WO2019124174A1 - コンバイン制御システム、コンバイン制御プログラム、コンバイン制御プログラムを記録した記録媒体、コンバイン制御方法、収穫機制御システム、収穫機制御プログラム、収穫機制御プログラムを記録した記録媒体、収穫機制御方法 - Google Patents

コンバイン制御システム、コンバイン制御プログラム、コンバイン制御プログラムを記録した記録媒体、コンバイン制御方法、収穫機制御システム、収穫機制御プログラム、収穫機制御プログラムを記録した記録媒体、収穫機制御方法 Download PDF

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Publication number
WO2019124174A1
WO2019124174A1 PCT/JP2018/045590 JP2018045590W WO2019124174A1 WO 2019124174 A1 WO2019124174 A1 WO 2019124174A1 JP 2018045590 W JP2018045590 W JP 2018045590W WO 2019124174 A1 WO2019124174 A1 WO 2019124174A1
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WO
WIPO (PCT)
Prior art keywords
combine
harvester
traveling
threshing
reaper
Prior art date
Application number
PCT/JP2018/045590
Other languages
English (en)
French (fr)
Japanese (ja)
Inventor
阪口和央
佐野友彦
吉田脩
中林隆志
Original Assignee
株式会社クボタ
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from JP2017242049A external-priority patent/JP6843037B2/ja
Priority claimed from JP2017245308A external-priority patent/JP7142433B2/ja
Application filed by 株式会社クボタ filed Critical 株式会社クボタ
Priority to CN201880074147.1A priority Critical patent/CN111386033B/zh
Priority to KR1020207013086A priority patent/KR20200096496A/ko
Publication of WO2019124174A1 publication Critical patent/WO2019124174A1/ja

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Classifications

    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B69/00—Steering of agricultural machines or implements; Guiding agricultural machines or implements on a desired track
    • A01B69/007—Steering or guiding of agricultural vehicles, e.g. steering of the tractor to keep the plough in the furrow
    • A01B69/008—Steering or guiding of agricultural vehicles, e.g. steering of the tractor to keep the plough in the furrow automatic
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B69/00—Steering of agricultural machines or implements; Guiding agricultural machines or implements on a desired track
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D41/00—Combines, i.e. harvesters or mowers combined with threshing devices
    • A01D41/12—Details of combines
    • A01D41/127—Control or measuring arrangements specially adapted for combines
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D69/00—Driving mechanisms or parts thereof for harvesters or mowers
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01F—PROCESSING OF HARVESTED PRODUCE; HAY OR STRAW PRESSES; DEVICES FOR STORING AGRICULTURAL OR HORTICULTURAL PRODUCE
    • A01F12/00—Parts or details of threshing apparatus
    • A01F12/30—Straw separators, i.e. straw walkers, for separating residual grain from the straw
    • A01F12/32—Straw separators, i.e. straw walkers, for separating residual grain from the straw with shaker screens or sieves
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2200/00—Type of vehicle
    • B60Y2200/20—Off-Road Vehicles
    • B60Y2200/22—Agricultural vehicles
    • B60Y2200/222—Harvesters
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P60/00—Technologies relating to agriculture, livestock or agroalimentary industries
    • Y02P60/14—Measures for saving energy, e.g. in green houses

Definitions

  • the present invention relates to a combine control system for controlling a combine having a reaping device for reaping field cropping of a field and a threshing device for threshing the reaping cropping remnant harvested by the reaping device.
  • the present invention has a harvester for harvesting crops in a field, a harvest tank for storing the harvest harvested by the harvester, and a discharger for discharging the harvest stored in the harvest tank.
  • a harvester control system for controlling a harvester.
  • Patent Document 1 describes an invention of an automatic travel combine. In the harvesting operation using the combine, the operator manually operates the combine at the beginning of the harvesting operation and performs the mowing travel so as to go around the outer peripheral portion in the field.
  • the traveling direction of the harvester is recorded. Then, the automatic traveling based on the recorded direction performs the reaping travel in the uncut area in the field.
  • a collecting tank is disposed at an outer peripheral portion in a field.
  • the collection tank is configured to be able to receive and store grains discharged from the discharge cylinder of the combine.
  • the combine of patent document 1 is comprised so that reaping driving
  • region may be performed by repeating the lap
  • Patent Document 2 includes a harvesting device for harvesting crops in the field ("the harvesting unit” in Patent Document 2), and a harvest tank for storing the harvested material harvested by the harvesting device (in Invention of a harvester (“Combine” in Patent Document 2) having a grain tank ”) and a discharge device (“ grain discharge device “in Patent Document 2) for discharging the harvested material stored in the harvest tank Have been described.
  • the combine is run along the cutting travel path set in the uncut area, and when it becomes necessary to discharge grains etc., the combine is temporarily detached from the cutting travel path
  • a configuration is conceivable which controls the combine so as to make it possible.
  • the combine travels in the existing reaping area until returning to travel along the reaping travel path. That is, during this time, the combine does not reap the grain census. Therefore, after the combine leaves the reaping travel path, the amount of reaping grain fed to the threshing device decreases.
  • the threshing device continues to be driven until return to traveling along the reaping travel route after the combine leaves the reaping travel route. Nevertheless, the threshing device will continue to operate. As a result, the driving of the threshing device is wasted and the threshing efficiency is likely to be reduced. This leads to the deterioration of fuel consumption.
  • An object of the present invention is to provide a combine control system in which the fuel efficiency of the combine is improved.
  • Patent Document 2 does not describe in detail the discharge operation by the discharge device. Here, it is conceivable to stop the harvester near the transport vehicle after the transport vehicle is stopped outside the farmland, and to discharge the harvested material to the transport vehicle by the discharge device.
  • An object of the present invention is to provide a harvester control system capable of reducing the burden of operation by a worker.
  • a feature of the present invention is a combine control system for controlling a combine comprising a reaping device for reaping a field crop in the field and a threshing device for threshing the reaping crop indwelling by the reaping device, the field control system
  • a reaper traveling path calculation unit that calculates a reaper traveling path that is a traveling path for a reaper traveling at a time
  • an automatic reaper traveling control unit that controls the combine so that a reaper traveling is performed by an automatic traveling along the reaper traveling path.
  • a determination unit that determines whether the threshing efficiency of the threshing device has decreased when the combine has left the harvesting travel path, and the determination unit determines that the threshing efficiency of the threshing device has decreased.
  • a threshing device stop unit for stopping the operation of the threshing device.
  • the threshing device stop unit stops driving the threshing device. Therefore, the driving of the threshing device is less likely to be wasted. Thereby, the fuel consumption of the combine is improved.
  • the threshing apparatus has a rocking and sorting unit for sorting and processing the processed product obtained by the threshing process, and the combine is a processing product which is sorted and processed by the rocking and sorting unit.
  • the determination unit determines that the threshing efficiency of the threshing device has decreased when the amount of the sorted processing detected by the sheave sensor decreases.
  • it is configured.
  • the amount of reaping grain fed to the threshing device decreases, the amount of processed material being sorted in the shaking and sorting unit decreases. At this time, the threshing efficiency of the threshing device tends to decrease.
  • the determination unit is configured to determine that the threshing efficiency of the threshing device has decreased when the period in which the reaper is not driven continues.
  • the reaper continues to be inactive, the amount of reaper supplied to the threshing device will be reduced. At this time, the threshing efficiency of the threshing device tends to decrease.
  • the driving of the threshing device is stopped by the threshing device stop unit, the driving of the threshing device is performed when the combine pivots to return to the automatic traveling along the reaping traveling path. It is preferable to provide a threshing device start unit for resuming
  • the reaping device harvests the field crop of the field. Along with this, the reaper is fed sequentially to the threshing device. Therefore, in the automatic travel along the reaping travel path, the threshing device needs to be driven.
  • the driving of the threshing device is resumed by the threshing device start unit.
  • the configuration in which the driving of the threshing device is resumed at an appropriate timing can be realized.
  • another feature of the present invention is a combine control program for controlling a combine having a reaping device for reaping field crop straw in a field, and a threshing device for threshing reaping crop straw reaped by the reaping device.
  • a reaper traveling path calculating function for calculating a reaper traveling path which is a traveling path for a reaper traveling in a field, and an automatic for controlling the combine so that a reaper traveling is performed by an automatic traveling along the reaper traveling path.
  • a threshing efficiency of the threshing device is reduced by the reaper traveling control function, a determination function of determining whether the threshing efficiency of the threshing device is reduced when the combine is separated from the reaping travel route, and the determination function And a threshing device stop function of stopping the operation of the threshing device when it is determined that the threshing device has been determined.
  • another feature of the present invention is a combine control program for controlling a combine comprising a reaping device for reaping field crop straw in a field, and a threshing device for threshing reaping crop waste remnant harvested by the reaping device.
  • a reaper traveling path calculating function for calculating a reaper traveling path which is a traveling path for a reaper traveling in a field, which is a recorded recording medium, and the above-mentioned reaper travel is performed by automatic traveling along the reaper traveling path.
  • the threshing device according to an automatic reaper traveling control function for controlling combine, a determination function for determining whether or not the threshing efficiency of the threshing device is lowered when the combine is separated from the reaping travel route, and the threshing device A threshing device stop function of stopping the operation of the threshing device when it is determined that the threshing efficiency of It lies in the fact that records Vine control program.
  • another feature of the present invention is a combine control method for controlling a combine comprising: a reaper for reaping a field crop in the field; and a threshing device for threshing the reaped reaper harvested by the reaper.
  • a reaper traveling route calculating step for calculating a reaper traveling route which is a traveling route for a reaper traveling in a field, and an automatic for controlling the combine so that a reaper traveling is performed by an automatic traveling along the reaper traveling route
  • a determination step of determining whether the threshing efficiency of the threshing device is lowered when the combine leaves the reaping traveling route, the threshing efficiency of the threshing device is lowered by the determination step
  • a threshing device stop step of stopping the operation of the threshing device when it is determined that the threshing device has been determined.
  • the solution means corresponding to the problem [2] is as follows.
  • the features of the present invention include a harvester for harvesting crops in a field, a harvest tank for storing the harvest harvested by the harvester, and a discharger for discharging the harvest stored in the harvest tank.
  • a harvester control system for controlling a harvester, wherein the discharge operation is performed by the discharge device when the discharge operation is performed by the discharge device at a position where the harvester has moved by a manual operation.
  • a position storage unit for storing the stopping position of the harvester at the time point, a position setting unit for setting a target stopping position based on the stop position of the harvester stored in the position storage unit; And a traveling control unit configured to control traveling of the harvester so that the harvester automatically stops at the target stopping position when work is performed.
  • the stop position of the harvester at that time is stored by the position storage unit. Then, in the second and subsequent discharging operations, the harvester automatically stops at the stored stop position under the control of the travel control unit.
  • a signal output unit for outputting an instruction signal for instructing a stopping position of the harvester for the discharging operation by the discharging device is provided, and the position setting unit is the discharging device in the harvesting operation in the field.
  • the instruction signal is output by the signal output unit before the first discharging operation is performed
  • the target stopping position is set based on the instruction signal
  • the position setting unit is configured to When the discharging operation is performed by the discharging device after the harvester has moved by manual operation from the target stop position set based on the instruction signal, the stop of the harvester stored in the position storage unit It is preferable to reset the target stopping position based on the position.
  • the target stopping position is set when the signal output unit outputs the instruction signal before the first discharging operation is performed in the field of the harvesting operation.
  • the discharging operation is performed if the harvesting machine is moved by manual operation and then the discharging operation is performed.
  • the stop position of the harvester at the time is stored by the position storage unit. Then, in the discharge operation thereafter, the harvester automatically stops at the stored stop position. That is, when the instructed target stop position is inappropriate, the target stop position can be easily corrected.
  • the airframe of the harvester at the time when the discharging operation by the discharge device is performed.
  • a direction storage unit for storing a direction, and a direction setting unit for setting a target stopping direction based on the orientation of the machine body of the harvester stored in the direction storage unit, the travel control unit including the discharge device It is preferable to control traveling of the harvester so that the harvester automatically stops at the target stopping position in a state in which the harvester faces the target stopping direction when the discharging operation is performed.
  • the orientation of the harvester's fuselage at that time is stored by the direction storage unit. Then, in the second and subsequent discharge operations, the harvest machine faces the direction of the stored vehicle and stops by the control of the traveling control unit.
  • another feature of the present invention discharges the harvest stored in the harvest tank, the harvest tank for harvesting the field crop, the harvest tank for storing the harvest harvested by the harvest apparatus, and the harvest tank.
  • a position storing function for storing the stopping position of the harvester at the time when the work is performed; a position setting function for setting a target stopping position based on the stopping position of the harvester stored by the position storing function;
  • a traveling control function of controlling traveling of the harvester so that the harvester automatically stops at the target stopping position when the discharging operation is performed by the discharging device; There to be realized in the data.
  • a recording medium recording a harvester control program for controlling a harvester having a discharge device, wherein the discharge device performs a discharge operation at a position before the harvester has moved manually.
  • a position for setting a target stopping position based on the stop position of the harvester stored by the position storage function and the position storage function of storing the stop position of the harvester at the time when the discharge operation by the discharge device is performed A traveling control for controlling the traveling of the harvester so that the harvester automatically stops at the target stop position when the setting function and the discharge operation by the discharge device are performed In that recording the harvester control program for implementing the ability to computer.
  • another feature of the present invention discharges the harvest stored in the harvest tank, the harvest tank for harvesting the field crop, the harvest tank for storing the harvest harvested by the harvest apparatus, and the harvest tank.
  • FIG. 11 It is a figure which shows 1st Embodiment (following, it is the same to FIG. 11), and is a left view of a combine.
  • It is a block diagram showing composition of a combine control system. It is a vertical side view which shows the structure of a threshing apparatus. It is a figure which shows the round trip in a field. It is a figure which shows a reaping travel path and a detachment return path. It is a figure which shows mowing travel along a mowing travel path. It is a figure which shows a mode that a combine remove
  • the first embodiment will be described with reference to FIGS. 1 to 11.
  • the direction of arrow F shown in FIGS. 1 and 3 is “front”
  • the direction of arrow B is “rear”.
  • the direction of the arrow U shown in FIGS. 1 and 3 is “up”
  • the direction of the arrow D is “down”.
  • the ordinary type combine 1 has a crawler type traveling device 11, an operating unit 12, a threshing device 13, a grain tank 14, a harvesting device H, a conveying device 16, a grain discharging device 18, satellite positioning A module 80 is provided.
  • the traveling device 11 is provided at the lower portion of the combine 1. Combine 1 is self-propelled by traveling device 11.
  • the operating unit 12, the threshing device 13, and the grain tank 14 are provided on the upper side of the traveling device 11.
  • An operator who monitors the operation of the combine 1 can ride on the operation unit 12. The worker may monitor the operation of the combine 1 from the outside of the combine 1.
  • the grain discharging device 18 is provided on the upper side of the grain tank 14.
  • the satellite positioning module 80 is attached to the upper surface of the driver 12.
  • the harvesting device 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.
  • the harvesting device H also has a reaper 15 and a reel 17.
  • the reaper 15 reaps the field crop of the field.
  • the reel 17 scrapes the cropped cereals to be harvested while being rotationally driven. With this configuration, the harvester H harvests the grain in the field. Then, the combine 1 is capable of reaping travel traveling by the traveling device 11 while reaping the crop of the field in the field with the reaper 15.
  • the cropped rice bran that has been harvested by the harvesting device 15 is transported by the transport device 16 to the threshing device 13.
  • the reaping grain is threshed.
  • the grains obtained by the threshing process are stored in a grain tank 14.
  • the grains stored in the grain tank 14 are discharged to the outside by the grain discharging device 18 as needed.
  • the combine 1 has the reaper 15 for harvesting the field crop of the field and the threshing device 13 for threshing the reaper harvested by the reaper 15.
  • the communication terminal 4 is disposed in the operation unit 12.
  • the communication terminal 4 is configured to be able to display various information.
  • the communication terminal 4 is fixed to the operation unit 12.
  • the present invention is not limited to this, and the communication terminal 4 may be configured to be attachable to and detachable from the operation unit 12, and the communication terminal 4 may be located outside the machine of the combine 1 .
  • the combine 1 includes an engine 51, a reaper clutch C15, and a threshing clutch C13.
  • the power output from the engine 51 is distributed to the reaper clutch C15, the threshing clutch C13, and the traveling device 11.
  • the traveling device 11 is driven by the motive power from the engine 51.
  • reaper clutch C15 and the threshing clutch C13 are both configured to be changeable between an on state in which power is transmitted and a disconnected state in which no power is transmitted.
  • the reaper clutch C15 When the reaper clutch C15 is in the off state, the power output from the engine 51 is not transmitted to the reaper 15. At this time, the reaper 15 is in a non-driven state.
  • the reaper clutch C15 When the reaper clutch C15 is in the on state, the power output from the engine 51 is transmitted to the reaper 15. At this time, the reaper 15 is driven by the power from the engine 51. That is, at this time, the reaper 15 is in a driving state.
  • the threshing clutch C13 When the threshing clutch C13 is in the disengaged state, the power output from the engine 51 is not transmitted to the threshing device 13. At this time, the threshing device 13 is in a non-driven state.
  • the threshing clutch C13 When the threshing clutch C13 is in the on state, the power output from the engine 51 is transmitted to the threshing device 13. At this time, the threshing device 13 is driven by the power from the engine 51. That is, at this time, the threshing device 13 is in the driving state.
  • the threshing device 13 has a threshing processing unit 13 a and a swing sorting unit 13 b.
  • the swing sorting unit 13b is located below the threshing processing unit 13a.
  • the threshing processing unit 13a has a throttling chamber 30, a threshing cylinder 31, and a net 32. As shown in FIG. 3, the threshing cylinder 31 is located inside of the handling chamber 30. Also, the receiving net 32 is located below the threshing cylinder 31.
  • the harvesting grain crucible reaped by the harvesting device 15 is transported by the transport device 16 to the processing chamber 30. Then, the reaping grain gutter is subjected to threshing processing in the throttling chamber 30 by the threshing drum 31 which is rotated by the power from the engine 51 and the net 32. The processed material obtained by the threshing process falls from the net 32 to the rocking and sorting unit 13b.
  • the threshing processing unit 13a performs threshing processing on the reapsing grain.
  • the rocking and sorting unit 13 b includes a rocking frame 33, a grain pan 34, a sieve wire 35, a first chaff sieve 36, a grain sieve 37, a second chaff sieve 38, a tongue 39, a No. 1 collecting part 40 and a No. 2 collecting part 41. ing.
  • the swing frame 33 is configured to swing by the power from the engine 51.
  • the grain pan 34, the sieve wire 35, the first chaff sieve 36, the grain sieve 37, and the second chaff sieve 38 are supported by the swing frame 33.
  • the grain pan 34, the sieve wire portion 35, the first chaff sheave 36, the grain sheave 37, and the second chaff sheave 38 also rock in association with the rocking of the rocking frame 33.
  • the grain sieve 37 is located below the first chaff sieve 36.
  • the second chaff sieve 38 is located behind and below the first chaff sieve 36.
  • the first collecting unit 40 and the second collecting unit 41 are located below the swinging frame 33.
  • the processed material dropped from the receiving net 32 is shaken by the glen pan 34, the sieve wire 35, the first chaff sheave 36, the gren sheave 37, the second chaff sheave 38, and receives the sorted wind sent from the bales 39.
  • the processed products are sorted into grains and dust such as scraps of straw.
  • the grains dropped from the grain sieve 37 are collected by the No. 1 collecting unit 40 and transported to the grain tank 14.
  • the untreated particles dropped from the second chaff sieve 38 are collected by the No. 2 collection unit 41 and conveyed by the reduction device 42 to the front of the rocking and sorting unit 13 b.
  • the untreated particles transported to the front of the swing sorting unit 13b are sorted again by the swing sorting unit 13b.
  • the rocking and sorting unit 13b sorts and processes the processed product obtained by the threshing process.
  • the threshing apparatus 13 includes the swing sorting unit 13 b that sorts the processed product obtained by the threshing process.
  • a sheave sensor S ⁇ b> 1 is provided in the vicinity of the upper side of the first chaff sieve 36.
  • the sheave sensor S1 detects the thickness of the workpiece on the first chaff sieve 36.
  • the sheave sensor S1 detects the amount of the sorted processed material.
  • the amount of the sorting process is the amount of the process being sorted in the swing sorting unit 13b.
  • the sheave sensor S1 detects the amount of the sorted material in five stages of level 1 to level 5.
  • Level 1 corresponds to the state in which the amount of sorted processed material is the smallest
  • level 5 corresponds to the state in which the amount of sorted processed material is the largest. That is, the larger the number of levels, the larger the amount of sorted products.
  • the combine 1 has the sheave sensor S1 that detects the amount of the processing object which is the amount of the processing object being sorted by the swinging sorting unit 13b.
  • the threshing cylinder 31 When the threshing device 13 is in a driving state, the threshing cylinder 31 is rotated by the power from the engine 51, and the rocking frame 33 is rocked by the power from the engine 51. In addition, when the threshing device 13 is in a non-driven state, the threshing cylinder 31 does not rotate, and the swing frame 33 does not swing.
  • the combine 1 After the combine 1 carries out circling traveling while harvesting grains in the area on the outer peripheral side in the field as shown in FIG. 4, it then performs reaping travel in the area inside the field as shown in FIG. 6. , Are configured to harvest the grain of the field.
  • the combine 1 is controlled by the combine control system A.
  • the configuration of the combine control system A will be described below.
  • the combine control system A includes a satellite positioning module 80 and a control unit 20.
  • the control unit 20 is provided in the combine 1. Further, as described above, the satellite positioning module 80 is also provided in the combine 1.
  • Control unit 20 includes host vehicle position calculation unit 21, route calculation unit 22, travel control unit 23 (corresponding to “automatic reaping travel control unit” according to the present invention), area calculation unit 24, determination unit 25, threshing device start unit 26, the threshing device stop unit 27, the travel prohibition area storage unit 28, and the reaper clutch sensor S2. Further, the above-described sheave sensor S1 is included in the control unit 20.
  • 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 vehicle position of the combine 1 to the vehicle position calculating unit 21 based on the received GPS signal.
  • GPS Global Positioning System
  • the vehicle position calculation unit 21 calculates position coordinates of the combine 1 with time based on the positioning data output by the satellite positioning module 80.
  • the calculated positional coordinates of the combine 1 with 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 temporal position coordinates of the combine 1 received from the host vehicle position calculation unit 21.
  • the area calculation unit 24 calculates the traveling locus of the combine 1 in the circumferential traveling on the outer circumference side of the field based on the temporal position coordinate of the combine 1 received from the vehicle position calculation unit 21. .
  • region calculation part 24 calculates the area
  • the area calculation unit 24 calculates the inside of the calculated outer peripheral area SA as the work target area CA.
  • the traveling path of the combine 1 for circumferential traveling on the outer circumference side of the field is indicated by an arrow.
  • the combine 1 performs three rounds.
  • the field is in the state shown in FIG.
  • the area calculation unit 24 calculates an area on the outer circumference side of the field where the combine 1 travels while harvesting the grain as the outer circumference area SA. In addition, the area calculation unit 24 calculates the inside of the calculated outer peripheral area SA as the work target area CA.
  • the calculation result by the area calculation unit 24 is sent to the route calculation unit 22.
  • the route calculation unit 22 includes a cutting traveling route calculation unit 22 a and a separation / return route calculation unit 22 b.
  • the reaper traveling route calculation unit 22a calculates a reaper traveling route LI, which is a traveling route for reaper traveling in the work target area CA, based on the calculation result received from the area calculation unit 24.
  • the cutting traveling path LI is a plurality of parallel lines parallel to each other.
  • the combine control system A includes the reaping travel path calculation unit 22a that calculates the reaping travel path LI, which is a travel path for reaping travel in the field.
  • the reaper traveling route LI calculated by the reaper traveling route calculating unit 22 a is sent to the traveling control unit 23.
  • the traveling control unit 23 is configured to be able to control the traveling device 11.
  • the traveling control unit 23 controls the automatic traveling of the combine 1 based on the position coordinates of the combine 1 received from the vehicle position calculation unit 21 and the reaper traveling route LI received from the reaper traveling route calculation unit 22a. Do. More specifically, as shown in FIG. 6, the traveling control unit 23 controls the traveling of the combine 1 so that the reaper traveling is performed by the automatic traveling along the reaper traveling route LI.
  • the combine control system A includes the travel control unit 23 that controls the combine 1 so that the reaping travel is performed by the automatic travel along the reaping travel route LI.
  • the departure / return route calculation unit 22b calculates the departure / return route LW, which is a traveling route for non-removing travel in the outer peripheral area SA, based on the calculation result received from the area calculation unit 24. Do. As shown in FIG. 5, in the present embodiment, the separation return path LW is a line having a shape along the outer shape of the field.
  • the departure / return route LW calculated by the departure / return route calculation unit 22 b is sent to the traveling control unit 23.
  • the traveling control unit 23 controls automatic traveling of the combine 1 based on the position coordinates of the combine 1 received from the host vehicle position calculation unit 21 and the departure return route LW received from the departure return route calculation unit 22 b. More specifically, as shown in FIG. 7, when the combine 1 leaves the reaper travel route LI, the travel control unit 23 performs non-removal travel by automatic travel along the detachment return route LW. , Control the travel of Combine 1.
  • the sheave sensor S1 detects the amount of the sorting processed material in the swing sorting unit 13b of the threshing device 13. As shown in FIG. 2, the detection result by the sheave sensor S1 is sent to the determination unit 25.
  • the reaper clutch sensor S2 detects the on / off state of the reaper clutch C15. The detection result by the reaper clutch sensor S2 is sent to the determination unit 25.
  • the determination unit 25 determines whether or not the threshing efficiency of the threshing device 13 has decreased when the combine 1 has left the harvesting travel route LI. More specifically, as shown in FIG. 7, when the combine 1 leaves the reaper traveling route LI, a predetermined signal is sent from the traveling control unit 23 to the determination unit 25 as shown in FIG. This signal is a signal indicating that the combine 1 has left the reaper traveling route LI. If the amount of sorted processed products detected by the sheave sensor S1 decreases after the determination unit 25 receives this signal, the determination unit 25 determines that the threshing efficiency of the threshing device 13 has decreased.
  • the determination unit 25 determines that the threshing efficiency of the threshing device 13 has decreased when the state in which the amount of sorted processed products is level 1 continues for a predetermined first period or longer. That is, continuing the state in which the amount of sorted processed products is level 1 continues for the first period or more corresponds to a decrease in the amount of sorted processed products detected by the sheave sensor S1.
  • this first period may be, for example, 10 seconds, or may be a period other than that.
  • the combine control system A includes the determination unit 25 that determines whether or not the threshing efficiency of the threshing device 13 has decreased when the combine 1 leaves the reaping travel route LI.
  • the determination unit 25 is configured to determine that the threshing efficiency of the threshing device 13 has decreased when the amount of sorted processed products detected by the sheave sensor S1 has decreased.
  • a predetermined signal is sent from the traveling control unit 23 to the determination unit 25. Then, after the determination unit 25 receives this signal, if the period in which the reaper 15 is in a non-driven state continues, the determination unit 25 determines that the threshing efficiency of the threshing device 13 has decreased.
  • the determination unit 25 causes the reaper clutch C15 to be continuously off. Count the period. Then, when the period during which the reaper clutch C15 is continuously in the OFF state reaches a predetermined second period, the determination unit 25 determines that the threshing efficiency of the threshing device 13 has decreased. That is, the fact that the period in which the reaper clutch C15 is continuously in the OFF state reaches the second period corresponds to the continuation of the period in which the reaper 15 is in the non-driving state.
  • this second period may be, for example, 10 seconds, or may be a period other than that.
  • the determination unit 25 is configured to determine that the threshing efficiency of the threshing device 13 is reduced when the period in which the reaper 15 is in the non-driven state continues.
  • the determination result by the determination unit 25 is sent to the threshing device stop unit 27.
  • the threshing device stop unit 27 switches the threshing clutch C13 from the on state to the off state when the determination unit 25 determines that the threshing efficiency of the threshing device 13 has decreased. Thereby, the driving of the threshing device 13 is stopped.
  • the combine control system A includes the threshing device stop unit 27 that stops the driving of the threshing device 13 when the determination unit 25 determines that the threshing efficiency of the threshing device 13 has decreased.
  • a predetermined signal is sent from the traveling control unit 23 to the threshing device start unit 26.
  • This signal is a signal indicating that the combine 1 turns to return to the automatic traveling along the reaper traveling route LI.
  • the threshing device starting unit 26 switches the threshing clutch C13 from the off state to the on state. Thereby, the driving of the threshing device 13 is resumed.
  • the combine control system A performs threshing when the combine 1 turns to return to the automatic traveling along the cutting traveling path LI.
  • the threshing apparatus start part 26 which restarts the drive of the apparatus 13 is provided.
  • the operator manually operates the combine 1, and as shown in FIG. 4, in the outer peripheral portion in the field, the mowing travel is performed so as to go around along the border of the field.
  • the combine 1 performs three rounds. When this round trip 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 round trip shown in FIG. 4 based on the temporal position coordinate of the combine 1 received from the host vehicle position calculation unit 21. Then, as shown in FIG. 5, the area calculation unit 24 calculates an area on the outer peripheral side of the field where the combine 1 travels while harvesting the set-up kernel based on the calculated travel locus of the combine 1. Calculated as In addition, the area calculation unit 24 calculates the inside of the calculated outer peripheral area SA as the work target area CA.
  • the reaper traveling route calculation unit 22a sets a reaper traveling route LI in the work target area CA, as shown in FIG.
  • the departure / return route calculation unit 22 b calculates the departure / return route LW in the outer peripheral area SA based on the calculation result received from the area calculation unit 24.
  • the reaping grain remnants harvested by the reaping device 15 are transported by the transport device 16 to the threshing device 13. Then, in the threshing device 13, the reaping grain is threshed.
  • the transport vehicle CV is parked out of the field. Then, in the outer peripheral area SA, the stop position PP is set at a position near the transport vehicle CV. As shown in FIG. 5 and FIG. 6, the stop position PP is set at a position overlapping with the leaving return route LW.
  • the transport vehicle CV can collect and transport the grains discharged from the grain discharging device 18 by the combine 1.
  • the combine 1 stops at the stopping position PP, and discharges the grain to the transport vehicle CV by the grain discharging device 18.
  • the travel control unit 23 sets the combination 1 so as to separate from the reaping travel path LI, as shown in FIG. Control the run.
  • the reaper clutch C15 is switched from the on state to the off state.
  • the traveling control unit 23 controls the combine 1 to travel toward the separation return route LW. Then, when the combine 1 reaches the vicinity of the separation return path LW, the traveling control unit 23 controls the traveling of the combine 1 so that the non-removing travel is performed by the automatic traveling along the separation return path LW.
  • the amount of reaping grain fed to the threshing device 13 decreases.
  • the amount of the sorted material is reduced from level 5 to level 1 after the combine 1 leaves the reaping travel route LI. Then, it is assumed that the combine 1 is positioned at the position P2 shown in FIG. 7 when the state in which the amount of sorted processed products is level 1 continues for the first period.
  • the determination unit 25 determines that the threshing efficiency of the threshing device 13 has decreased. Therefore, at the position P2, the threshing device stopping unit 27 switches the threshing clutch C13 from the on state to the off state. Thereby, the driving of the threshing device 13 is stopped.
  • the combine 1 continues automatic traveling along the departure / return route LW and stops at the stopping position PP. Then, the grain is discharged to the transport vehicle CV by the grain discharging device 18.
  • the combine 1 After discharging the grain, as shown in FIG. 8, the combine 1 resumes the automatic traveling along the separation return route LW. Then, the combine 1 turns at the position P3 in order to return to the automatic traveling along the reaper traveling route LI. This turning is automatically performed by the control of the traveling control unit 23.
  • the threshing device starting unit 26 switches the threshing clutch C13 from the off state to the on state.
  • the driving of the threshing device 13 resumes at the position P3.
  • the reaper clutch C15 is switched from the off state to the on state. Then, the combine 1 returns to automatic travel along the reaping travel route LI at a position P4 on the reaping travel route LI.
  • the present invention is not limited to this, and the threshing clutch C13 and the reaper clutch C15 may be switched from the off state to the on state at the timing when the combine 1 approaches the uncut portion in the work target area CA.
  • the threshing clutch C13 and the reaper clutch C15 are switched from the off state to the on state Also good.
  • the position where the combine 1 returns to the automatic travel along the reaping travel route LI is determined to be the closest position from the stopping position PP among the uncleaved portions in the work target area CA. That is, the position where the combine 1 returns to the automatic traveling along the reaper traveling route LI is determined regardless of the position where the combine 1 has left the reaper traveling route LI. Therefore, the position P1 and the position P4 described above are different.
  • the traveling of the combine 1 is the traveling control unit until the combine 1 leaves the reaper traveling route LI and starts traveling along the separation return route LW. It is carried out by automatic traveling under control of 23.
  • the traveling of the combine 1 is performed by the automatic traveling under the control of the traveling control unit 23 until the combine 1 leaves the separation return path LW and resumes the traveling along the reaper traveling path LI. It will be.
  • the separation return route calculation unit 22b can calculate a re-calculation return route LR different from the separation return route LW.
  • the recalculation return path LR is a travel path for the combine 1 to return to automatic travel along the reaper travel path LI.
  • the recalculation return path LR will be described.
  • control unit 20 includes the non-traveling area storage unit 28.
  • the travel prohibited area storage unit 28 stores the travel prohibited area PA in the field.
  • the departure / return route calculation unit 22 b acquires, from the travel prohibited area storage unit 28, data indicating the travel prohibited area PA.
  • the travel prohibited area PA is an area where the travel of the combine 1 is prohibited due to the presence of trees and the like in the field.
  • the vehicle position calculation unit 21 sends the position coordinates of the combine 1 with time to the departure / return route calculation unit 22 b.
  • the departure / return route calculation unit 22b determines whether the work target area CA has not been completed based on the temporal position coordinates of the combine 1 received from the vehicle position calculation unit 21 and the calculation result received from the area calculation unit 24.
  • the cutting area CA1 and the already cut area CA2 are calculated.
  • the departure / return route calculation unit 22 b may use the data indicating the prohibited travel area PA acquired from the prohibited travel area storage unit 28, the current position coordinates of the combine 1, the calculation result received from the area calculation unit 24, and Based on the uncut area CA1 and the already cut area CA2 calculated as described above, the recalculation return path LR is calculated.
  • the calculation of the recalculation return path LR is performed according to the following three conditions. That is, the recalculation return route LR must not be a travel route that passes through the travel prohibited area PA. In addition, the recalculation return route LR should not be a travel route passing outside the field. Further, the recalculation return route LR may be a travel route that passes through the already-cleaved area CA2.
  • FIG. 9 shows that the combine 1 returns from the state where it is stopped at the stopping position PP to the automatic traveling along the reaper traveling route LI.
  • the recalculation return route LR is calculated by the departure return route calculation unit 22b.
  • the position closest to the stop position PP is calculated.
  • the position calculated at this time is determined as the position for returning to the automatic traveling along the reaper traveling route LI.
  • the position P5 is determined as the position for returning to the automatic traveling along the reaper traveling route LI.
  • the departure / return route calculation unit 22b calculates a travel route that is a candidate for the recalculation return route LR.
  • the travel route calculated at this time is a travel route from the stop position PP to the position P5.
  • the departure / return route calculation unit 22b first calculates a first route Rt1 as a candidate for the recalculation return route LR.
  • the first route Rt1 is calculated such that the travel distance from the stopping position PP to the position P5 is relatively short.
  • the first route Rt1 crosses the no travel area PA. That is, since the first route Rt1 is a traveling route passing through the no-traveling area PA, it is excluded from the candidates for the recalculation return route LR.
  • the departure / return route calculation unit 22b calculates a second route Rt2 and a third route Rt3 as candidates for the recalculation return route LR.
  • the second route Rt2 and the third route Rt3 are calculated so as to bypass the travel prohibited area PA.
  • the lengths of the second route Rt2 and the third route Rt3 are the same as each other.
  • a part of the second route Rt2 is located outside the field. That is, since the second route Rt2 is a traveling route passing outside the farmland, it is excluded from the candidates for the recalculation return route LR.
  • the third route Rt3 is located in the already-cleaved area CA2. That is, the third route Rt3 is a traveling route passing through the already-cleaved area CA2. In addition, the third route Rt3 is not a traveling route passing through the no-traveling area PA. In addition, the third route Rt3 is not a travel route passing outside the field. Therefore, the third route Rt3 remains as a candidate for the recalculation return path LR.
  • the third route Rt3 is selected as the recalculation return path LR.
  • the departure / return route calculation unit 22 b calculates the re-calculated return route LR as described above. Then, the combine 1 travels along the recalculation return path LR by automatic travel under the control of the travel control unit 23. As a result, the combine 1 returns to automatic traveling along the reaper traveling route LI.
  • the driving of the threshing device 13 is stopped by the threshing device stop unit 27. . Therefore, the driving of the threshing device 13 is less likely to be wasted. Thereby, the fuel consumption of the combine 1 becomes favorable.
  • the traveling of the combine 1 is performed by the automatic traveling under the control of the traveling control unit 23 until the combine 1 leaves the reaper traveling route LI and starts traveling along the separation return route LW. .
  • the traveling of the combine 1 is performed by the automatic traveling under the control of the traveling control unit 23 until the combine 1 leaves the separation return path LW and resumes traveling along the reaper traveling path LI. It will be.
  • FIG.10 and FIG.11 is a figure which shows driving
  • the combine 1 when the operator manually operates the combine 1, the combine 1 leaves the reaper traveling route LI. Then, after the combine 1 leaves the reaper drive route LI, when the travel control unit 23 captures the release return route LW, automatic travel is started under the control of the travel control unit 23, and the combine 1 is along the release return route LW. Run automatically.
  • the combine 1 leaves the separation return path LW when the worker manually operates the combine 1. Then, when the travel control unit 23 captures the reaper traveling route LI after the combine 1 leaves the separation return route LW, automatic traveling is started by the control of the travel control unit 23, and the combine 1 is along the reaper traveling route LI. Run automatically.
  • the operator manually operates the combine 1 after the combine 1 leaves the reaper traveling route LI until the traveling control unit 23 captures the separation return route LW.
  • the operator manually operates the combine 1 until the traveling control unit 23 captures the reaping travel path LI.
  • the travel control unit 23 captures the separation return path LW and the reaping travel path LI.
  • the traveling control unit 23 sets a first capture area Ct1.
  • the first capture area Ct1 is a fan-shaped area that extends from the center position in the machine width direction at the front end of the combine 1 to the front side in the traveling direction. Also, the radius and central angle of this sector are radius X and central angle w1.
  • the traveling control unit 23 monitors whether the first capture area Ct1 overlaps the separation return route LW. Further, after the combine 1 leaves the reaper travel route LI, the travel control unit 23 monitors whether the angle w2 which is the inclination of the combine 1 in the forward direction with respect to the release return route LW is less than or equal to a predetermined angle WA.
  • the traveling control unit 23 is in a state of capturing the departure return route LW. That is, that the traveling control unit 23 captures the separation return route LW is equivalent to the fact that the first capture region Ct1 overlaps the separation return route LW and the angle w2 becomes equal to or less than the predetermined angle WA.
  • the traveling control unit 23 sets a second capture area Ct2.
  • the second capture area Ct2 is a fan-shaped area that extends from the center in the vehicle width direction at the front end of the combine 1 to the front side in the traveling direction. Also, the radius and central angle of this sector are radius Y and central angle r1.
  • the traveling control unit 23 monitors whether the second capture area Ct2 overlaps the reaper traveling route LI. In addition, after the combine 1 leaves the separation return path LW, the traveling control unit 23 monitors whether the angle r2 which is the inclination in the forward direction of the combine 1 with respect to the reaper traveling path LI is less than or equal to a predetermined angle RA.
  • the travel control unit 23 is in a state of capturing the cutting travel path LI. That is, that the traveling control unit 23 captures the reaper traveling route LI is synonymous with the second capture area Ct2 overlapping the reaper traveling route LI and the angle r2 being equal to or less than a predetermined angle RA.
  • the radius Y of the second capture area Ct2 is smaller than the radius X of the first capture area Ct1.
  • the central angle r1 of the second capture area Ct2 is smaller than the central angle w1 of the first capture area Ct1. That is, the second capture area Ct2 is set narrower than the first capture area Ct1.
  • the predetermined angle RA is set to an angle smaller than the predetermined angle WA.
  • the conditions for the traveling control unit 23 to capture the reaper traveling route LI are set more strictly than the conditions for the traveling control unit 23 to capture the separation return route LW. Accordingly, it is possible to avoid the situation in which the traveling control unit 23 captures the reaping traveling route LI not intended by the operator among the plurality of reaping traveling routes LI in the field. In addition, it is possible to avoid the situation where the reaper traveling route LI is captured by the traveling control unit 23 when the operator does not want traveling along the reaper traveling route LI.
  • the reaper traveling route LI and the separation return route LW are virtually set traveling routes, and are not visible to the worker in an actual field. Therefore, when the operator operates the combine 1 to cause the traveling control unit 23 to capture the separation return path LW or the reaping travel path LI, the position of the separation return path LW or the reaping travel path LI is assumed and assumed. The combine 1 is operated to be along the separation return path LW or the reaping travel path LI.
  • the traveling control unit 23 performs the separation return route LW or the reaper traveling route It becomes difficult to capture LI.
  • the reaper traveling route LI when traveling along the reaper traveling route LI is started, the reaper traveling route LI is located at the end of the uncleaved portion in the work target area CA of the field, and the uncleaved portion and the already-cut region It often extends along the boundary between the parts. Therefore, the deviation between the reaper traveling route LI assumed by the operator and the actual reaper traveling route LI tends to be relatively small.
  • the conditions for the traveling control unit 23 to capture the leaving return route LW are set looser than the conditions for the traveling control unit 23 to capture the reaper traveling route LI. Thereby, it is easy to avoid the situation where the traveling control unit 23 can not capture the separation return route LW.
  • the first capture area Ct1 and the second capture area Ct2 may be set simultaneously. That is, when the combine 1 travels at a position where there is neither a separation return route LW nor a reaper traveling route LI, the travel control unit 23 may be able to capture any of the separation return route LW and the reaper traveling route LI. . In this case, of the departure return route LW and the reaping travel route LI, automatic travel may be performed along the travel route captured by the travel control unit 23 first.
  • the traveling device 11 may be a wheel type or a semi crawler type.
  • the reaper traveling route LI calculated by the reaper traveling route calculating unit 22a is a plurality of parallel lines parallel to each other, but the present invention is not limited to this, and the reaper traveling route calculating unit
  • the crop traveling path LI calculated by 22a may not be a plurality of parallel lines parallel to each other.
  • the reaper traveling route LI calculated by the reaper traveling route calculating unit 22a may be a spiral traveling route.
  • the operator manually operates the combine 1, and as shown in FIG. 4, in the outer peripheral portion in the field, the mowing travel is performed so as to go around along the border line of the field.
  • the present invention is not limited to this, and the combine 1 may be configured to automatically travel and to perform reaping travel along the border line of the field in the outer peripheral portion in the field.
  • the determination unit 25 determines that the threshing efficiency of the threshing device 13 has decreased when the state in which the amount of sorted processed products is level 1 continues for a predetermined first period or longer.
  • the present invention is not limited to this.
  • the determination unit 25 may be configured to determine that the threshing efficiency of the threshing device 13 has decreased when the level of the amount of the sorting processing material has decreased. That is, a decrease in the level of the sorted process amount corresponds to a decrease in the sorted process amount detected by the sheave sensor S1.
  • the route calculation unit 22 the travel control unit 23, the area calculation unit 24, the determination unit 25, the threshing device starting unit 26, the threshing device stopping unit 27, and the travel prohibited area storage unit 28
  • a part or all of them may be provided outside the combine 1 and may be provided, for example, in a management server provided outside the combine 1.
  • the departure / return route calculation unit 22b may not be provided.
  • the travel prohibited area storage unit 28 may not be provided.
  • the threshing device start unit 26 may not be provided.
  • the sheave sensor S1 may not be provided.
  • the reaper clutch sensor S2 may not be provided.
  • the communication terminal 4 may not be provided.
  • the reaping travel path LI calculated by the reaping travel path calculating unit 22a may be a straight path or a curved path.
  • the separation return path LW calculated by the separation return path calculation unit 22b may be a linear path or a curved path.
  • the present invention may be configured as a combine control program that causes a computer to realize the function of each member in the above embodiment. Further, the present invention may be configured as a recording medium on which a combine control program that causes a computer to realize the function of each member in the above embodiment is recorded. Moreover, you may be comprised as a combine control method which performs what is performed by each member in the said embodiment by several steps.
  • FIGS. 12 to 19 a second embodiment of the present invention will be described with reference to FIGS. 12 to 19.
  • the direction of arrow F shown in FIG. 12 is “front”, and the direction of arrow B is “rear”. Further, the direction of the arrow U shown in FIG. 12 is “up”, and the direction of the arrow D is “down”.
  • the ordinary type combine 101 (corresponding to “the harvester” according to the present invention) includes a crawler-type traveling device 111, an operation unit 112, a threshing device 113, and a grain tank 114 (the present invention).
  • a harvester H, a carrier 116, a grain discharging device 118 (corresponding to the "discharging device” according to the present invention), and a satellite positioning module 180 are provided.
  • the traveling device 111 is provided at the lower part of the combine 101.
  • the combine 101 can be self-propelled by the traveling device 111.
  • the operation unit 112, the threshing device 113, and the grain tank 114 are provided on the upper side of the traveling device 111.
  • An operator who monitors the operation of the combine 101 can get on the operation unit 112. The worker may monitor the work of the combine 101 from the outside of the combine 101.
  • the grain discharging device 118 is provided on the upper side of the grain tank 114.
  • the satellite positioning module 180 is attached to the top surface of the driver 112.
  • the harvesting device H is provided at the front of the combine 101.
  • the transport device 116 is provided on the rear side of the harvesting device H.
  • the harvesting apparatus H has a reaper 115 and a reel 117.
  • the reaper 115 reaps the field crop of the field.
  • the reel 117 scrapes the cropped cereals to be harvested while being rotationally driven.
  • the harvester H harvests the field crop (corresponding to the "agricultural crop" according to the present invention). Then, the combine 101 is capable of reaping travel traveling by the traveling device 111 while reaping the crop of the field in the field with the reaper 115.
  • the cropped rice bran that has been cut by the reaper 115 is transported by the transport device 116 to the threshing device 113.
  • the reaping grain is threshed.
  • Grains (corresponding to the “harvest” according to the present invention) obtained by the threshing process are stored in a grain tank 114.
  • the grains stored in the grain tank 114 are discharged to the outside by the grain discharging device 118 as needed.
  • the combine 101 discharges the grain stored in the grain tank 114, the grain harvester H that harvests the grain in the field, the grain tank 114 that holds grains harvested by the harvester H, and the grain tank 114 And a grain discharging device 118.
  • the communication terminal 104 is disposed in the operation unit 112.
  • the communication terminal 104 is configured to be able to display various information.
  • the communication terminal 104 is fixed to the operation unit 112.
  • the present invention is not limited to this, the communication terminal 104 may be configured to be attachable to and detachable from the operation unit 112, and the communication terminal 104 may be located outside the combine 101. .
  • the combine 101 includes an engine 151 and a discharge clutch C18.
  • the power output from the engine 151 is distributed to the discharge clutch C 18 and the traveling device 111.
  • the traveling device 111 is driven by the power from the engine 151.
  • discharge clutch C18 is configured to be changeable between an on state transmitting power and a disconnected state not transmitting power.
  • the discharge clutch C18 When the discharge clutch C18 is in the disengaged state, the power output from the engine 151 is not transmitted to the grain discharge device 118. At this time, the grain discharging device 118 is in a non-driven state.
  • the discharge clutch C18 When the discharge clutch C18 is in the on state, the power output from the engine 151 is transmitted to the grain discharge device 118. At this time, the grain discharging device 118 is driven by the motive power from the engine 151. That is, at this time, the grain discharging device 118 is in the driving state.
  • the combine 101 performs circulation while harvesting grains in the area on the outer periphery side of the field as shown in FIG. 14, then the combine 101 performs reaping travel in the inner area of the field as shown in FIG. 16. , Are configured to harvest the grain of the field.
  • combine 101 is controlled by harvester control system A1.
  • harvester control system A1 the structure of harvest machine control system A1 is demonstrated.
  • the harvester control system A1 includes a satellite positioning module 180, a vehicle direction detection device 181, a control unit 120, and a communication terminal 104.
  • the vehicle orientation detection device 181 and the control unit 120 are provided in the combine 101. Further, as described above, the satellite positioning module 180 and the communication terminal 104 are also provided in the combine 101.
  • the control unit 120 includes a vehicle position calculation unit 121, a route calculation unit 122, a travel control unit 123, an area calculation unit 124, a manual operation signal transmission unit 125, a position storage unit 126, a position setting unit 127, a direction storage unit 128, and a direction.
  • the setting unit 129 has a discharge clutch sensor S11.
  • the satellite positioning module 180 receives GPS signals from the artificial satellite GS used in GPS (Global Positioning System). Then, as shown in FIG. 13, the satellite positioning module 180 sends positioning data indicating the vehicle position of the combine 101 to the vehicle position calculation unit 121 based on the received GPS signal.
  • GPS Global Positioning System
  • the vehicle position calculation unit 121 calculates position coordinates of the combine 101 with time based on the positioning data output by the satellite positioning module 180.
  • the calculated positional coordinates of the combine 101 with time are sent to the traveling control unit 123 and the area calculation unit 124.
  • the area calculation unit 124 calculates the outer peripheral area SA and the work target area CA based on the temporal position coordinates of the combine 101 received from the host vehicle position calculation unit 121.
  • the area calculation unit 124 calculates the traveling locus of the combine 101 in the circumferential traveling on the outer circumference side of the field based on the temporal position coordinate of the combine 101 received from the vehicle position calculation unit 121. .
  • region calculation part 124 calculates the area
  • the area calculation unit 124 calculates the inside of the calculated outer peripheral area SA as the work target area CA.
  • the traveling route of the combine 101 for the circumferential traveling on the outer circumference side of the field is indicated by the arrow.
  • the combine 101 performs three rounds.
  • the field is in the state shown in FIG.
  • the area calculation unit 124 calculates an area on the outer circumference side of the field where the combine 101 travels while harvesting the grain as the outer circumference area SA. In addition, the area calculation unit 124 calculates the inside of the calculated outer peripheral area SA as the work target area CA.
  • the calculation result by the area calculation unit 124 is sent to the route calculation unit 122.
  • the route calculation unit 122 calculates a reaper traveling route LI, which is a traveling route for a reaper traveling in the work area CA.
  • the cutting traveling path LI is a plurality of parallel lines parallel to one another.
  • the reaping traveling route LI calculated by the route calculating unit 122 is sent to the traveling control unit 123.
  • the traveling control unit 123 is configured to be able to control the traveling device 111. Then, the traveling control unit 123 controls the automatic traveling of the combine 101 based on the position coordinates of the combine 101 received from the host vehicle position calculation unit 121 and the reaper traveling route LI received from the route calculation unit 122. More specifically, as shown in FIG. 16, the traveling control unit 123 controls the traveling of the combine 101 so that the reaper traveling is performed by the automatic traveling along the reaper traveling route LI.
  • the manual operation signal transmission unit 125 transmits a predetermined signal to the position storage unit 126 and the direction storage unit 128 when the combine 101 is moved by the manual operation.
  • This signal is a signal indicating that the combine 101 is moved by manual operation.
  • the vehicle position calculation unit 121 sends the position coordinates of the combine 101 to the position storage unit 126.
  • the discharge clutch sensor S11 detects the on / off state of the discharge clutch C18.
  • the detection result of the discharge clutch sensor S11 is sent to the position storage unit 126 and the direction storage unit 128.
  • the position storage unit 126 When the discharge operation by the grain discharging device 118 is performed at the position where the combine 101 has moved manually, the position storage unit 126 performs the discharging operation of the combine 101 at the time when the discharging operation by the grain discharging device 118 is performed. Memorize the stop position.
  • the position storage unit 126 sets the grain at the position where the combine 101 has moved by the manual operation. It is monitored whether the discharging operation by the discharging device 118 has been performed.
  • the position storage unit 126 When the detection result indicating that the discharge clutch C18 is switched from the off state to the on state is sent from the discharge clutch sensor S11 to the position storage unit 126, the position storage unit 126 performs the discharge operation by the grain discharge device 118. Is determined to have been performed.
  • the position storage unit 126 stores the stopping position of the combine 101 at that time.
  • the discharging operation by the grain discharging device 118 is performed when the discharging operation by the grain discharging device 118 is performed at the position where the combine 101 moved by the manual operation.
  • a position storage unit 126 that stores the stop position of the combine 101 at a point of time is provided.
  • the stop position stored in the position storage unit 126 is sent to the position setting unit 127. Then, the position setting unit 127 sets the target stopping position TP based on the stopping position of the combine 101 stored in the position storage unit 126. The target stopping position TP set by the position setting unit 127 is sent to the traveling control unit 123.
  • harvest machine control system A1 is provided with position setting part 127 which sets up target stop position TP based on the stop position of combine 101 memorized by position storage part 126.
  • the vehicle orientation detection device 181 detects the orientation of the combine 101's fuselage. Then, as shown in FIG. 13, the detection result of the vehicle direction detection device 181 is sent to the direction storage unit 128.
  • the direction storage unit 128 is used when the grain discharging device 118 performs the discharging operation when the grain discharging device 118 performs the discharging operation at the position where the combine 101 has moved by the manual operation.
  • the direction storage unit 128 is used when the grain discharging device 118 performs the discharging operation when the grain discharging device 118 performs the discharging operation at the position where the combine 101 has moved by the manual operation.
  • the orientation of the aircraft is used when the grain discharging device 118 performs the discharging operation when the grain discharging device 118 performs the discharging operation at the position where the combine 101 has moved by the manual operation.
  • the direction storage unit 128 makes grains at the position where the combine 101 has moved by the manual operation. It is monitored whether the discharging operation by the discharging device 118 has been performed.
  • the direction storage unit 128 performs the discharge operation by the grain discharge device 118. Is determined to have been performed.
  • the direction storage unit 128 stores the orientation of the fuselage of the combine 101 at that time.
  • the discharging operation by the grain discharging device 118 is performed when the discharging operation by the grain discharging device 118 is performed at the position where the combine 101 moved by the manual operation.
  • the direction storage unit 128 stores the orientation of the combine 101 at the time point.
  • the orientation of the airframe stored in the direction storage unit 128 is sent to the direction setting unit 129. Then, the direction setting unit 129 sets the target stopping direction TD based on the direction of the airframe of the combine 101 stored in the direction storage unit 128. The target stopping direction TD set by the direction setting unit 129 is sent to the traveling control unit 123.
  • harvest machine control system A1 is provided with the direction setting part 129 which sets the target stop direction TD based on the direction of the body of the combine 101 memorize
  • the traveling control unit 123 travels the combine 101 so that the combine 101 automatically stops at the target stopping position TP with the combine 101 facing the target stopping direction TD when the grain discharging device 118 performs the discharging operation. Control.
  • the harvester control system A1 controls the traveling of the combine 101 so that the combine 101 automatically stops at the target stopping position TP when the grain discharging device 118 performs the discharging operation. It has 123.
  • the operator manually operates the combine 101, and as shown in FIG. 14, in the outer peripheral portion in the field, the mowing travel is performed so as to go around along the border of the field.
  • the combine 101 performs three rounds. When this round trip is completed, the field is in the state shown in FIG.
  • the area calculation unit 124 calculates the traveling locus of the combine 101 in the round trip shown in FIG. 14 based on the temporal position coordinate of the combine 101 received from the host vehicle position calculation unit 121. Then, as shown in FIG. 15, the area calculation unit 124 calculates an area on the outer circumference side of the field where the combine 101 travels while harvesting the set-up kernel based on the calculated traveling locus of the combine 101. Calculated as In addition, the area calculation unit 124 calculates the inside of the calculated outer peripheral area SA as the work target area CA.
  • the route calculation unit 122 sets the reaper traveling route LI in the work target area CA.
  • the combine 101 is moved to the vicinity of the transport vehicle CV by manual operation before starting the harvesting work in the work target area CA.
  • the transporter CV is stopped outside the field.
  • the grain discharging device 118 is driven to discharge the grains.
  • the transport vehicle CV can collect and transport grains discharged by the combine 101 from the grain discharging device 118.
  • the position storage unit 126 stores the stopping position of the combine 101 at the time when the grain discharging device 118 performs the discharging operation.
  • the direction storage unit 128 also stores the orientation of the combine 101 at the time when the grain discharging device 118 performs the discharging operation.
  • the position setting unit 127 sets the target stop position TP. Further, the target stopping direction TD is set by the direction setting unit 129 based on the orientation of the vehicle stored by the direction storage unit 128.
  • the travel control unit 123 separates from the reaping travel path LI as shown in FIG. The travel of the combine 101 is controlled to move to the right.
  • the combine 101 automatically stops at the target stopping position TP while facing the target stopping direction TD. Furthermore, the grain discharging device 118 is driven, and the grains are discharged to the transporter CV. When the discharging operation by the grain discharging device 118 is completed, the combine 101 returns to the reaping travel along the reaping travel path LI.
  • the position storage unit 126 stores the stopping position of the combine 101 at that time. Then, in the second and subsequent discharge operations, the combine 101 automatically stops at the stored stop position under the control of the travel control unit 123.
  • harvest machine control system A1 is constituted so that a worker can set up target stop position TP via communication terminal 104, before the first discharge work by grain discharge device 118 is performed in the field of harvest work. It is done.
  • the communication terminal 104 has an operation unit 104 a and a signal output unit 104 b.
  • the operation unit 104a is configured by a touch panel. Then, the operator can set the target stopping position TP by operating the operation unit 104a before the first discharging operation by the grain discharging device 118 is performed in the field of the harvesting operation.
  • a signal indicating a portion touched by the worker is sent from the operation unit 104 a to the signal output unit 104 b.
  • the signal output unit 104b outputs an instruction signal based on the signal received from the operation unit 104a.
  • the instruction signal is a signal indicating the stopping position of the combine 101 for the discharge operation by the grain discharging device 118. Then, the instruction signal is sent to the position setting unit 127.
  • harvest machine control system A1 is provided with the signal output part 104b which outputs the instruction
  • the position setting unit 127 sets the target stopping position TP based on the instruction signal received from the signal output unit 104 b.
  • the position setting unit 127 sets the target based on the instruction signal.
  • the stop position TP is set.
  • the operator can set the target stopping position TP by operating the operation unit 104a before the first discharging operation by the grain discharging device 118 is performed in the field of the harvesting operation.
  • the combine 101 automatically stops at the target stopping position TP set based on the instruction signal from the signal output unit 104b.
  • the target stopping position TP set based on the instruction signal from the signal output unit 104 b is set based on the touch operation by the worker. Therefore, the target stopping position TP may be located relatively far from the transport vehicle CV.
  • the operator can start from the position
  • the combine 101 can be moved by manual operation.
  • the position storage unit 126 stops the combine 101 at the time of discharging operation by the grain discharging device 118.
  • the direction storage unit 128 also stores the orientation of the combine 101 at the time when the grain discharging device 118 performs the discharging operation.
  • the position setting unit 127 resets the target stopping position TP as shown in FIG. 19 based on the stopping position stored in the position storage unit 126 at this time.
  • the direction setting unit 129 also sets the target stopping direction TD, as shown in FIG. 19, based on the orientation of the vehicle stored in the direction storage unit 128 at this time.
  • the position setting unit 127 performs the position storage unit when the discharge operation is performed by the grain discharging device 118 after the combine 101 is moved by the manual operation from the target stopping position TP set based on the instruction signal. Based on the stop position of the combine 101 stored in 126, the target stop position TP is reset.
  • the traveling device 111 may be a wheel type or a semi crawler type.
  • the cutting traveling route LI calculated by the route calculating unit 122 is a plurality of parallel lines parallel to each other, the present invention is not limited to this and the route calculating unit 122 calculates
  • the traveling path LI may not be a plurality of parallel lines parallel to one another.
  • the reaping traveling route LI calculated by the route calculating unit 122 may be a spiral traveling route.
  • the operator manually operates the combine 101, and as shown in FIG. 14, in the outer peripheral portion in the field, the mowing travel is performed so as to go around along the boundary line of the field.
  • the present invention is not limited to this, and the combine 101 may travel automatically, and may be configured to perform a reaping travel so as to go around along the boundary of the field in the outer peripheral portion in the field.
  • the reaping travel along the reaping travel path LI may be performed by the operator manually operating the combine 101.
  • Vehicle position calculation unit 121, route calculation unit 122, travel control unit 123, area calculation unit 124, manual operation signal transmission unit 125, position storage unit 126, position setting unit 127, direction storage unit 128, direction setting unit Part or all of 129 may be provided outside the combine 101, and may be provided, for example, in a management server provided outside the combine 101.
  • the direction storage unit 128 may not be provided.
  • the direction setting unit 129 may not be provided.
  • the signal output unit 104b may not be provided.
  • the communication terminal 104 may not be provided.
  • the reaping travel route LI calculated by the route calculation unit 122 may be a straight route or a curved route.
  • the harvester control program may be configured to cause a computer to realize the functions of the respective members in the above embodiment.
  • a harvester control program that causes a computer to realize the function of each member in the above embodiment may be configured as a recording medium.
  • you may be comprised as a harvester control method which performs what is performed by each member in the said embodiment by several steps.
  • the present invention can be used not only for ordinary type combine but also for self-release type combine.
  • the present invention is applicable not only to ordinary type combine but also to self-eliminating type combine. Moreover, it can utilize also for various harvest machines, such as a corn harvester, a potato harvester, a carrot harvester, and a sugarcane harvester.
  • Second Embodiment 101 combine harvesters 104b Signal output section 114 grain tank (harvest tank) 118 grain discharging device (discharging device) 123 traveling control unit 126 position storage unit 127 position setting unit 128 direction storage unit 129 direction setting unit A1 harvester machine control system H harvesting device TD target stopping direction TP target stopping position

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  • Life Sciences & Earth Sciences (AREA)
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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Soil Sciences (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Remote Sensing (AREA)
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PCT/JP2018/045590 2017-12-18 2018-12-12 コンバイン制御システム、コンバイン制御プログラム、コンバイン制御プログラムを記録した記録媒体、コンバイン制御方法、収穫機制御システム、収穫機制御プログラム、収穫機制御プログラムを記録した記録媒体、収穫機制御方法 WO2019124174A1 (ja)

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