JP7039444B2 - Harvester - Google Patents

Description

The present invention relates to a self-driving harvester equipped with a harvest tank for temporarily storing the harvest.

For example, in the first stage of harvesting work using a harvester in a field, a working area along the inside of the boundary line of the field is formed through the surrounding work running, and the shape of the outer peripheral area which is the working area is formed. Based on this, unworked map data indicating the unworked area is created. Based on the unworked map data, the target travel route for automatic driving is set, and automatic driving is started. In automatic driving, a swirl traveling (circumferential traveling) pattern and a U-turn traveling (reciprocating traveling) pattern are used.

The target travel path used in the swirl travel pattern is a linear path parallel to each side of the polygonal unworked area set in the unworked area and a reverse path called the alpha turn path set in the already work area. It consists of a direction change route and is a traveling route that connects a straight route with an alpha turn route. The swirl travel pattern, as a whole, creates a travel locus that swirls toward the center of the unworked area. In the swirl running pattern, counterclockwise swirl running has been conventionally used for workability and customary reasons. Especially in automatic driving, only counterclockwise swirl driving is adopted to simplify control.

The target travel path used in the U-turn travel pattern consists of a linear path parallel to each other set in the unworked area and a direction change path called a U-turn path set in the existing work area. It is a traveling route that connects with a U-turn route. Since the U-turn path is a path that uses only forward movement, a larger turning space is required as compared with the alpha turn path. For this reason, the first automatic travel to the unworked area formed by the surrounding work travel is performed using the swirl travel pattern. After several laps of swirling, a sufficient working area for the U-turn path is formed, and then automatic running using the U-turn running pattern is started.

For example, the travel route management system according to Patent Document 1 is provided with an area setting unit and a parking position setting unit. The area setting unit sets the area where the work vehicle travels along the boundary line of the work area as the outer peripheral area, and sets the inside of this outer peripheral area as the work target area. The parking position setting unit sets the parking position of the work vehicle in the outer peripheral area. The parking position is the place where the work vehicle parks when it is assisted by the work support vehicle for harvest collection and refueling. In this travel route management system, in consideration of the parking position, automatic travel in the counterclockwise swirl travel pattern is performed until a sufficient work area for the U-turn route in the U-turn travel pattern is secured. After that, automatic running in the U-turn running pattern is performed.

Japanese Unexamined Patent Publication No. 2018-101410

In the traveling route management system according to Patent Document 1, it is premised that a sufficient working area for a U-turn route can be secured by repeating traveling in a counterclockwise spiral traveling pattern several times. However, if the unworked area of the polygon is large, only less than one round of the unworked area will be swirled, that is, swirling along the first few sides will result in the harvest tank. Will be full. In such a case, in the middle of the swirl, the harvester leaves the working route, heads for the harvest discharge site, and discharges the harvest from the harvest tank. Then, after discharging the harvested material, the harvester does not return to the departure point and restart the harvesting work in order to avoid unnecessary running, but from a nearby work running path, in a counterclockwise swirl running pattern. Resume harvesting work. This is because the running in the spiral running pattern was restricted in the counterclockwise direction. No matter how many times such swirl running less than one lap is repeated, the distance between the area of a part of the unworked area and the boundary (shore etc.) of the field does not increase, so that the unworked area is one corner of the field. Will be unevenly distributed in. This brings about the inconvenience that the U-turn running pattern cannot be run indefinitely with respect to the unworked area.

In view of the above situation, there is a demand for a harvester that can solve the conventional problems and enable uniform harvesting work over the entire circumference of the unworked area when harvesting the unworked area by automatic running. ..

The harvester of the present invention, which is equipped with a harvest tank for temporarily storing the harvested material, has an automatic traveling control unit that automatically travels based on the target traveling route and the position of the own vehicle, and surrounding work traveling. The unworked map creation unit that creates unworked map data indicating the unworked area based on the shape of the outer peripheral area that is the already worked area formed along the inside of the boundary line of the field, and the unworked map data. A spiral traveling path consisting of a working traveling path parallel to each side in a polygon indicating the outer shape of the unworked area and a turning traveling path connecting the two working traveling paths with a change of direction of the machine body. It is provided with a target travel route setting unit that sets a target travel route by using at least one of a first travel pattern in which work is sequentially performed in the clockwise direction and a second travel pattern in which work is sequentially performed in the counterclockwise direction.

In the harvester configured in this way, the spiral running around the outer circumference of the unworked area can be performed by using at least one of the first running pattern and the second running pattern. For this reason, the harvester combines clockwise swirling and counterclockwise swirling by automatic running to perform harvesting work in the unworked area without uneven distribution of the unworked area in one corner of the field. You can proceed.

If the parking position for refueling and checking the harvesting condition is the work start point, and if it is necessary to check the refueling and harvesting condition in a swirl running less than one lap, the harvester will work in the middle of the work. It will return to the starting point. After that, when the spiral running in the same direction is performed again, the unworked area is left in a biased form as described above, and the distance from the boundary line of the field to the unworked area does not reach a predetermined value. Areas arise. This makes it difficult to work in the U-turn running pattern that follows. In order to avoid this problem, one of the harvesters according to the present invention, which is equipped with a harvest tank for temporarily storing the harvest, can automatically travel based on the target travel route and the position of the own vehicle. Unworked to create unworked map data indicating unworked area based on the shape of the automatic running control unit to be performed and the outer peripheral area which is the already worked area formed along the inside of the boundary line of the field by the surrounding work running. Based on the map creation unit and the unworked map data, the work travel path parallel to each side in the polygon showing the outer shape of the unworked area and the two work travel paths are connected with the direction change of the aircraft. Target traveling route setting in which the spiral target traveling route including the turning traveling route is set by using one of a first traveling pattern in which work is sequentially performed in the clockwise direction and a second traveling pattern in which the work is sequentially performed in the counterclockwise direction. The distance from the boundary line of the field to the unworked area is a predetermined value even though the work running using one of the first running pattern and the second running pattern is repeatedly carried out. If the distance is not reached, the target travel route setting unit sets the target travel route using at least the other of the first travel pattern and the second travel pattern. As a result, the uneven distribution of untimbered areas is suppressed.

In the middle of the swirl running started in the second running pattern (counterclockwise swirl running), if it is necessary to discharge the harvested material stored in the harvesting tank, the harvester leaves the working running path and leaves the working running path. It is necessary to drive to the designated harvest discharge point. If the outer shape of the unworked area is large, there is a possibility that the discharge of the harvested material from the harvested tank may be required by the swirling running less than one lap. In such a case, in order to minimize unnecessary idle running (running without harvesting work), work running is restarted from near the harvest discharge location, and as a result, swirling running less than one lap is repeated. Is done. As a result, the distance between the area of a part of the unworked area and the boundary (shore, etc.) of the field does not increase, so that the unworked area is left in a biased shape, making it difficult to drive in a U-turn driving pattern. Will be. In order to avoid such a problem, one of the harvesters according to the present invention, which is equipped with a harvest tank for temporarily storing the harvest, can automatically travel based on the target travel route and the position of the own vehicle. Unworked map data indicating the unworked area is created based on the shape of the outer peripheral area, which is the already worked area formed along the inside of the boundary line of the field by the surrounding work running and the automatic running control unit. Based on the work map creation unit and the unworked map data, the work travel path parallel to each side in the polygon showing the outer shape of the unworked area and the two work travel routes accompanied by the direction change of the machine. The target traveling path in which the spiral target traveling path including the connecting turning traveling path is set by using one of the first traveling pattern in which the work is sequentially performed in the clockwise direction and the second traveling pattern in which the work is sequentially performed in the counterclockwise direction. A setting unit is provided, and when the unworked area is automatically traveled by using one of the first traveling pattern and the second traveling pattern, the harvest tank is used during the work traveling less than one lap. When the demand for discharging the harvested product is generated, the target traveling route setting unit uses at least the other of the first traveling pattern and the second traveling pattern for the work traveling after discharging the harvested product. Set the target driving route. In this configuration, for example, in a work run of less than one lap using the second run pattern (counterclockwise swirl run), after leaving for harvest discharge and discharging the harvest at the harvest discharge location, Work running is performed in the first running pattern (clockwise swirl running). As a result, the distance between the boundary line of the field and the unworked area increases over the entire circumference of the unworked area.

One of the harvesters according to the present invention, which is equipped with a harvest tank for temporarily storing the harvest, is an automatic travel control unit that automatically travels based on the target travel route and the position of the own vehicle. The unworked map creation unit that creates unworked map data indicating the unworked area based on the shape of the outer peripheral area, which is the already worked area formed along the inside of the boundary line of the field by the surrounding work running, and the unworked map creation unit described above. Based on the work map data, a swirl consisting of a work travel path parallel to each side in a polygon showing the outer shape of the unworked area and a turning travel path connecting the two work travel paths with a change of direction of the machine body. The target traveling route setting unit is provided with a target traveling route setting unit for setting the target traveling route in a shape using both a first traveling pattern for sequentially working in the clockwise direction and a second traveling pattern for sequentially working in the counterclockwise direction. The first traveling pattern and the second traveling pattern are alternately used for each discharge of the harvested product. In this configuration, since the swirl running in the first running pattern and the swirling running in the second running pattern are switched at the timing of the harvested product discharge, the running locus of the field scene is dispersed and the unworked area is unevenly distributed. The problem, the problem that the field scene in a specific area becomes rough, is suppressed.

When returning to work running after discharging the harvested material, restarting the work running near the harvested product discharging place reduces idle running and improves work efficiency. For this reason, one of the harvesters according to the present invention, which is equipped with a harvest tank for temporarily storing the harvest, is capable of automatic traveling, and automatically travels based on the target travel route and the position of the own vehicle. An unworked map creation unit that creates unworked map data indicating an unworked area based on the shape of the control unit and the outer peripheral area, which is an existing work area formed along the inside of the boundary line of the field by the surrounding work running. And, based on the unworked map data, a work traveling path parallel to each side in the polygon showing the outer shape of the unworked area and a turning traveling path connecting the two working traveling paths with a change of direction of the machine body. A target travel route setting unit for setting the spiral target travel route comprising both a first travel pattern for sequentially working in the clockwise direction and a second travel pattern for sequentially working in the counterclockwise direction. The work running after the harvest is discharged is started at the end portion of the working running path connected to the turning running path at the position closest to the harvesting discharge position on the turning running path side.

In the harvesting work of rice, wheat, soybean, etc., the unworked area created by the surrounding mowing run is first harvested in a swirl running pattern around the unworked area, and then the U-turn running pattern is adopted. There is. In order to realize such a mode of work travel by automatic travel, in one of the preferred embodiments of the present invention, the target travel route setting unit sets a linear work travel route parallel to each other in the existing work region. The target travel path is set by the U-turn travel pattern connected by the U-turn turn path in the unworked area, and the target travel route setting unit secures the space required for the U-turn turn path. Up to, the target travel route is set using at least one of the first travel pattern and the second travel pattern, and then the target travel route is set using the U-turn travel pattern.

It is a side view of the ordinary type combine as an example of a field work vehicle. It is explanatory drawing which shows the peripheral mowing running of a combine. It is explanatory drawing which shows the U-turn running pattern which repeats a reciprocating running connected by a U-turn. It is explanatory drawing which shows the running pattern for the spiral running which used the alpha turn running. It is a schematic diagram which shows the spiral running in the 2nd running pattern. It is a schematic diagram which shows the spiral running in the 1st running pattern. It is explanatory drawing explaining the flow of the harvesting work performed using the 2nd running pattern and the U-turn running pattern. It is explanatory drawing explaining the flow of the harvesting work performed using the 2nd running pattern, the 1st running pattern, and the U-turn running pattern. It is a functional block diagram which shows the structure of the control system of a combine.

Next, as an example of an automatically traveling harvester according to the present invention, a conventional combine will be taken up and described. In the present specification, unless otherwise specified, "front" (direction of arrow F shown in FIG. 1) means forward in the front-rear direction (traveling direction) of the aircraft, and "rear" (arrow B shown in FIG. 1). Direction) means the rear in the front-rear direction (traveling direction) of the aircraft. Further, the left-right direction or the lateral direction means the aircraft crossing direction (airframe width direction) orthogonal to the aircraft front-rear direction. "Up" (direction of arrow U shown in FIG. 1) and "down" (direction of arrow D shown in FIG. 1) are positional relationships of the aircraft 10 in the vertical direction (vertical direction) and are related to the ground height. Is shown.

As shown in FIG. 1, this combine includes an airframe 10, a crawler-type traveling device 11, an operating unit 12, a threshing device 13, a grain tank 14 as a harvest tank, a harvesting unit 15, a transport device 16, and a grain discharge device. The device 18 and the own vehicle position detection unit 80 are provided.

The traveling device 11 is provided in the lower part of the machine body 10. The combine is configured to be self-propelled by the traveling device 11. The driving unit 12, the threshing device 13, and the grain tank 14 are provided on the upper side of the traveling device 11 and form the upper part of the machine body 10. The driver who drives the combine harvester and the observer who monitors the work of the combine harvester can be boarded in the driver unit 12. The observer may monitor the work of the combine from outside the combine.

The grain discharge device 18 is connected to the rear lower portion of the grain tank 14. Further, the own vehicle position detection unit 80 is attached to the upper surface of the driving unit 12.

The harvesting section 15 is provided at the front portion of the combine. The transport device 16 is provided behind the harvesting section 15. The combine can be run by the traveling device 11 while harvesting the grains in the field by the harvesting unit 15.

The harvested culm cut by the harvesting unit 15 is transported to the threshing device 13 by the transport device 16. In the threshing device 13, the harvested grain 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 (full).

Further, a general-purpose terminal 4 is arranged in the driving unit 12. In the present embodiment, the general-purpose terminal 4 is fixed to the driving unit 12. However, the present invention is not limited to this, and the general-purpose terminal 4 may be configured to be detachable from the driving unit 12, and the general-purpose terminal 4 may be taken out of the combine machine. ..

As shown in FIG. 2, this combine automatically travels along a travel route set in the field. This requires information on the position of the vehicle. The own vehicle position detection unit 80 includes a satellite positioning module 81 and an inertial measurement module 82. The satellite positioning module 81 receives GNSS (global navigation satellite system) signals (including GPS signals), which are position information transmitted from the artificial satellite GS, and outputs positioning data for calculating the position of the own vehicle. The inertial measurement module 82 incorporates a gyro acceleration sensor and a magnetic direction sensor, and outputs a signal indicating an instantaneous traveling direction. The inertial measurement module 82 is used to supplement the vehicle position calculation by the satellite positioning module 81. The inertial measurement module 82 may be arranged at a place different from the satellite positioning module 81.

The procedure for harvesting in the field with this combine will be described below. First, the driver / observer operates the combine harvester, and as shown in FIG. 2, harvests at the outer peripheral portion of the field while cutting around the perimeter along the boundary line of the field (peripheral work running). The area that has become the mowed area due to the surrounding mowing run is set as the outer peripheral area (already working area) SA. The internal area left inside the outer peripheral area SA as an uncut area (unworked area) is an unworked area CA, and is set as a future work target area. In this embodiment, the peripheral cutting run is performed so that the unworked area CA becomes a quadrangle. Of course, a triangular or pentagonal unworked area CA may be adopted.

The outer peripheral region SA is used as a space for the combine to change direction when harvesting is performed in the unworked region CA, which is the work target region. Further, the outer peripheral region SA is also used as a space for movement such as when moving to a grain discharge place or when moving to a refueling place after the harvesting run is finished. Therefore, in order to secure a certain width of the outer peripheral region SA, the driver performs a peripheral mowing run for 2 to 3 laps.

The transport vehicle CV shown in FIG. 2 collects the grains discharged from the grain discharge device 18 by the combine harvester and transports them to a drying facility or the like. At the time of grain discharge, the combine moves to the vicinity of the carrier CV through the outer peripheral region SA, then discharges the grains to the carrier CV by the grain discharge device 18, and interrupts the work through the outer peripheral region SA. It returns to the work start point which is the position where it was done.

Unworked map data showing the shape of the unworked area CA is created based on the inner peripheral shape of the outer peripheral area SA which is the already worked area. Based on this unworked map data, a linear (straight or curved) working travel path is set in the unworked area CA in order to automatically operate the unworked area CA, and from one working travel path. The turning travel path for shifting to the next work travel route is set in the existing work area. The unworked map data is updated as the work progresses for the unworked area CA.

As a traveling pattern used for working traveling (harvesting traveling) in the unworked area CA, there are a reciprocating traveling pattern shown in FIG. 3 and a spiral traveling pattern shown in FIG. In the reciprocating traveling pattern, the combine travels while connecting two traveling paths (working traveling paths) parallel to one side of the polygon indicating the outer shape of the unworked area CA with a U-turn turning path (non-working traveling path). In the swirl running pattern, the combine runs a turning path connecting the two running paths (working running path) parallel to each side in the polygon showing the outer shape of the unworked area CA and the two running paths with a change of direction of the machine body 10. A spiral target travel route consisting of a route (non-working travel route) is sequentially traveled in the clockwise direction or in the counterclockwise direction. At that time, as a turning running path required in each corner region, a turning running path in which alpha turn running is performed using a straight running path, a reverse turning path, and a forward turning path is adopted. Regardless of whether it is a reciprocating traveling pattern or a swirling traveling pattern, the turning traveling path is set in the already working area in principle.

In the spiral running, a second running pattern that goes around the outer circumference of the unworked area CA in the counterclockwise direction as shown in FIG. 5 has been conventionally used. In the present invention, in order to eliminate the inconvenience caused when only the second traveling pattern is used, the first traveling pattern that goes around the outer periphery of the unworked area CA in the clockwise direction as shown in FIG. 6 is also used.

FIG. 7 shows an example of a standard harvesting operation in a relatively small field. Here, when the combine enters the field (# a), the peripheral mowing is performed by manual steering, and the outer peripheral region SA, which is a working region, is formed on the outer periphery of the field (# b). When the outer peripheral region SA formed by the peripheral mowing travel becomes a size that enables the combine's alpha turn travel, the swirl travel in the second travel pattern is performed with respect to the unworked region CA (# c). This spiral running is performed until the unworked area CA becomes large enough to enable U-turn turning running in the U-turn running pattern, which is a kind of reciprocating running pattern (# d). Next, for the unworked area CA, a traveling route that covers the unworked area CA with a U-turn traveling pattern is set (#e). The vehicle travels in a U-turn travel pattern along the set target travel route (# f).

The work process shown in FIG. 7 is standard, and such a work process may not be possible in some fields. For example, when the field is very large, in the spiral running of step #c, it is required to discharge the grains (harvest) from the grain tank 14 (see FIG. 1) for reasons such as fullness in about half a lap. .. The timing of this discharge request is the amount of grain stored per unit mileage in the work running up to that point including the surrounding mowing run, the amount of grain stored in the grain tank 14, the capacity of the grain tank 14, and the carrier CV ( Hereinafter, the carrier CV is determined from the capacity of (see FIG. 2) and the like. When the discharge request arises, the combine temporarily suspends the work and heads for the discharge point where the carrier CV is parked. Since it is efficient to restart the harvesting work after grain discharge as close to the discharge position as possible, in many cases, the position where the work is restarted is not the position where the work was interrupted. Near the first starting point is the position to resume work. Therefore, when the spiral running in the second running pattern is repeated for a specific half-circumferential region, the existing working region is not expanded in the half-circumferential region facing the specific half-circumferential region. That is, in a part of the existing work area, the U-turn travel path cannot be set, and the work travel according to the reciprocating travel pattern becomes impossible. In order to avoid this problem, in the present invention, as illustrated in FIG. 8, a target traveling route is set by combining the first traveling pattern and the second traveling pattern.

Hereinafter, the work process shown in FIG. 8 will be described. As a normal procedure, a carrier CV is parked near the entrance from the farm road to the field, and the combine enters the field from the farm road through the entrance.
This approach position becomes the starting position SP of the harvesting work (# A). The surrounding mowing run is performed manually from the start position SP. If the grain tank 14 becomes full in the middle of mowing, the combine will stop once and the combine will return to the position of the carrier CV in reverse, or the carrier CV will move to the stop position of the combine and the grain will be discharged. Is done. By performing the peripheral cutting run indicated by the alternate long and short dash line for one or more laps, the outer peripheral region SA, which is a working region, is formed on the outer periphery of the field (# B).

When the existing work area becomes large enough to allow the combine to run on the alpha turn, automatic running will start. First, the swirl running in the second running pattern is performed on the unworked area CA (# C). In the example of FIG. 8, when the spiral running for half a circumference is completed, the grain storage amount of the grain tank 14 reaches the level of the grain discharge, so that the swirling running is interrupted. The direction of the aircraft 10 is changed at this interruption position IP, and the combine travels to the discharge position where the carrier CV is parked on the return route shown by the dotted line. Alternatively, the combine reverses along the path from the interruption position IP to this point and returns to the discharge position.

When the grain is carried out to the carrier CV, the harvesting work in the swirl run is resumed. Since the restart position RP for resuming the harvesting work has the principle of shortening the non-working distance as much as possible, the end portion close to the discharge position of the travel path close to the discharge position is selected. Therefore, in this example, the previous start position SP is adopted as the restart position RP.

At this stage, in the past, the automatic traveling of the combine was limited to the swirling traveling in the second traveling pattern, so the target traveling route for the swirling traveling in the second traveling pattern was set from the restart position RP, and the harvesting work was performed. It will be resumed (# D). However, when such a half-circle swirl run is repeated, the existing work area increases in the upper side region and the left side region of the field, but the existing work area does not increase in the lower side region and the right side region of the field, so that the U-turn turns. Space for the route is not secured, and it becomes difficult to carry out work according to the U-turn running pattern.

Therefore, in this embodiment, as shown in step # E, a target traveling route for spiral traveling in the first traveling pattern is set from the restart position RP without performing traveling as in step # D, and this target. Swirl running along the running path is performed. By repeating such swirl running in which the first running pattern and the second running pattern are combined, a space for the U-turn running path is secured at any place in the existing work area. When the space for the U-turn traveling route is secured, the working traveling according to the reciprocating traveling pattern is started (# F).

FIG. 9 shows the combine control system. This control system is derived from a control unit 5 composed of one or more electronic control units called ECUs and various input / output devices that perform signal communication (data communication) with the control unit 5 through a wiring network such as an in-vehicle LAN. It is configured.

The control unit 5 is a core element of this control system and is shown as an aggregate of a plurality of ECUs. The signal from the vehicle position detection unit 80 is input to the control unit 5 through the vehicle-mounted LAN. One or more functional units constructed by the ECU constituting the control unit 5 can also be constructed by a program installed in the general-purpose terminal 4.

The control unit 5 includes a notification unit 501, an input processing unit 502, and an output processing unit 503 as input / output interfaces.

The notification unit 501 generates notification data based on a command or the like from each functional unit of the control unit 5, and supplies the notification data to the notification device 62. The notification device 62 is a device for notifying a driver or the like of a work traveling state or various warnings, and is a buzzer, a lamp, a speaker, a display, or the like.

A traveling state sensor group 63, a working state sensor group 64, a traveling operation unit 90, and the like are connected to the input processing unit 502. The working state sensor group 64 includes a sensor that detects the amount of grain stored in the grain tank 14. The traveling operation unit 90 is a general term for operating tools that are manually operated by the driver and whose operation signals are input to the control unit 5.

The output processing unit 503 is connected to various operating devices 70 via the device driver 65.
The operating equipment 70 includes a traveling equipment group 71, which is a traveling-related device, and a working equipment group 72, which is a work-related device. The traveling equipment group 71 includes steering equipment for steering the machine body 10. This steering device is a device that changes the speed of the left and right crawlers when the crawler type traveling device 11 is adopted as in this embodiment. When the steering wheel type traveling device 11 is adopted, the steering device is a device that changes the steering angle of the steering wheel.

The control unit 5 includes a vehicle position calculation unit 50, a travel control unit 51, a work control unit 52, a travel mode management unit 53, a travel locus calculation unit 54, a work area determination unit 55, an unworked map creation unit 56, and a travel route. A calculation unit 57 is provided.

The own vehicle position calculation unit 50 determines the own vehicle position in the form of map coordinates (or field coordinates) based on the positioning data sequentially sent from the own vehicle position detection unit 80 (satellite positioning module 81 or inertial measurement module 82). Calculate with. At that time, the position of a specific portion of the machine 10 (for example, the center of the machine or the end of the harvesting part 15) can be set as the position of the own vehicle.

The traveling locus calculation unit 54 calculates the traveling locus by plotting the own vehicle position calculated by the own vehicle position calculation unit 50 over time. Further, the traveling direction of the aircraft 10 is calculated from the traveling locus (instantaneous traveling locus) in a fixed time. Further, the traveling direction can be calculated based on the orientation data included in the output data from the inertial measurement module 82.

The work area determination unit 55 determines an existing work area, an unworked area CA to be a work target area, and the like from the harvesting work performed in a predetermined work width.

In the unworked map creation unit 56, a member on the ridge side of the machine body 10 (horizontal outer end of the harvesting unit 15) obtained when the combine travels along the boundary line between the field scene and the ridge (field boundary line). The travel locus data (outer travel locus data) of the unit) and the travel locus data (inner travel locus data) of the member (horizontal inner end portion of the harvesting unit 15) on the side opposite to the ridge of the machine body 10 are input. The unworked map creation unit 56 generates boundary line data indicating the map position of the boundary line of the field based on the outer travel locus data. Further, the unworked map creation unit 56 obtains work boundary line data indicating the map position of the inner peripheral side boundary line of the outer peripheral area SA, that is, the boundary line between the existing work area and the unworked area CA based on the inner travel locus data. Generate. The unworked map creation unit 56 also creates unworked map data indicating the unworked area CA from the work boundary line data.

The travel route calculation unit 57 calculates a travel route that is a target travel route for automatic travel that covers the unworked area CA by the registered route calculation algorithm. As shown in FIGS. 3 and 4, this travel route includes a work travel route parallel to each side in a polygon showing the outer shape of the unworked area CA and two work travel routes accompanied by a change of direction of the machine body 10. It consists of a turning route that connects the two.

The travel control unit 51 has an engine control function, a steering control function, a vehicle speed control function, and the like, and gives a travel control signal to the travel equipment group 71. The work control unit 52 gives a work control signal to the work equipment group 72 in order to control the movement of the harvesting work device (harvesting unit 15, threshing device 13, transport device 16, grain discharging device 18, etc.). Further, the work control unit 52 also has a function of outputting a discharge request for discharging grains from the grain tank 14.

The travel control unit 51 includes a manual travel control unit 511, an automatic travel control unit 512, and a target travel route setting unit 513. When the automatic driving mode is set, automatic driving is performed, and when the manual driving mode is set, manual driving is performed. Such switching of the traveling mode is managed by the traveling mode management unit 53.

When the manual driving mode is selected, the manual driving control unit 511 generates a control signal based on the operation by the driver and controls the traveling equipment group 71 to realize the manual driving.

When the automatic driving mode is set, the automatic driving control unit 512 generates a control signal for changing the vehicle speed including automatic steering and stopping, and controls the traveling equipment group 71. The control signal related to automatic steering eliminates the directional deviation and the positional deviation between the target traveling route set by the target traveling route setting unit 513 and the own vehicle position calculated by the own vehicle position calculation unit 50. Is generated.

The target travel route setting unit 513 sets the target travel route by using the work travel route and the turning travel route calculated by the travel route calculation unit 57. At that time, a first traveling pattern in which the work travels in the clockwise direction and a second traveling pattern in which the work travels in the counterclockwise direction are used.

The target travel route setting unit 513 can set various types of target travel routes according to field conditions, harvest conditions, and the like. In addition, the driver or the manager can instruct the setting of a specific form of the target travel route. An example of the form of setting the target travel route is shown below.
(1) The swirl running using either the first running pattern or the second running pattern and the temporary withdrawal running returning to the work start point after discharging the grains from the grain tank 14 were repeatedly carried out. Nevertheless, when there is a portion of the already working area where the distance from the boundary line of the field to the unworked area CA does not reach a predetermined value, the target traveling route using the other of the first traveling pattern and the second traveling pattern. Is set.
(2) In the spiral running using either the first running pattern or the second running pattern, grain discharge from the grain tank 14 is required in the middle of the work running for less than one lap, and the grain is discharged. When is executed, the other running pattern is used for swirling running after grain ejection.
(3) The first traveling pattern and the second traveling pattern are alternately used for the swirl traveling after the grain discharge from the grain tank 14 is requested and the grain discharge is executed.
(4) The target travel route is set so that the work travel after grain discharge is started from the end of the work travel route connected to the swivel travel route closest to the grain discharge position on the swivel travel route side. Set.
(5) Until the space required for the U-turn turning path is secured, a target traveling path for spiral traveling that combines the first traveling pattern and the second traveling pattern is set, and then the U-turn traveling pattern is set. The target driving route is set in.

[Another Embodiment] (1) In the above-described embodiment, the substantial harvesting work is performed by running using the linear work running path of the combine. This linear work travel path is not limited to one straight line. It may be a bent path, a curved path having a large radius of curvature, or a meandering linear path.

(2) In the above-described embodiment, the shape of the unworked area CA is a quadrangle, but this may be another polygon such as a triangle or a pentagon.

(3) Until the grain discharge from the grain tank 14 is required, the swirl running may be performed so as to directly connect the first running pattern and the second running pattern.

It should be noted that the configuration disclosed in the above embodiment (including another embodiment, the same shall apply hereinafter) can be applied in combination with the configuration disclosed in other embodiments as long as there is no contradiction. , The embodiments disclosed in the present specification are examples, and the embodiments of the present invention are not limited thereto, and can be appropriately modified without departing from the object of the present invention.

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

10: Machine 18: Grain discharge device 5: Control unit 50: Own vehicle position calculation unit 51: Travel control unit 54: Travel locus calculation unit 55: Work area determination unit 56: Unworked map creation unit 57: Travel route calculation unit 80: Own vehicle position detection unit 512: Automatic travel control unit 513: Target travel route setting unit CA: Unworked area CV: Transport vehicle IP: Interruption position RP: Resume position SA: Outer peripheral area (existing work area)
SP: Start position

Claims (5)

It is a self-driving harvester equipped with a harvest tank that temporarily stores the harvest.
An automatic driving control unit that automatically travels based on the target driving route and the position of the own vehicle,
An unworked map creation unit that creates unworked map data indicating an unworked area based on the shape of the outer peripheral area, which is an already worked area formed along the inside of the boundary line of the field by the surrounding work running.
Based on the unworked map data, from the work travel path parallel to each side in the polygon showing the outer shape of the unworked area and the turning travel path connecting the two work travel paths with the change of direction of the aircraft. A target travel route setting unit for setting the spiral target travel route by using one of a first travel pattern for sequentially working in the clockwise direction and a second travel pattern for sequentially working in the counterclockwise direction. ,
When the distance from the boundary line of the field to the unworked area does not reach a predetermined value even though the work running using one of the first running pattern and the second running pattern is repeated. The target travel route setting unit is a harvester that sets the target travel route using at least the other of the first travel pattern and the second travel pattern . It is a self-driving harvester equipped with a harvest tank that temporarily stores the harvest.
An automatic driving control unit that automatically travels based on the target driving route and the position of the own vehicle,
An unworked map creation unit that creates unworked map data indicating an unworked area based on the shape of the outer peripheral area, which is an already worked area formed along the inside of the boundary line of the field by the surrounding work running.
Based on the unworked map data, from the work travel path parallel to each side in the polygon showing the outer shape of the unworked area and the turning travel path connecting the two work travel paths with the change of direction of the aircraft. A target travel route setting unit for setting the spiral target travel route by using one of a first travel pattern for sequentially working in the clockwise direction and a second travel pattern for sequentially working in the counterclockwise direction. ,
When the unworked area is automatically traveled using one of the first traveling pattern and the second traveling pattern, the demand for discharging the harvested product from the harvested tank is made during the work traveling less than one lap. When it occurs, the target travel route setting unit sets the target travel route by using at least the other of the first travel pattern and the second travel pattern for the work travel after the harvested product is discharged. Harvesting machine. It is a self-driving harvester equipped with a harvest tank that temporarily stores the harvest.
An automatic driving control unit that automatically travels based on the target driving route and the position of the own vehicle,
An unworked map creation unit that creates unworked map data indicating an unworked area based on the shape of the outer peripheral area, which is an already worked area formed along the inside of the boundary line of the field by the surrounding work running.
Based on the unworked map data, from the work travel path parallel to each side in the polygon showing the outer shape of the unworked area and the turning travel path connecting the two work travel paths with the change of direction of the aircraft. A target travel route setting unit for setting the spiral target travel route by using both a first travel pattern for sequentially working in the clockwise direction and a second travel pattern for sequentially working in the counterclockwise direction. e,
A harvester in which the first traveling pattern and the second traveling pattern are alternately used for each discharge of the harvested product. It is a self-driving harvester equipped with a harvest tank that temporarily stores the harvest.
An automatic driving control unit that automatically travels based on the target driving route and the position of the own vehicle,
An unworked map creation unit that creates unworked map data indicating an unworked area based on the shape of the outer peripheral area, which is an already worked area formed along the inside of the boundary line of the field by the surrounding work running.
Based on the unworked map data, from the work travel path parallel to each side in the polygon showing the outer shape of the unworked area and the turning travel path connecting the two work travel paths with the change of direction of the aircraft. A target travel route setting unit for setting the spiral target travel route by using both a first travel pattern for sequentially working in the clockwise direction and a second travel pattern for sequentially working in the counterclockwise direction. e,
A harvester in which a work run after the harvest is discharged is started at an end of the work run path on the turn run path side, which is connected to the turn run path at a position closest to the harvest position . The target travel route setting unit sets the target travel route with a U-turn travel pattern in which linear work travel routes parallel to each other in the existing work area are connected by a U-turn turn path in the unworked area.
The target travel route setting unit sets the target travel route using at least one of the first travel pattern and the second travel pattern until the space required for the U-turn turning route is secured. The harvester according to any one of claims 1 to 4 , wherein the target travel route is subsequently set using the U-turn travel pattern.

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