, the harvesting run is performed in the uncut area in the field by the automatic running based on the recorded orientation.

Jikkenhei 2-107911

In the automatic traveling system described in Patent Document 1, the area harvested by orbiting the outer peripheral portion in the field is set as the outer peripheral area, the inside of the outer peripheral area is calculated as the work target area, and the work target area is calculated. It is conceivable to calculate the traveling route in.

Here, when calculating the shape of the work target area based on the travel locus of the harvester in the orbital traveling in the outer peripheral portion in the field, if the travel locus is complicated, the shape of the calculated work target area is complicated. It tends to be.

When the shape of the calculated work target area is complicated, the process for calculating the traveling route in the work target area becomes complicated. As a result, it is assumed that a lot of time will be required to calculate the traveling route.

An object of the present invention is to provide an area determination system capable of calculating the shape of a work target area as a relatively simple shape.

The feature of the present invention is
A satellite positioning module that outputs positioning data indicating the position of the harvester's own vehicle,
Based on the positioning data output by the satellite positioning module, the area on the outer peripheral side of the field where the harvester traveled around while harvesting agricultural products is calculated as the outer peripheral area, and the inside of the outer peripheral area is the work target area. It is equipped with an area calculation unit that calculates as
The area calculation unit is configured to calculate the shape of the work target area as a polygon .
A distance calculation unit for calculating the distance between the boundary line on the outer peripheral side in the outer peripheral region and the boundary line on the inner peripheral side in the outer peripheral region is provided.
When the distance calculated by the distance calculation unit is shorter than the predetermined distance, the area calculation unit increases the number of sides of the polygon .

In the present invention, the shape of the work target area is calculated as a polygon. Therefore, the shape of the work target area can be calculated as a relatively simple shape.
In addition, the outer peripheral area can be used as a space for the harvester to change direction when performing harvesting in the work target area. In addition, the outer peripheral area can also be used as a space for movement such as when the harvesting run in the work target area is once completed and the harvested product is moved to the discharge place or the refueling place.
However, when the distance between the outer peripheral side boundary line in the outer peripheral region and the inner peripheral side boundary line in the outer peripheral region calculated by the area calculation unit is relatively short, the outer peripheral region is narrow, so that the above As such, it becomes difficult to utilize the outer peripheral area.
Here, according to the present invention, when the distance between the outer peripheral side boundary line in the outer peripheral region and the inner peripheral side boundary line in the outer peripheral region is shorter than a predetermined distance, the region calculation unit is calculated. Increase the number of sides in the work area. As a result, at the place where the number of sides is increased, the distance between the boundary line on the outer peripheral side in the outer peripheral region and the boundary line on the inner peripheral side in the outer peripheral region becomes longer. As a result, the outer peripheral region can be expanded.
Therefore, according to the above configuration, it becomes easy to secure a wide outer peripheral region.
Another feature of the present invention is
A satellite positioning module that outputs positioning data indicating the position of the harvester's own vehicle,
Based on the positioning data output by the satellite positioning module, the area on the outer peripheral side of the field where the harvester traveled around while harvesting agricultural products is calculated as the outer peripheral area, and the inside of the outer peripheral area is the work target area. It is equipped with an area calculation unit that calculates as
The area calculation unit is configured to calculate the shape of the work target area as a polygon.
A distance calculation unit that calculates the distance between the outer peripheral side boundary line in the outer peripheral region and the inner peripheral side boundary line in the outer peripheral region.
It is provided with a warning unit for prompting an additional orbital run in a region on the outer peripheral side of the field when the distance calculated by the distance calculation unit is shorter than a predetermined distance.
In the present invention, the shape of the work target area is calculated as a polygon. Therefore, the shape of the work target area can be calculated as a relatively simple shape.
In addition, the outer peripheral area can be used as a space for the harvester to change direction when performing harvesting in the work target area. In addition, the outer peripheral area can also be used as a space for movement such as when the harvesting run in the work target area is once completed and the harvested product is moved to the discharge place or the refueling place.
However, when the distance between the outer peripheral side boundary line in the outer peripheral region and the inner peripheral side boundary line in the outer peripheral region is relatively short, the outer peripheral region is narrow, so the outer peripheral region is used as described above. Becomes difficult.
Here, when the outer peripheral region is narrow, it is conceivable to expand the outer peripheral region by performing additional lap running.
However, it is difficult for an inexperienced worker to properly determine whether or not an additional orbital run is necessary when the orbital run in the outer peripheral region of the field is completed.
Here, according to the above configuration, when the distance between the boundary line on the outer peripheral side in the outer peripheral region and the boundary line on the inner peripheral side in the outer peripheral region is shorter than a predetermined distance, the warning unit notifies the outer circumference of the field. You will be prompted to make additional laps in the area on the side. Therefore, the operator can surely recognize that when the outer peripheral region is narrow, it is necessary to perform additional lap running in order to expand the outer peripheral region.

Further, in the present invention
A notification unit that notifies the shape of the work target area calculated by the area calculation unit, and
Equipped with an operation input unit that accepts artificial operation input
It is preferable that the area calculation unit changes the number of sides of the polygon based on the artificial operation input input to the operation input unit.

It is conceivable that the traveling route in the work target area is calculated based on the shape of the work target area. In this configuration, if the calculated shape of the work target area does not match the actual shape, the calculated traveling route tends to be inappropriate. As a result, it is expected that the harvesting run in the work target area will be inefficient and that uncut parts will be left.

Here, according to the above configuration, the shape of the work target area calculated by the area calculation unit is notified by the notification unit. Therefore, the operator can confirm whether or not the calculated shape of the work target area matches the actual shape.

Then, when the calculated shape of the work target area does not match the actual shape, the operator can change the number of sides of the calculated work target area by operating the operation input unit. As a result, the calculated shape of the work target area can be changed so as to match the actual shape.

It is a left side view of the combine. It is a block diagram which shows the structure of the area determination system. It is a figure which shows the orbit running in a field. It is a figure which shows the actual uncut area, the calculated outer peripheral area and the work target area. It is a figure which shows the structure of the display part and the operation input part. It is a figure which shows the structure of the display part and the operation input part. It is a figure which shows the actual uncut area, the recalculated outer peripheral area and the work target area. It is a figure which shows the outer peripheral area and the work target area before the edge increase processing is executed. It is a figure which shows the outer peripheral area and the work target area after the edge increase processing is executed. It is a figure which shows the outer peripheral area and the work target area before the lap running is additionally performed. It is a figure which shows the warning message in the display part. It is a figure which shows the outer peripheral area and the work target area after the lap running is performed additionally.

A mode for carrying out the present invention will be described with reference to the drawings. In the following description, the direction of the arrow F shown in FIG. 1 is referred to as "front", and the direction of the arrow B is referred to as "rear". Further, the direction of the arrow U shown in FIG. 1 is defined as "up", and the direction of the arrow D is defined as "down".

[Overall composition of combine harvester]
As shown in FIG. 1, the ordinary combine 1 (corresponding to the “harvester” according to the present invention) includes a crawler crane type traveling device 11, an operating unit 12, a threshing device 13, a grain tank 14, and a harvesting device H. It includes a transport device 16, a grain discharge device 18, and a satellite positioning module 80.

The traveling device 11 is provided at the lower part of the combine 1. The combine 1 can self-propell by the traveling device 11.

Further, the operation unit 12, the threshing device 13, and the grain tank 14 are provided on the upper side of the traveling device 11. A worker who monitors the work of the combine 1 can board the driving unit 12. The worker may monitor the work of the combine 1 from outside the machine of the combine 1.

The grain discharge device 18 is provided on the upper side of the grain tank 14. Further, the satellite positioning module 80 is attached to the upper surface of the operation unit 12.

The harvester H is provided at the front of the combine 1. The transport device 16 is provided on the rear side of the harvesting device H. Further, the harvesting device H has a cutting section 15 and a reel 17.

The cutting unit 15 cuts the planted culm in the field. Further, the reel 17 scrapes the planted culm to be harvested while rotating and driving. With this configuration, the harvesting apparatus H harvests field grains (corresponding to the "crops" according to the present invention). Then, the combine 1 can perform a harvesting run in which the combine 1 travels by the traveling device 11 while harvesting the grains in the field by the harvesting device H.

The cut grain culm cut by the cutting unit 15 is conveyed to the threshing device 13 by the transport device 16. In the threshing device 13, the harvested culm is threshed. The grains obtained by the threshing treatment are stored in the grain tank 14. The grains stored in the grain tank 14 are discharged to the outside of the machine by the grain discharging device 18 as needed.

Further, as shown in FIG. 1, a communication terminal 4 is arranged in the driving unit 12. The communication terminal 4 is configured to be able to display various information. In the present embodiment, the communication terminal 4 is fixed to the driving unit 12. However, the present invention is not limited to this, and the communication terminal 4 may be configured to be detachable from the driving unit 12, and the communication terminal 4 may be located outside the combine 1. ..

Here, the combine 1 is configured to harvest the grains in the field by performing a circuit trip while harvesting grains in the outer peripheral region of the field and then performing a harvesting run in the inner region of the field. There is.

Then, in this harvesting work, the region determination system A calculates the region on the outer peripheral side of the field where the combine 1 has circulated as the outer peripheral region SA, and the inside of the outer peripheral region SA is calculated as the work target region CA. ..

Hereinafter, the configuration of the region determination system A will be described.

[Configuration related to area determination system]
As shown in FIG. 2, the area determination system A includes a satellite positioning module 80, a control unit 20, and a communication terminal 4. The control unit 20 is provided in the combine 1. Further, as described above, the satellite positioning module 80 and the communication terminal 4 are also provided in the combine 1.

The control unit 20 includes a vehicle position calculation unit 21, a travel route setting unit 22, a travel control unit 23, an area calculation unit 24, and a distance calculation unit 25. Further, the communication terminal 4 has a display unit 4a (corresponding to the "notification unit" and the "warning unit" according to the present invention) and an operation input unit 4b.

As shown in FIG. 1, the satellite positioning module 80 receives GPS signals from the artificial satellite GS used in GPS (Global Positioning System). Then, as shown in FIG. 2, the satellite positioning module 80 sends positioning data indicating the own vehicle position of the combine 1 to the own vehicle position calculation unit 21 based on the received GPS signal.

As described above, the area determination system A includes a satellite positioning module 80 that outputs positioning data indicating the position of the vehicle of the combine 1.

The own vehicle position calculation unit 21 calculates the position coordinates of the combine 1 over time based on the positioning data output by the satellite positioning module 80. The calculated position coordinates of the combine 1 over time are sent to the traveling control unit 23 and the area calculation unit 24.

The area calculation unit 24 calculates the outer peripheral area SA and the work target area CA based on the time-dependent position coordinates of the combine 1 received from the own vehicle position calculation unit 21.

More specifically, the area calculation unit 24 calculates the traveling locus of the combine 1 in the orbital traveling on the outer peripheral side of the field based on the time-dependent position coordinates of the combine 1 received from the own vehicle position calculation unit 21. .. Then, the area calculation unit 24 calculates, based on the calculated travel locus of the combine 1, the area on the outer peripheral side of the field in which the combine 1 orbits while harvesting the grain as the outer peripheral area SA. Further, the area calculation unit 24 calculates the inside of the calculated outer peripheral area SA as the work target area CA.

Further, the area calculation unit 24 is configured to calculate the shape of the work target area CA as a polygon.

For example, in FIG. 3, the traveling path of the combine 1 for orbiting traveling on the outer peripheral side of the field is indicated by an arrow. In the example shown in FIG. 3, the combine 1 makes three laps. Then, when the harvesting run along this running path is completed, the field is in the state shown in FIG.

As shown in FIG. 4, the area calculation unit 24 calculates the area on the outer peripheral side of the field in which the combine 1 circulates while harvesting the grain as the outer peripheral area SA. Further, the area calculation unit 24 calculates the inside of the calculated outer peripheral area SA as the work target area CA.

In the example shown in FIG. 4, the calculated shape of the work target area CA is a quadrangle. However, the present invention is not limited to this, and the calculated shape of the work target area CA may be a polygon other than a quadrangle. For example, as shown in FIG. 7, the calculated shape of the work target area CA may be a triangle. Further, the calculated shape of the work target area CA may be a pentagon or a hexagon.

As described above, the region determination system A calculates the region on the outer peripheral side of the field in which the combine 1 orbits while harvesting grains as the outer peripheral region SA based on the positioning data output by the satellite positioning module 80. An area calculation unit 24 for calculating the inside of the outer peripheral area SA as a work target area CA is provided.

As shown in FIG. 2, the calculation result by the area calculation unit 24 is sent to the travel route setting unit 22, the distance calculation unit 25, and the display unit 4a of the communication terminal 4.

As shown in FIG. 5, the display unit 4a of the communication terminal 4 is configured to be able to display the shapes of the outer peripheral area SA and the work target area CA calculated by the area calculation unit 24. As a result, the display unit 4a notifies the operator of the shapes of the outer peripheral area SA and the work target area CA calculated by the area calculation unit 24.

As described above, the area determination system A includes a display unit 4a for notifying the shape of the work target area CA calculated by the area calculation unit 24.

Further, the operation input unit 4b of the communication terminal 4 is configured to receive an artificial operation input by an operator. As shown in FIG. 2, the operation input unit 4b sends a signal corresponding to the artificial operation input to the area calculation unit 24.

The area calculation unit 24 changes the number of sides of the work target area CA based on the signal received from the operation input unit 4b. That is, as described above, the shape of the work target area CA is calculated as a polygon based on the traveling locus of the combine 1 in the orbital traveling on the outer peripheral side of the field. After that, the number of sides of this polygon is changed based on the artificial operation input input to the operation input unit 4b.

For example, in FIG. 5, the shape of the work target area CA calculated by the area calculation unit 24 is a quadrangle. The shape of the work target area CA is calculated based on the traveling locus of the combine 1 in the orbital traveling on the outer peripheral side of the field.

Then, in FIG. 5, "area shape: quadrangle" is displayed on the display unit 4a. This display shows the calculated shape of the work target area CA. An upward button b1 and a downward button b2 are displayed above and below this display. The upward button b1 and the downward button b2 are included in the operation input unit 4b. Further, the display unit 4a is a touch panel, and the upward button b1 and the downward button b2 are touch buttons displayed on the display unit 4a.

When the operator inputs an operation to the operation input unit 4b, the number of sides of the work target area CA is changed. For example, in the state shown in FIG. 5, when the worker presses the upward button b1, the number of sides of the work target area CA increases. That is, the shape of the work target area CA is recalculated by the area calculation unit 24 as a pentagon. Along with this, "Region shape: pentagon" is displayed on the display unit 4a.

Further, in the state shown in FIG. 5, when the operator presses the downward button b2, the number of sides of the work target area CA decreases as shown in FIG. That is, the shape of the work target area CA is recalculated as a triangle by the area calculation unit 24. Along with this, "region shape: triangle" is displayed on the display unit 4a.

As described above, the area determination system A includes an operation input unit 4b that receives an artificial operation input. Further, the area calculation unit 24 changes the number of sides of the polygon based on the artificial operation input input to the operation input unit 4b.

Then, according to this configuration, the operator inputs the operation to the operation input unit 4b so that the shape of the work target area CA matches the shape of the actual uncut area UA. It is possible to increase or decrease the number of sides.

As shown in FIG. 7, the travel route setting unit 22 sets the inner circumference travel route LI, which is the travel route in the work target area CA, based on the calculation result received from the area calculation unit 24. As shown in FIG. 7, in the present embodiment, the inner peripheral traveling path LI is a plurality of parallel lines parallel to each other.

As shown in FIG. 2, the inner peripheral travel path LI calculated by the travel route setting unit 22 is sent to the travel control unit 23.

The travel control unit 23 controls the automatic travel of the combine 1 based on the position coordinates of the combine 1 received from the own vehicle position calculation unit 21 and the inner peripheral travel route LI received from the travel route setting unit 22. More specifically, the travel control unit 23 controls the travel of the combine 1 so that the combine 1 automatically travels along the inner peripheral travel route LI.

[Flow of harvesting work using the area determination system]
In the following, as an example of the harvesting work using the area determination system A, the flow when the combine 1 performs the harvesting work in the field shown in FIG. 3 will be described.

First, the operator manually operates the combine 1 and performs a harvesting run so as to orbit along the boundary line of the field in the outer peripheral portion in the field as shown in FIG. In the example shown in FIG. 3, the combine 1 makes three laps. When this lap run is completed, the field is in the state shown in FIG.

The area calculation unit 24 calculates the traveling locus of the combine 1 in the orbital traveling shown in FIG. 3 based on the time-dependent position coordinates of the combine 1 received from the own vehicle position calculation unit 21. Then, as shown in FIG. 4, the region calculation unit 24 calculates the region on the outer peripheral side of the field in which the combine 1 orbits while harvesting grains as the outer peripheral region SA, based on the calculated travel locus of the combine 1. do. Further, the area calculation unit 24 calculates the inside of the calculated outer peripheral area SA as the work target area CA.

In FIG. 4, the outer peripheral area SA and the work target area CA calculated at this time and the actual uncut area UA are superimposed and shown. Further, in FIG. 4, the outer shape of the actual field is shown by a dotted line. As shown in FIG. 4, the area calculation unit 24 is configured to calculate the work target area CA as a polygon. As a result, the actual uncut area UA is approximately calculated by the polygon. In the example shown in FIG. 4, the shape of the work target area CA is calculated as a quadrangle.

Next, the travel route setting unit 22 sets the inner circumference travel route LI in the work target area CA based on the calculation result received from the area calculation unit 24, as shown in FIG. At this time, as shown in FIG. 5, the calculated shape of the work target area CA is displayed on the display unit 4a of the communication terminal 4.

At this point, the operator can instruct the start of automatic traveling along the inner peripheral traveling route LI by pressing the automatic traveling start button (not shown). However, in this description, it is assumed that the start of automatic driving is not instructed at this point.

When the operator determines that the shape of the work target area CA displayed on the display unit 4a is inappropriate, the shape of the work target area CA can be changed by operating the operation input unit 4b. In the state shown in FIG. 5, when the operator presses the downward button b2 on the operation input unit 4b, the number of sides of the work target area CA decreases as shown in FIG. That is, the shape of the work target area CA is recalculated as a triangle by the area calculation unit 24. Along with this, "region shape: triangle" is displayed on the display unit 4a.

In FIG. 7, the outer peripheral area SA and the work target area CA recalculated at this time and the actual uncut area UA are superimposed and shown. Further, in FIG. 7, the outer shape of the actual field is shown by a dotted line.

Next, the travel route setting unit 22 sets the inner circumference travel route LI in the work target area CA again based on the recalculation result received from the area calculation unit 24, as shown in FIG. 7. Then, when the operator presses the automatic traveling start button, automatic traveling along the inner peripheral traveling route LI is started. When the automatic running along the inner circumference running path LI is completed, the entire field is harvested.

By the way, the outer peripheral region SA is used as a space for the combine 1 to change direction when performing a harvesting run in the work target region CA. In addition, the outer peripheral region SA is also used as a space for movement when the harvesting run is once completed and the vehicle is moved to a grain discharge place or a fuel replenishment place.

Therefore, it is necessary to secure a certain width of the outer peripheral region SA prior to the harvesting run in the work target region CA. In the following, two processes performed in the area determination system A in order to secure a certain width of the outer peripheral area SA will be described.

[Structure related to edge increase processing]
One of the two processes performed to secure the width of the outer peripheral region SA to a certain extent is the edge increase process. Hereinafter, this process will be described mainly with reference to FIGS. 8 and 9. In addition, in FIGS. 8 and 9, the calculated outer peripheral area SA and work target area CA and the actual uncut area UA are superimposed and shown. Further, in FIGS. 8 and 9, the outer shape of the actual field is shown by a dotted line.

After the combine 1 makes a round trip in the outer peripheral portion in the field, the distance calculation unit 25 determines the boundary on the outer peripheral side in the outer peripheral region SA as shown in FIG. 8 based on the calculation result received from the region calculation unit 24. The distance between the line OB and the boundary line IB on the inner peripheral side in the outer peripheral region SA is calculated. As shown in FIG. 2, the distance calculated by the distance calculation unit 25 is sent to the area calculation unit 24.

The distance calculation unit 25 identifies the narrowest portion of the outer peripheral region SA, and then sets the width of the outer peripheral region SA in that portion to the outer peripheral side boundary line OB and the inner peripheral side boundary line IB. It may be configured to be calculated as the distance between.

Further, the distance calculation unit 25 selects a plurality of parts in the outer peripheral region SA, and calculates the distance between the outer peripheral side boundary line OB and the inner peripheral side boundary line IB in each of the selected parts. It may be configured. In this case, the shortest distance among the distances calculated in each part may be output as the final calculation result by the distance calculation unit 25. Further, the average value of the distances calculated at each part may be output as the final calculation result by the distance calculation unit 25.

When the distance calculated by the distance calculation unit 25 is shorter than the predetermined distance, the area calculation unit 24 receives the boundary line OB on the outer peripheral side in the outer peripheral region SA and the boundary line IB on the inner peripheral side in the outer peripheral region SA. Increase the number of sides of the work area CA so that the distance between them is long.

The predetermined distance may be a fixed value determined according to the model of the combine 1 or may be arbitrarily set by the operator.

For example, in the portion P1 of the outer peripheral region SA shown in FIG. 8, the distance between the outer peripheral side boundary line OB and the inner peripheral side boundary line IB is shorter than a predetermined distance. In this case, as shown in FIG. 9, the area calculation unit 24 increases the number of sides of the work target area CA. In the example shown in FIG. 8, the shape of the work target area CA is a triangle. As the number of sides of the work target area CA increases, the shape of the work target area CA becomes a quadrangle as shown in FIG.

That is, as described above, the shape of the work target area CA is calculated as a polygon based on the traveling locus of the combine 1 in the orbital traveling on the outer peripheral side of the field. After that, when the distance calculated by the distance calculation unit 25 is shorter than the predetermined distance, the number of sides of this polygon will increase.

Then, as shown in FIG. 9, as the number of sides of the work target area CA increases, the distance between the boundary line OB on the outer peripheral side and the boundary line IB on the inner peripheral side in the portion P1 of the outer peripheral region SA. Becomes longer. As a result, the width of the outer peripheral region SA can be secured to some extent.

As described above, the area determination system A includes a distance calculation unit 25 for calculating the distance between the outer peripheral side boundary line OB in the outer peripheral region SA and the inner peripheral side boundary line IB in the outer peripheral region SA. .. Further, when the distance calculated by the distance calculation unit 25 is shorter than the predetermined distance, the area calculation unit 24 increases the number of sides of the polygon.

As described above, the width of the outer peripheral region SA can be secured to some extent by the edge increase processing.

[Configuration related to warning processing]
The other of the two processes performed to secure the width of the outer peripheral region SA to some extent is the warning process. Hereinafter, this process will be described mainly with reference to FIGS. 10 to 12. In addition, in FIGS. 10 and 12, the calculated outer peripheral area SA and work target area CA and the actual uncut area UA are superimposed and shown. Further, in FIGS. 10 and 12, the outer shape of the actual field is shown by a dotted line.

After the combine 1 makes a round trip in the outer peripheral portion in the field, the distance calculation unit 25 determines the boundary on the outer peripheral side in the outer peripheral region SA as shown in FIG. 10 based on the calculation result received from the region calculation unit 24. The distance between the line OB and the boundary line IB on the inner peripheral side in the outer peripheral region SA is calculated. As shown in FIG. 2, the distance calculated by the distance calculation unit 25 is sent to the display unit 4a.

The distance calculation unit 25 identifies the narrowest portion of the outer peripheral region SA, and then sets the width of the outer peripheral region SA in that portion to the outer peripheral side boundary line OB and the inner peripheral side boundary line IB. It may be configured to be calculated as the distance between.

Further, the distance calculation unit 25 selects a plurality of parts in the outer peripheral region SA, and calculates the distance between the outer peripheral side boundary line OB and the inner peripheral side boundary line IB in each of the selected parts. It may be configured. In this case, the shortest distance among the distances calculated in each part may be output as the final calculation result by the distance calculation unit 25. Further, the average value of the distances calculated at each part may be output as the final calculation result by the distance calculation unit 25.

Then, when the distance calculated by the distance calculation unit 25 is shorter than the predetermined distance, the display unit 4a displays a warning prompting an additional orbital run in the region on the outer peripheral side of the field.

The predetermined distance may be a fixed value determined according to the model of the combine 1 or may be arbitrarily set by the operator.

For example, in the portion P2 of the outer peripheral region SA shown in FIG. 10, the distance between the outer peripheral side boundary line OB and the inner peripheral side boundary line IB is shorter than a predetermined distance. In this case, as shown in FIG. 11, the display unit 4a displays a warning message a1 urging an additional orbital run in the region on the outer peripheral side of the field. At this time, as shown in FIG. 11, the display unit 4a emphasizes the portion of the outer peripheral region SA where the distance between the outer peripheral side boundary line OB and the inner peripheral side boundary line IB is short. ..

As described above, the area determination system A includes a display unit 4a that prompts an additional orbital run in the area on the outer peripheral side of the field when the distance calculated by the distance calculation unit 25 is shorter than the predetermined distance. ..

According to this warning, the operator additionally performs an orbiting run in the region on the outer peripheral side of the field, so that the outer peripheral region SA is expanded and the field is in the state shown in FIG. As shown in FIG. 12, as the outer peripheral region SA expands, the distance between the outer peripheral side boundary line OB and the inner peripheral side boundary line IB becomes longer in the portion P2 of the outer peripheral region SA. As a result, the width of the outer peripheral region SA can be secured to some extent.

As described above, the width of the outer peripheral region SA can be secured to some extent by the warning processing.

It should be noted that the above-mentioned edge increase processing and warning processing may be executed in an appropriate combination. For example, the warning process may be performed when the distance calculated by the distance calculation unit 25 is still shorter than the predetermined distance after the edge increase process is executed.

Further, the above-mentioned edge increase processing and warning processing may be configured to be used properly according to the conditions. For example, if the shape of the work target area CA calculated by the area calculation unit 24 is a triangle, side increase processing may be performed, and if it is a polygon other than a triangle, warning processing may be performed. ..

Further, it may be configured so that only one of the above-mentioned edge increase processing and warning processing is executed.

With the configuration described above, the shape of the work target area CA is calculated as a polygon. Therefore, the shape of the work target area CA can be calculated as a relatively simple shape.

It should be noted that the above-described embodiment is only an example, and the present invention is not limited to this, and can be changed as appropriate.

[Other Embodiments]
(1) The traveling device 11 may be a wheel type or a semi-crawler type.

(2) In the above embodiment, the inner peripheral traveling path LI calculated by the traveling route setting unit 22 is a plurality of parallel lines parallel to each other, but the present invention is not limited to this, and the traveling route setting unit 22 is not limited to this. The inner peripheral traveling path LI calculated by the above method does not have to be a plurality of parallel lines parallel to each other. For example, the inner peripheral traveling route LI calculated by the traveling route setting unit 22 may be a spiral traveling route.

(3) In the above embodiment, the operator manually operates the combine 1 and, as shown in FIG. 3, performs a harvesting run so as to orbit the outer peripheral portion of the field along the boundary line of the field. .. However, the present invention is not limited to this, and the combine 1 may be configured to automatically travel and perform harvesting traveling so as to orbit along the boundary line of the field in the outer peripheral portion of the field.

(4) A part or all of the own vehicle position calculation unit 21, the travel route setting unit 22, the travel control unit 23, the area calculation unit 24, the distance calculation unit 25, the display unit 4a, and the operation input unit 4b are combined 1. It may be provided externally, and may be provided, for example, in a management server provided outside the combine 1.

(5) Neither the travel route setting unit 22 nor the travel control unit 23 may be provided. That is, the "harvester" according to the present invention does not have to be capable of automatic traveling.

(6) In the above embodiment, the display unit 4a in the communication terminal 4 corresponds to the "notification unit" and the "warning unit" according to the present invention. However, the present invention is not limited to this, and a member corresponding to the "notifying unit" and a member corresponding to the "warning unit" may be separately provided.

(7) As a "warning unit" according to the present invention, a speaker that urges an additional orbital run in the outer peripheral region of the field when the distance calculated by the distance calculation unit 25 is shorter than a predetermined distance by voice. It may be provided.

(8) The distance calculation unit 25 may not be provided.

(9) The display unit 4a may not be provided.

(10) The operation input unit 4b may not be provided.

(11) The communication terminal 4 may not be provided.

The present invention can be used not only for ordinary combine harvesters but also for head-feeding combine harvesters. It can also be used for various harvesters such as corn harvesters, potato harvesters, carrot harvesters, and sugar cane harvesters.

1 combine (harvester)
4a Display unit (notification unit, warning unit)
4b Operation input unit 24 Area calculation unit 25 Distance calculation unit 80 Satellite positioning module A Area determination system CA Work target area IB Inner circumference side boundary line OB Outer circumference side boundary line SA Outer circumference area

Claims (3)

A satellite positioning module that outputs positioning data indicating the position of the harvester's own vehicle,
Based on the positioning data output by the satellite positioning module, the area on the outer peripheral side of the field where the harvester traveled around while harvesting agricultural products is calculated as the outer peripheral area, and the inside of the outer peripheral area is the work target area. It is equipped with an area calculation unit that calculates as
The area calculation unit is configured to calculate the shape of the work target area as a polygon .
A distance calculation unit for calculating the distance between the boundary line on the outer peripheral side in the outer peripheral region and the boundary line on the inner peripheral side in the outer peripheral region is provided.
When the distance calculated by the distance calculation unit is shorter than a predetermined distance, the area calculation unit is an area determination system that increases the number of sides of the polygon. A satellite positioning module that outputs positioning data indicating the position of the harvester's own vehicle,
Based on the positioning data output by the satellite positioning module, the area on the outer peripheral side of the field where the harvester traveled around while harvesting agricultural products is calculated as the outer peripheral area, and the inside of the outer peripheral area is the work target area. It is equipped with an area calculation unit that calculates as
The area calculation unit is configured to calculate the shape of the work target area as a polygon.
A distance calculation unit that calculates the distance between the outer peripheral side boundary line in the outer peripheral region and the inner peripheral side boundary line in the outer peripheral region.
Realm determination system Ru and a warning unit for prompting to perform an additional orbiting travel distance calculated by the distance calculation unit is in the region of the field of the outer peripheral side is shorter than a predetermined distance. A notification unit that notifies the shape of the work target area calculated by the area calculation unit, and
Equipped with an operation input unit that accepts artificial operation input
The area determination system according to claim 1 or 2 , wherein the area calculation unit changes the number of sides of the polygon based on the artificial operation input input to the operation input unit.

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