WO2019124273A1 - 自動走行システム、自動走行管理プログラム、自動走行管理プログラムを記録した記録媒体、自動走行管理方法、領域決定システム、領域決定プログラム、領域決定プログラムを記録した記録媒体、領域決定方法、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 - Google Patents

自動走行システム、自動走行管理プログラム、自動走行管理プログラムを記録した記録媒体、自動走行管理方法、領域決定システム、領域決定プログラム、領域決定プログラムを記録した記録媒体、領域決定方法、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 Download PDF

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Publication number
WO2019124273A1
WO2019124273A1 PCT/JP2018/046182 JP2018046182W WO2019124273A1 WO 2019124273 A1 WO2019124273 A1 WO 2019124273A1 JP 2018046182 W JP2018046182 W JP 2018046182W WO 2019124273 A1 WO2019124273 A1 WO 2019124273A1
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WO
WIPO (PCT)
Prior art keywords
traveling
area
combine
field
travel
Prior art date
Application number
PCT/JP2018/046182
Other languages
English (en)
French (fr)
Japanese (ja)
Inventor
阪口和央
佐野友彦
吉田脩
中林隆志
丸尾賢
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 JP2017242047A external-priority patent/JP6824149B2/ja
Priority claimed from JP2017242048A external-priority patent/JP6910283B2/ja
Priority claimed from JP2017245310A external-priority patent/JP6937681B2/ja
Application filed by 株式会社クボタ filed Critical 株式会社クボタ
Priority to CN201880074148.6A priority Critical patent/CN111386030B/zh
Priority to KR1020207013203A priority patent/KR20200096497A/ko
Publication of WO2019124273A1 publication Critical patent/WO2019124273A1/ja

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Classifications

    • 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
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
    • 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
    • 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
    • B60Y2200/221—Tractors
    • 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

Definitions

  • the present invention relates to an automatic travel system for managing automatic travel of a harvester for harvesting agricultural products in a field.
  • the present invention relates to an area determination system that calculates a work target area in a field.
  • the present invention also relates to a combine control system for controlling a combine having a reaping device for reaping a field crop in the field.
  • the traveling direction of the harvester is recorded. Then, by the automatic traveling based on the recorded orientation, the harvest traveling in the uncut area in the field is performed.
  • Patent Document 1 describes the invention of a harvester ("Combine” in Patent Document 1) that travels automatically. In a harvesting operation using this harvesting machine, a worker manually operates the harvesting machine at the beginning of the harvesting operation and performs harvesting traveling so as to go around the outer peripheral part in the field.
  • the traveling direction of the harvester is recorded. Then, by the automatic traveling based on the recorded orientation, the harvest traveling in the uncut area in the field is performed.
  • Patent Document 2 describes the invention of a combine having a reaping device for reaping a field crop in a field.
  • the combine is configured to perform field harvesting operations by automatic travel.
  • the traveling path of the harvester tends to be complicated while traveling around the outer peripheral portion in the field. And if the traveling locus of the harvester while traveling round the outer peripheral part in the field is complicated, the calculation accuracy of the outer shape of the second region tends to be low.
  • An object of the present invention is to provide an automatic travel system that facilitates automatic travel on an inner circumferential portion in a field.
  • the shape of the work target area is calculated based on the traveling locus of the harvester in the circumferential traveling at the outer peripheral portion in the field, if the traveling locus is complicated, the shape of the operation target area calculated is complicated It tends to be.
  • An object of the present invention is to provide a region determination system capable of calculating the shape of a work target region as a relatively simple form.
  • Patent document 2 does not describe in detail the method of the direction change when the combine performs a direction change in order to cut off the grain casserole of the corner in the uncut area of a field.
  • An object of the present invention is to provide a combine control system that can prevent the combine from treading on the unstacked area of the field crop and can easily change the direction of the combine smoothly.
  • the solution means corresponding to the problem [1] is as follows.
  • the feature of the present invention is an automatic running of a harvester for harvesting crops in a field by a first harvest run including a harvest run on the outer periphery of the field and a second harvest run performed after the first harvest run.
  • An automatic traveling system for managing comprising: an area setting unit which sets an inner side of a first area which is an area which has been harvested by the first harvest traveling as a second area; and the second set by the area setting unit The traveling of the harvester is controlled so that the second harvest traveling is performed by the inner traveling route calculation unit which calculates the inner traveling route which is the traveling route in the two areas, and the automatic traveling based on the inner traveling route.
  • a first travel information generation unit that generates first travel information that is information indicating a travel route or a travel position for the vehicle; and the middle travel ratio is divided into the first travel information generated by the first travel information generation unit; It is to include middle traveling information, which is information indicating a traveling route or traveling position for traveling.
  • the first travel information is generated based on the field external shape data acquired by the data acquisition unit.
  • the first travel information includes middle travel information, which is information indicating a travel route or travel position for middle travel.
  • the split travel information is generated according to the external shape of the field. Therefore, even if the external shape of the field is relatively complex, it is possible to realize a configuration in which the traveling route or traveling position for mid-division traveling is calculated so that the traveling locus of the harvester in the first harvest traveling becomes simple. .
  • the outer shape of the second region can be accurately calculated, and the inner circumferential traveling route can be appropriately calculated.
  • automatic travel in the inner circumference part in a field can be appropriately performed.
  • the traveling control unit controls the traveling of the harvester based on the split travel information so that the split travel is performed by automatic travel in the first harvest traveling. is there.
  • the split travel is performed by automatic travel. Therefore, it is easy to avoid a situation in which the traveling route or traveling position for mid-division traveling indicated by the mid-division traveling information deviates from the actual traveling route or traveling position.
  • the display device displays the traveling route or traveling position for the middle division traveling based on the middle division traveling information.
  • the worker in the case where the split travel is performed by the automatic travel, the worker can grasp the travel route or the travel position where the split travel is scheduled to be performed. Therefore, when the split travel is being performed by the automatic travel, it is possible to check whether the split travel is properly performed as planned.
  • middle division traveling when middle division traveling is performed by manual traveling, the operator can perform appropriate middle division traveling by performing middle division traveling according to the display on the display device.
  • the data acquisition unit acquires the field outline data from a work vehicle other than the harvester.
  • the work vehicle can generate the field outline data.
  • the data acquisition unit can acquire the field external shape data generated by the work vehicle other than the harvester. This makes it possible to effectively use the field external shape data generated by the work vehicle other than the harvester.
  • the management server which stores the field external shape data is provided, and the data acquisition unit acquires the field external shape data from the management server.
  • the field external shape data is stored in the management server. Therefore, if the field outline is calculated only once and the calculation result is stored as the field outline data in the management server, the field outline data can be used repeatedly. That is, it is possible to avoid the need to calculate the field outline every time the harvesting operation is performed.
  • the first traveling information generation unit is configured to travel for the middle division traveling when the external appearance determining unit determines that the external shape of the field is a shape having the recessed portion;
  • the first travel information is generated such that the top portion of the recess is included in the route or travel position.
  • the external shape of the field is a shape having a recessed portion
  • the traveling path of the harvester Tend when traveling along the entire length of the recessed portion along the border line of the field when the harvester travels around the outer peripheral portion in the field, the traveling path of the harvester Tend to be complicated.
  • the traveling route or traveling position for middle-division traveling includes the apex portion of the recessed portion. Therefore, if the harvester travels based on the first travel information generated in the above configuration, the harvester travels along the perimeter of the field along the border of the field, and the harvester travels along the border of the field, When it reaches, middle division traveling will be performed from that point.
  • another feature of the present invention is a harvester for harvesting crops in a field according to a first harvest run including a harvest run on the periphery of the field and a second harvest run performed after the first harvest run.
  • An automatic travel management program for managing the automatic travel of the vehicle, wherein an area setting function of setting the inside of the first area which is an area harvested by the first harvest travel as the second area, and the area setting function The harvesting is performed such that the second harvest traveling is performed by an inner traveling route calculation function of calculating an inner traveling route which is a traveling route in the set second region, and an automatic traveling based on the inner traveling route.
  • Running control function for controlling the running of the aircraft, a data acquisition function for acquiring field external shape data which is data indicating the external shape of a field, and the field external shape data acquired by the data acquisition function And a first travel information generation function of generating first travel information, which is information indicating a travel route or travel position for the first crop travel, based on the computer system.
  • the first traveling information generated by the first traveling information generation function includes middle traveling information which is information indicating a traveling route or traveling position for middle traveling.
  • another feature of the present invention is a harvester for harvesting crops in a field according to a first harvest run including a harvest run on the periphery of the field and a second harvest run performed after the first harvest run.
  • a recording medium recording an automatic travel management program for managing automatic travel of the vehicle, wherein the automatic travel management program uses the inside of the first area which is the area already harvested by the first harvest traveling as a second area
  • a traveling control function for controlling the traveling of the harvester so that the second harvest traveling is performed, and a data acquisition function for acquiring field external shape data, which is data indicating an outline of a field,
  • a first travel information generation function for generating first travel information which is information indicating a travel route or travel position for the first crop travel based on the field outline data acquired by the data acquisition function; The first travel
  • another feature of the present invention is a harvester for harvesting crops in a field according to a first harvest run including a harvest run on the periphery of the field and a second harvest run performed after the first harvest run.
  • An automatic travel management method for managing automatic travel of the vehicle wherein an area setting step of setting an inner side of a first area which is an area harvested by the first harvest travel as a second area, and the area setting step The harvesting such that the second harvest traveling is performed by an inner traveling route calculating step of calculating an inner traveling route which is a traveling route in the set second region, and an automatic traveling based on the inner traveling route.
  • a running control step for controlling the running of the aircraft a data obtaining step for obtaining field outer shape data which is data indicating the outer shape of the field, and the data obtaining step Generating first travel information, which is information indicating a travel route or travel position for the first crop travel based on the field external shape data, and generating the first travel information
  • the first traveling information generated by the step includes the traveling traveling information or traveling position for traveling traveling in a middle traveling, which is information including traveling traveling information for traveling traveling in middle traveling.
  • a feature of the present invention is that the harvester is traveling while harvesting crops based on a satellite positioning module that outputs positioning data indicating the vehicle position of the harvester and the positioning data output by the satellite positioning module.
  • An area calculation unit that calculates an area on the outer circumference side of the field as an outer circumference area and calculates an inner side of the outer circumference area as a work target area; and the area calculation section calculates the shape of the work target area as a polygon It is configured to be calculated as
  • the shape of the work target area is calculated as a polygon. Therefore, the shape of the work target area can be calculated as a relatively simple shape.
  • the information processing apparatus further includes: a notification unit that notifies the shape of the work target area calculated by the area calculation unit; and an operation input unit that receives an artificial operation input. It is preferable to change the number of sides of the polygon based on the artificial operation input input to.
  • a configuration is conceivable in which the travel route in the work target area is calculated based on the shape of the work target area.
  • the calculated shape of the work target area does not match the actual shape, the calculated travel route tends to be inappropriate.
  • harvest traveling in the work target area will be inefficient, uncut and the like will occur.
  • the shape of the work target area calculated by the area calculation unit is notified by the notification unit. Therefore, the worker can check whether the calculated shape of the work target area matches the actual shape.
  • the operator can change the number of sides of the calculated work target area by operating the operation input unit.
  • the calculated shape of the work target area can be changed to conform to the actual shape.
  • a distance calculation unit is provided for calculating a distance between the outer peripheral boundary of the outer peripheral region and the inner peripheral boundary of the outer peripheral region, and the distance calculator calculates the distance.
  • the area calculation unit preferably increases the number of sides of the polygon.
  • the outer peripheral area can be used as a space for the harvester to turn when the harvest run is performed in the work target area. Further, the outer peripheral area can also be used as a space for movement when moving to the discharge place of the harvest or once moving to the fuel supply place after the harvest traveling in the work target area is once finished.
  • the outer circumference area is narrow. As a result, it becomes difficult to use the outer peripheral area.
  • the region calculation unit calculates Increase the number of sides of the work area. As a result, at a point where the number of sides increases, the distance between the outer peripheral boundary line in the outer peripheral region and the inner peripheral boundary line in the outer peripheral region becomes long. As a result, the outer peripheral area can be expanded.
  • a distance calculating unit that calculates a distance between the outer peripheral boundary of the outer peripheral region and the inner peripheral boundary of the outer peripheral region, and the distance calculated by the distance calculating unit. It is preferable that the warning unit further includes a warning unit that urges additional circular travel in the area on the outer periphery side of the agricultural field when the distance is shorter than the predetermined distance.
  • the outer peripheral area can be used as a space for the harvester to turn when the harvest run is performed in the work target area. Further, the outer peripheral area can also be used as a space for movement when moving to the discharge place of the harvest or once moving to the fuel supply place after the harvest traveling in the work target area is once finished.
  • the outer circumference area is narrow, so the outer circumference area is used as described above. It becomes difficult.
  • the warning unit when the distance between the outer peripheral boundary in the outer peripheral region and the inner peripheral boundary in the outer peripheral region is shorter than a predetermined distance, the warning unit performs the outer periphery of the field. You will be prompted to make additional round trips in the side area. Therefore, when the outer peripheral area is narrow, the worker can surely recognize that it is necessary to perform additional round trip to expand the outer peripheral area.
  • another feature of the present invention is the area determination program, wherein the harvester produces the crop based on the positioning data output by the satellite positioning module that outputs the positioning data indicating the vehicle position of the harvester.
  • the area calculation function of calculating the area on the outer circumference side of the crop field traveling while harvesting as the outer circumference area and calculating the inner side of the outer circumference area as the work target area is configured to be realized by the computer.
  • the function is to calculate the shape of the work target area as a polygon.
  • another feature of the present invention is a field where the harvester travels while harvesting crops based on the positioning data output by the satellite positioning module that outputs the positioning data indicating the vehicle position of the harvester.
  • a recording medium storing an area determination program for causing a computer to realize an area calculation function of calculating an area on the outer circumference side of the area as an outer circumference area and calculating an inner side of the outer circumference area as a work target area; An area determination program for calculating the shape of the work target area as a polygon is recorded.
  • Another feature of the present invention is a method of determining an area, wherein the harvester produces an agricultural product based on the positioning data output by a satellite positioning module that outputs positioning data indicating the vehicle position of the harvester.
  • a feature of the present invention is a combine control system for controlling a combine having a reaping device for reaping field crop in a field, comprising a direction change control unit for controlling the direction change of the combine, in an uncut area of the field
  • the direction change control unit is a direction changing method that includes a reaping and turning operation that turns while reaping the in-plant area reed. It controls the combine so that a change of direction of the combine is performed by a change of direction.
  • this cutting direction special direction change includes a reaping and turning operation which is turned while reaping the crop.
  • the combine turns into the uncut area by the reaping and turning operation in the change of direction. That is, in the change of direction, since the combine enters the uncut area while harvesting the planted straw, it is possible to prevent the combine from stepping on the planted paddy in the uncut area.
  • the space available for turning is wider than in the case of controlling the combine so that the combine does not enter the uncut area during turning. This makes it easy to change the direction of the combine smoothly.
  • the present invention it is possible to prevent the combine from treading on the unstacked area of the field crop, and it is easy to smoothly change the direction of the combine.
  • the corner part special direction change is performed after a first reverse operation for moving backward to a position behind the corner part in the advancing direction of the combine before the direction change, and after the first reverse operation.
  • the first reverse operation is performed prior to the reaping and turning operation. This makes it easy to prevent the combine from crossing the border of the field due to the reaping and turning motion.
  • a determination unit for determining the direction change method of the combine is provided, and the direction change control unit is configured to control the direction change of the combine according to the determination content by the determination unit,
  • the determining unit changes the direction of the combine performed to reap the grain of the erection of the corner. It is decided to be carried out by means of special direction change, and the determination unit determines the planted grain weir of the corner if the distance between the corner and the boundary of the field is greater than or equal to the predetermined distance. It is preferable to determine that the change in direction of the combine to be carried out for harvesting is performed by a different direction change method than the corner direction change in direction.
  • the corner for the special direction change is performed to secure a wide space for the direction change while ensuring Turn around.
  • the direction change can be performed even if it is a direction change method different from the corner direction specific direction change.
  • the direction change of a combine is performed by the direction change method different from the corner special direction change. . Therefore, in the case where the distance between the corner and the boundary of the field is relatively long, it is possible to realize a configuration in which the direction change can be performed by a method in which the direction change can be made faster than the corner direction change.
  • the corner special direction change is surely performed by turning the corner for the corner and the field.
  • the distance to the boundary is relatively long, it is possible to realize a configuration capable of performing a quick turn by a turning method different from the corner turning.
  • another feature of the present invention is a combine control program for controlling a combine having a reaping device for reaping field crop in a field, which causes a computer to realize a direction change control function for controlling the change in direction of the combine.
  • the turning control function is configured to turn while cutting the planted grain when the combine makes a turn to harvest the planted grain in the corner of the field in the uncut area of the field. It is to control the combine so that the direction change of the combine is performed by the corner direction special direction change which is a direction change method including a turning operation.
  • another feature of the present invention is a recording medium recording a combine control program for controlling a combine having a reaping device for reaping a field crop in the field, wherein the combine control program is configured to change the direction of the combine.
  • the computer is configured to cause the computer to realize a direction change control function to be controlled, and when the combine performs direction change in order to reap cropped rice straw at the corners of the uncut area of the field, the direction change control function is
  • a combine control program for controlling the combine so as to change the direction of the combine by special direction change for the corner which is a direction change method including a reaping and turning motion that turns while harvesting the planted rice straw is recorded It is.
  • another feature of the present invention is a combine control method for controlling a combine having a reaper for harvesting a field crop in a field, comprising a direction change control step for controlling the direction change of the combine, wherein
  • the direction change control step when the combine performs a direction change in order to reap the planted grain weirs in the corner in the uncut area, the direction change control step is a direction change method including a reaping and turning motion that turns while reaping the weed It controls the combine so that the turn of the combine is performed by the corner turn.
  • FIG. 17. It is a figure which shows 1st Embodiment (It is the same as the following until FIG. 17.), and is a general view of an automatic travel system. It is a left view of a combine. It is a block diagram showing composition of an automatic run system. It is a figure which shows the 1st 1st crop driving
  • the automatic travel system A includes various work vehicles W and a management server 2.
  • the various work vehicles W and the management server 2 are configured to be able to communicate with each other.
  • the various work vehicles W include a general-purpose combine 1 (corresponding to “a harvester” according to the present invention), a tractor 5, and a rice transplanter 6.
  • the combine 1 includes a crawler-type traveling device 11, a driving unit 12, a threshing device 13, a grain tank 14, a harvesting device H, a conveying device 16, a grain discharging device 18, and a satellite positioning module 80.
  • a crawler-type traveling device 11 a driving unit 12, a threshing device 13, a grain tank 14, a harvesting device H, a conveying device 16, a grain discharging device 18, and a satellite positioning module 80.
  • 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 apparatus H has a reaper 15 and a reel 17.
  • the reaper unit 15 reaps the crop of the field in the field.
  • the reel 17 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 1 can carry out a harvest run traveling by the traveling device 11 while harvesting the grain of the field by the harvesting device H.
  • the cropped rice bran that has been clipped by the cropping unit 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.
  • a communication terminal 4 (corresponding to a “display device” according to the present invention) is disposed.
  • 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 a control unit 20.
  • the control unit 20 includes a data acquisition unit 21, an outer shape determination unit 22, an own vehicle position calculation unit 23, an area setting unit 24, an inner circumference traveling route calculation unit 25, a traveling control unit 26 and a first traveling information generation unit 27.
  • a data acquisition unit 21 an outer shape determination unit 22
  • an own vehicle position calculation unit 23 an area setting unit 24
  • an inner circumference traveling route calculation unit 25 a traveling control unit 26 and a first traveling information generation unit 27.
  • Combine 1 is comprised so that the grain of a field may be harvested by 1st harvest driving
  • the first harvest run includes the harvest run at the outer peripheral portion Q in the field.
  • the second harvest run is performed after the first harvest run.
  • the outer peripheral part Q of 1st grain field G1 (equivalent to the "field" which concerns on this invention) is shown.
  • the traveling control unit 26 controls the traveling of the combine 1 so that the first harvesting traveling and the second harvesting traveling are performed by the automatic traveling. Then, the automatic traveling system A manages automatic traveling of the combine 1.
  • the automatic traveling system A combines the first crop traveling including the crop traveling on the outer circumference portion Q in the field and the second harvesting travel performed after the first harvest traveling, the combine 1 to harvest the crop in the field Manage automatic driving of
  • the data acquisition unit 21 is configured to be able to communicate with the management server 2, the tractor 5, and the rice transplanter 6.
  • Field external shape data is stored in the management server 2.
  • Field external shape data is data indicating the external shape of a field.
  • the tractor 5 and the rice transplanter 6 are comprised so that generation
  • the data acquisition unit 21 is configured to acquire field external shape data from the management server 2, the tractor 5, and the rice transplanter 6.
  • the automatic travel system A includes the data acquisition unit 21 that acquires the field external shape data, which is data indicating the external shape of the field.
  • the automatic travel system A also includes a management server 2 that stores field external shape data. Then, the data acquisition unit 21 acquires the field external shape data from the work vehicle W different from the combine 1. Further, the data acquisition unit 21 acquires field external shape data from the management server 2.
  • the field external shape data acquired by the data acquisition unit 21 is sent to the external shape determination unit 22 and the first travel information generation unit 27.
  • the outer shape determination unit 22 determines whether or not the outer shape of the field has a shape having a recessed portion P, based on the field outer shape data received from the data acquisition unit 21.
  • the recessed portion P is a portion which is recessed from the outer peripheral side to the inner peripheral side of the field in the outer shape of the field.
  • the outline of the first grain field G1 shown in FIG. 4 is a shape having a recess P.
  • the determination result by the outer shape determination unit 22 is sent to the first travel information generation unit 27.
  • the automatic traveling system A based on the field external shape data acquired by the data acquisition unit 21, the automatic traveling system A has a shape having a recess P in which the outline of the field is recessed from the outer peripheral side to the inner peripheral side of the field. And an outer shape determination unit 22 that determines whether or not.
  • the satellite positioning module 80 receives GPS signals from the artificial satellite GS used in GPS (Global Positioning System). Then, as shown in FIG. 3, the satellite positioning module 80 sends positioning data to the vehicle position calculation unit 23 based on the received GPS signal.
  • GPS Global Positioning System
  • the vehicle position calculation unit 23 calculates position coordinates of the combine 1 with time based on the positioning data received from the satellite positioning module 80. As shown in FIG. 3, position coordinates of the combine 1 calculated over time are sent to the area setting unit 24, the traveling control unit 26, and the first traveling information generating unit 27.
  • the region setting unit 24 is configured to set the inside of the first region R1 as a second region R2 based on the temporal position coordinates of the combine 1 received from the vehicle position calculation unit 23.
  • the first region R1 is a region that has been harvested by the first harvest run.
  • the region setting unit 24 calculates the traveling locus of the combine 1 in the first harvest traveling based on the temporal position coordinate of the combine 1 received from the vehicle position calculation unit 23. Further, the region setting unit 24 calculates a first region R1 based on the calculated traveling locus of the combine 1. Then, the region setting unit 24 calculates the second region R2 based on the calculated first region R1. The area setting unit 24 sets the second area R2 by this method.
  • a first travel path FL which is a travel path of the combine 1 for the first crop travel in the first grain field G1 is indicated by an arrow.
  • the first grain field G1 is in the state shown in FIG. That is, the area which has been harvested by the first harvest run is the first area R1.
  • the region setting unit 24 sets the inside of the first region R1 as a second region R2.
  • the automatic travel system A includes the area setting unit 24 which sets the inside of the first area R1 which is the area that has been harvested by the first harvest traveling as the second area R2.
  • the contents set by the area setting unit 24 are sent to the inner traveling route calculating unit 25.
  • the inner traveling route calculating unit 25 calculates the inner traveling route LIC based on the setting content received from the region setting unit 24.
  • the inner circumferential traveling route LIC is a traveling route in the second region R2.
  • the region setting unit 24 calculates the outer shape of the second region R2 based on the traveling locus of the combine 1 in the first harvest traveling. That is, the setting contents by the area setting unit 24 include the outer shape of the second area R2. Then, the inner traveling route calculating unit 25 calculates the inner traveling route LIC based on the outer shape of the second region R2.
  • the inner traveling route calculating unit 25 calculates the inner traveling route LIC as shown in FIG.
  • the inner circumferential traveling paths LIC are a plurality of parallel lines parallel to each other.
  • the inner traveling route LIC calculated by the inner traveling route calculation unit 25 is sent to the traveling control unit 26.
  • the automatic traveling system A includes the inner traveling route calculation unit 25 that calculates the inner traveling route LIC, which is the traveling route in the second region R2 set by the region setting unit 24.
  • the travel control unit 26 receives the position coordinates of the combine 1 received from the vehicle position calculation unit 23 and the inner traveling route LIC received from the inner traveling route calculation unit 25; Control the automatic travel of the combine 1 based on More specifically, the traveling control unit 26 controls the traveling of the combine 1 so that the combine 1 automatically travels along the inner traveling route LIC.
  • the automatic travel system A includes the travel control unit 26 that controls the travel of the combine 1 so that the second harvest travel is performed by the automatic travel based on the inner circumferential travel route LIC.
  • the first travel information generation unit 27 generates first travel information based on the field external shape data received from the data acquisition unit 21.
  • the first travel information is information indicating a travel path or travel position for the first harvest travel.
  • the first travel information generated by the first travel information generation unit 27 includes middle division travel information.
  • Mid-division travel information is information indicating a travel route or travel position for mid-division travel.
  • the split travel is a harvest travel which is performed to divide the uncut area in the field.
  • a first travel path FL which is a travel path of the combine 1 for the first crop travel in the first grain field G1 is indicated by an arrow.
  • the first traveling information generation unit 27 In the harvesting work in the first grain field G1, the first traveling information generation unit 27 generates information indicating the first traveling path FL.
  • the first travel route FL is a travel route that makes three rounds in the counterclockwise direction from the point located at the lower right in FIG. 4. That is, in the present embodiment, the first traveling information generation unit 27 generates information indicating the first traveling route FL, which is a traveling route for the first harvest traveling.
  • the first traveling route FL includes three midway routes LM which are traveling routes for mid-division traveling. That is, the first travel information generated by the first travel information generation unit 27 in the harvesting operation in the first grain field G1 includes information indicating the split route LM.
  • the uncut area in the first grain field G1 is divided into two.
  • the automatic traveling system A Based on the field outline data acquired by the data acquisition unit 21, the automatic traveling system A generates the first traveling information, which is information indicating the traveling route or traveling position for the first harvest traveling.
  • a travel information generation unit 27 is provided. Further, the first traveling information generated by the first traveling information generation unit 27 includes middle traveling information which is information indicating a traveling route or traveling position for middle traveling.
  • the first travel information generation unit 27 determines that the traveling path or traveling position for the split travel is the recessed portion P The first travel information is generated such that the top portion Pt is included.
  • the outer shape of the first grain field G1 shown in FIG. 4 is a shape having a recess P. Therefore, in the harvesting operation in the first grain field G1, the outer shape determination unit 22 determines that the outer shape of the first grain field G1 has a shape having a recessed portion P. Then, the determination result by the outer shape determination unit 22 is sent to the first travel information generation unit 27.
  • the first traveling information generation unit 27 that receives the determination result generates the first traveling information so that the top portion Pt of the recessed portion P is included in the traveling route or traveling position for the mid-division traveling.
  • the inclining path LM shown in FIG. 4 includes the top portion Pt of the recess P.
  • the first travel information generated by the first travel information generation unit 27 is sent to the travel control unit 26 and the communication terminal 4.
  • the travel control unit 26 receives the position coordinates of the combine 1 received from the vehicle position calculation unit 23 and the first travel information received from the first travel information generation unit 27. Based on the automatic travel of the combine 1 is controlled. More specifically, the traveling control unit 26 controls traveling of the combine 1 so that the combine 1 automatically travels through the traveling route or traveling position indicated by the first traveling information.
  • the traveling control unit 26 controls the traveling of the combine 1 based on the middle traveling information so that the middle traveling is performed by the automatic traveling in the first harvest traveling.
  • the travel control unit 26 travels the combine 1 so that the combine 1 automatically travels along the first travel path FL Control.
  • the traveling control unit 26 controls the traveling of the combine 1 so that harvest traveling along the split route LM is performed by automatic traveling.
  • the communication terminal 4 is configured to display a traveling route or a traveling position for the first harvest traveling based on the first traveling information received from the first traveling information generation unit 27. At this time, in particular, the communication terminal 4 displays the traveling route or traveling position for middle-division traveling based on the middle-division traveling information included in the first traveling information.
  • the communication terminal 4 receives the first travel information received from the first travel information generating unit 27 as shown in FIG.
  • the indicated first travel route FL is displayed.
  • the communication terminal 4 displays the split route LM on the basis of the split travel information included in the first travel information.
  • the automatic travel system A includes the communication terminal 4 that displays the travel route or the travel position for middle-division travel based on the middle-division travel information.
  • the data acquisition unit 21 acquires field external shape data from any of the management server 2, the tractor 5, and the rice transplanter 6.
  • the field external shape data acquired by the data acquisition unit 21 is sent to the external shape determination unit 22 and the first travel information generation unit 27.
  • the outline determination unit 22 determines whether the outline of the first grain field G1 has a shape having a recess P. As shown in FIG. 4, the outer shape of the first grain field G1 is a shape having a recess P. Therefore, it is determined by the outer shape determination unit 22 that the outer shape of the first grain field G1 is a shape having the recessed portion P. The determination result is sent to the first travel information generation unit 27.
  • the first travel information generation unit 27 that receives the determination result generates first travel information indicating the first travel path FL, as shown in FIG. 4.
  • the first travel route FL is a travel route that makes three rounds in the counterclockwise direction from the point located at the lower right in FIG. 4. Further, as shown in FIG. 4, the first traveling route FL includes three midway routes LM, which are traveling routes for mid-division traveling. And since the external shape of the 1st grain field G1 is a shape which has concave part P, top part Pt of concave part P is contained in middle part route LM.
  • the portions other than the split route LM pass through the outer peripheral portion Q in the first grain field G1. .
  • the first travel information generated by the first travel information generation unit 27 is sent to the travel control unit 26 and the communication terminal 4. Then, as shown in FIG. 10, the communication terminal 4 displays the first traveling route FL indicated by the first traveling information received from the first traveling information generation unit 27.
  • the traveling control unit 26 receives the first traveling information, automatic traveling of the combine 1 is started.
  • the combine 1 is controlled by the travel control unit 26 so as to automatically travel along the first travel path FL.
  • the first harvest traveling is performed.
  • the portion where the first harvest run is performed is harvested. Also, the area inside this harvested area is left uncut. Moreover, as shown in FIG.4 and FIG.5, when the combine 1 carries out a harvest driving along the middle route LM, the uncut area in the 1st grain field G1 is divided into two.
  • the region setting unit 24 calculates the traveling locus of the combine 1 in the first harvest traveling based on the temporal position coordinates of the combine 1 in the first harvest traveling. Furthermore, the region setting unit 24 calculates, as the first region R1, a region that has been harvested by the first harvest traveling based on the calculated traveling trajectory of the combine 1. Then, the region setting unit 24 calculates the inside of the calculated first region R1 as the second region R2. The area setting unit 24 sets the second area R2 by this method.
  • the setting content by the area setting unit 24 is sent to the inner traveling route calculating unit 25.
  • the contents set by the area setting unit 24 include the outer shape of the second area R2.
  • the inner traveling route calculating unit 25 calculates the inner traveling route LIC based on the outer shape of the second region R2.
  • the inner traveling routes LIC calculated at this time are a plurality of parallel lines parallel to each other.
  • the inner traveling route LIC calculated by the inner traveling route calculation unit 25 is sent to the traveling control unit 26.
  • the traveling control unit 26 receives the inner traveling route LIC
  • the combine 1 is controlled by the traveling control unit 26 so as to automatically travel along the inner traveling route LIC shown in FIG.
  • a second harvest run is performed by this automatic run.
  • the 1st grain field G1 will be in the state shown in FIG.
  • the first traveling information generation unit 27 generates the first crop shown in FIGS. 4 to 6 based on the positional coordinates of the combine 1 in the first harvest traveling and the second harvest traveling shown in FIGS. 4 to 6 over time.
  • the traveling locus of the combine 1 in traveling and second harvest traveling is calculated.
  • the first travel information generation unit 27 calculates an area that has already been harvested at the time of FIG. 7 based on the calculated travel locus of the combine 1.
  • the first travel information generating unit 27 calculates the uncut area at the time of FIG. 7 based on the area that has already been calculated as described above and the field external shape data. Furthermore, the first travel information generation unit 27 generates first travel information indicating a first travel path FL indicated by an arrow in FIG. 7 based on the calculated uncut area. As shown in FIG. 7, the first travel route FL generated at this time is a travel route that makes three rounds in the counterclockwise direction from the point located at the upper right of FIG. 7 in the uncrop area.
  • running route FL shown by the 1st driving information generated at this time except the part which touches the field which has already been harvested, it passes through the outer peripheral part Q in the 1st grain field G1. There is.
  • the first traveling information is sent to the traveling control unit 26 and the communication terminal 4. Then, the communication terminal 4 again displays the first travel route FL indicated by the first travel information received from the first travel information generation unit 27 (not shown).
  • the combine 1 is controlled by the traveling control unit 26 so as to automatically travel along the first traveling path FL shown in FIG. 7. By this automatic traveling, the second first harvest traveling is performed.
  • the portion where the second first harvest run is performed is harvested. Also, the area inside this harvested area is left uncut.
  • the area setting unit 24 sets a first area R1 and a second area R2, as shown in FIG. Then, as shown in FIG. 9, the inner traveling route calculation unit 25 calculates the inner traveling route LIC based on the outer shape of the second region R2 shown in FIG. 8.
  • the inner traveling routes LIC calculated at this time are a plurality of parallel lines parallel to each other.
  • the combine 1 is controlled by the traveling control unit 26 so as to automatically travel along the inner traveling route LIC shown in FIG. 9 as in the first second harvest traveling.
  • a second second harvest run is performed by this automatic run. And if this 2nd crop run is completed, the whole 1st grain field G1 will be harvested.
  • the data acquisition unit 21 acquires field external shape data from any of the management server 2, the tractor 5, and the rice transplanter 6.
  • the field external shape data acquired by the data acquisition unit 21 is sent to the external shape determination unit 22 and the first travel information generation unit 27.
  • the outline determination unit 22 determines whether the outline of the second grain field G2 has a shape having a recess P. As shown in FIG. 11, the outer shape of the second grain field G2 does not have a shape having a recess P. Therefore, it is determined by the outer shape determination unit 22 that the outer shape of the second grain field G2 is not a shape having the recessed portion P. The determination result is sent to the first travel information generation unit 27.
  • the first travel information generation unit 27 that receives the determination result generates first travel information indicating a first travel route FL indicated by an arrow in FIG.
  • the first travel route FL is a travel route that makes three rounds in the counterclockwise direction along the outer shape of the second grain field G2 from the point located at the lower right in FIG. And contains.
  • the split route LM extends in the vertical direction in FIG. 11 in the central portion of the second grain field G2.
  • portions other than the split route LM pass through the outer peripheral portion Q in the second grain field G2 .
  • the first travel information generated by the first travel information generation unit 27 is sent to the travel control unit 26 and the communication terminal 4. Then, as shown in FIG. 13, the communication terminal 4 displays the first traveling route FL indicated by the first traveling information received from the first traveling information generation unit 27.
  • the traveling control unit 26 receives the first traveling information, automatic traveling of the combine 1 is started.
  • the combine 1 is controlled by the travel control unit 26 so as to automatically travel along the first travel path FL shown in FIG. By this automatic traveling, the first harvest traveling is performed.
  • the portion where the first harvest run is performed is harvested. Also, the area inside this harvested area is left uncut. Moreover, as shown in FIG.11 and FIG.12, when the combine 1 carries out a harvest driving along the middle route LM, the uncut area in the 2nd grain field G2 is divided into two.
  • the region setting unit 24 calculates the traveling locus of the combine 1 in the first harvest traveling based on the temporal position coordinates of the combine 1 in the first harvest traveling. Furthermore, the region setting unit 24 calculates, as the first region R1, a region that has been harvested by the first harvest traveling based on the calculated traveling trajectory of the combine 1. Then, the region setting unit 24 calculates the inside of the calculated first region R1 as the second region R2. The area setting unit 24 sets the second area R2 by this method.
  • the area setting unit 24 sets two second areas R2.
  • the inner traveling route LIC is calculated, and the second harvest traveling is performed by automatic traveling. Then, when the second harvest run is completed, the entire second grain field G2 is harvested.
  • the outer peripheral portion Q is shown. In the actual communication terminal 4, the outer peripheral portion Q may be displayed or may not be displayed as described above.
  • the first travel information includes middle travel information, which is information indicating a travel route or travel position for middle travel.
  • mid-division travel information is generated according to the external shape of the field. Therefore, even if the external shape of the field is relatively complex, it is possible to realize a configuration in which the traveling route or traveling position for mid-division traveling is calculated so that the traveling locus of combine 1 in the first harvest traveling becomes simple. .
  • the outer shape of the second region R2 can be accurately calculated, and the inner traveling route LIC can be appropriately calculated. And based on the computed inner circumference travel route LIC, automatic travel in the inner circumference portion in a field can be appropriately performed.
  • the first traveling information generation unit 27 generates, as the first traveling information, information indicating the first traveling route FL, which is a traveling route for the first harvest traveling.
  • the first traveling route FL includes a split route LM. That is, the first travel information generated by the first travel information generation unit 27 includes information indicating the split route LM.
  • FIG. 14 and FIG. 15 are diagrams showing the communication terminal 4 in the first alternative embodiment of the first embodiment.
  • the first travel information generation unit 27 generates information indicating the middle division location PM based on the field external shape data received from the data acquisition unit 21.
  • the middle division point PM is a traveling position for middle division traveling. That is, the information indicating the middle division location PM corresponds to the "middle division traveling information" according to the present invention.
  • the first travel information and the middle division travel information are the same.
  • the "first travel information” according to the present invention may be the same as the "mid-division travel information".
  • the communication terminal 4 displays the traveling position indicated by the first traveling information received from the first traveling information generation unit 27. More specifically, the communication terminal 4 displays the middle division point PM by a triangular symbol.
  • the field shown in FIG. 14 is the first grain field G1 described above. Moreover, the field shown by FIG. 15 is the above-mentioned 2nd grain field G2.
  • the first travel information generating unit 27 sets the first split information PM to the first point Pt of the recess P. Generate travel information.
  • the first running information generation unit 27 sets the first running information so that the middle split point PM is located at the central portion of the field. Generate
  • the first harvest run is completed. Then, as described in the above embodiment, the inner traveling route LIC is calculated, and the second harvest traveling is performed by the automatic traveling. Then, by performing the first harvest run and the second harvest run as many times as necessary, the entire field becomes harvested.
  • harvest travel on the outer periphery portion Q in the middle division travel and in the field may be performed by automatic travel.
  • the outer peripheral part Q is shown.
  • the outer peripheral portion Q may be displayed or may not be displayed as described above.
  • the first travel information generation unit 27 generates, as the first travel information, information indicating the travel route for the first harvest travel. Then, the first travel information generated by the first travel information generation unit 27 includes information indicating the split route LM.
  • FIG. 16 and FIG. 17 are diagrams showing the communication terminal 4 in the second alternative embodiment of the first embodiment.
  • the first traveling information generation unit 27 generates information indicating the band-shaped first traveling region FR based on the field external shape data received from the data acquisition unit 21.
  • the field shown in FIG. 16 is the first grain field G1 described above.
  • the field shown in FIG. 17 is the second grain field G2 described above.
  • the first travel area FR is indicated by hatching.
  • the first travel area FR is a travel position for the first harvest travel. That is, the information indicating the first travel area FR corresponds to the "first travel information" according to the present invention. As shown in FIG. 16, the first traveling area FR overlaps with the outer peripheral portion Q in the first grain field G1. Moreover, as shown in FIG. 17, 1st driving
  • the first traveling region FR includes a middle division region RM which is a traveling position for middle traveling. That is, in the second alternative embodiment, the first driving information generated by the first driving information generation unit 27 includes information indicating the middle split area RM. Further, the middle split area RM corresponds to “middle split travel information” according to the present invention.
  • the communication terminal 4 displays the traveling position indicated by the first traveling information received from the first traveling information generation unit 27. More specifically, the communication terminal 4 displays the first travel area FR including the middle split area RM in the form of a strip.
  • the first travel information generating unit 27 performs the first process such that the vertex portion Pt of the recess P is included in the middle split region RM. Generate travel information.
  • the first running information generation unit 27 sets the first running information so that the middle split area RM is located at the central portion of the field.
  • the harvest traveling in the outer peripheral portion Q in the field is carried out as in the above embodiment.
  • the first harvest run including Then, as described in the above embodiment, the inner traveling route LIC is calculated, and the second harvest traveling is performed by the automatic traveling. Then, by performing the first harvest run and the second harvest run as many times as necessary, the entire field becomes harvested.
  • harvest travel in the first travel area FR may be performed by automatic travel.
  • the outer peripheral part Q is shown.
  • the outer peripheral portion Q may be displayed or may not be displayed as described above.
  • the traveling device 11 may be a wheel type or a semi crawler type.
  • Field external shape data may be configured to be generated inside the combine 1.
  • the data acquisition unit 21 may be configured to acquire the field outline data generated inside the combine 1.
  • the first harvest traveling by the combine 1 may be performed by manual traveling.
  • the inner traveling routes LIC calculated by the inner traveling route calculation unit 25 are a plurality of parallel lines parallel to each other, but the present invention is not limited to this.
  • the inner circumferential traveling routes LIC calculated by the route calculation unit 25 may not be a plurality of parallel lines parallel to each other.
  • the inner circumferential traveling route LIC calculated by the inner circumferential traveling route calculation unit 25 may be a spiral traveling route.
  • the outer shape determination unit 22 may not be provided.
  • the first travel information generation unit 27 determines the recessed portion P in the travel path or travel position for mid-division travel.
  • the first travel information may be generated such that the top portion Pt of the second travel information is not included.
  • the automatic travel system A may not have the management server 2.
  • the communication terminal 4 may not be provided.
  • a part of the data acquisition unit 21, the external shape determination unit 22, the vehicle position calculation unit 23, the area setting unit 24, the inner circumference traveling route calculation unit 25, the traveling control unit 26, and the first traveling information generation unit 27 may be provided outside the combine 1 and may be provided, for example, in the management server 2.
  • the first travel route FL may be a straight route or a curved route.
  • the inner circumferential traveling route LIC may be a straight route or a curved route.
  • the program may be configured as an automatic travel management program that causes a computer to realize the function of each member in the above embodiment. Moreover, you may be comprised as a recording medium with which the automatic driving
  • FIGS. 18 to 29 a second embodiment of the present invention will be described with reference to FIGS. 18 to 29.
  • the direction of arrow F shown in FIG. 18 is “front”, and the direction of arrow B is “rear” unless otherwise noted.
  • the direction of the arrow U shown in FIG. 18 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) is a crawler-type traveling device 111, an operation unit 112, a threshing device 113, a grain tank 114, a harvesting device H, A carrier device 116, a grain discharging device 118, 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 harvests the crop of the field in 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 can carry out a harvest run traveling by the traveling device 111 while harvesting the grain of the field by the harvesting device H.
  • the cropped rice bran that has been clipped by the cropping unit 115 is transported by the transport device 116 to the threshing device 113.
  • the reaping grain is threshed.
  • the grains 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 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 is configured to harvest cereals in the field by harvesting and traveling in the inner region of the field after harvesting the crop in the region on the outer peripheral side of the field and then traveling round There is.
  • the area determination system A1 calculates the area on the outer periphery side of the field where the combine 101 travels circularly as the outer peripheral area SA, and calculates the inside of the outer peripheral area SA as the work target area CA. .
  • the configuration of the area determination system A1 will be described below.
  • the area determination system A1 includes a satellite positioning module 180, a control unit 120, and a communication terminal 104.
  • the control unit 120 is included 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 host vehicle position calculation unit 121, a travel route setting unit 122, a travel control unit 123, an area calculation unit 124, and a distance calculation unit 125.
  • the communication terminal 104 further includes a display unit 104a (corresponding to the "notification unit” and the “warning unit” according to the present invention), and the operation input unit 104b.
  • the satellite positioning module 180 receives GPS signals from the artificial satellite GS used in GPS (Global Positioning System). Then, as shown in FIG. 19, 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 area determination system A1 includes the satellite positioning module 180 that outputs the positioning data indicating the vehicle position of the combine 101.
  • 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 area calculation unit 124 is configured to calculate the shape of the work target area CA as a polygon.
  • the traveling path of the combine 101 for circumferential traveling on the outer circumference side of the field is indicated by an arrow.
  • the combine 101 performs three rounds of circular traveling. Then, when the harvest traveling along the traveling route is completed, 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 shape of the calculated work target area CA is a square.
  • the present invention is not limited to this, and the calculated shape of the work target area CA may be a polygon other than a quadrangle.
  • the shape of the calculated work target area CA may be a triangle.
  • the shape of the calculated work target area CA may be a pentagon or a hexagon.
  • the area determination system A1 calculates the area on the outer circumference side of the field where the combine 101 travels while harvesting the grain as the outer circumference area SA, and
  • the area calculation unit 124 calculates the inside of the outer peripheral area SA as the work target area CA.
  • the calculation result by the area calculation unit 124 is sent to the travel route setting unit 122, the distance calculation unit 125, and the display unit 104a in the communication terminal 104.
  • the display unit 104a in the communication terminal 104 is configured to be able to display the shapes of the outer peripheral area SA and the work target area CA calculated by the area calculation unit 124. As a result, the display unit 104a notifies the worker of the shapes of the outer peripheral area SA and the work target area CA calculated by the area calculation unit 124.
  • the area determination system A1 includes the display unit 104a that reports the shape of the work target area CA calculated by the area calculation unit 124.
  • the operation input unit 104b in the communication terminal 104 is configured to receive an artificial operation input by the worker. As shown in FIG. 19, the operation input unit 104 b sends a signal corresponding to an artificial operation input to the area calculation unit 124.
  • the area calculation unit 124 changes the number of sides of the work target area CA based on the signal received from the operation input unit 104 b. That is, as described above, the shape of the work target area CA is calculated as a polygon based on the traveling locus of the combine 101 in the circumferential traveling on the outer peripheral side of the farmland. Thereafter, the number of sides of this polygon is changed based on the artificial operation input inputted to the operation input unit 104b.
  • the shape of the work target area CA calculated by the area calculation unit 124 is a square.
  • the shape of the work target area CA is calculated based on the traveling locus of the combine 101 in the circumferential traveling on the outer circumference side of the farmland.
  • “area shape: quadrilateral” is displayed on the display unit 104 a.
  • This display shows the shape of the calculated work target area CA.
  • the upward button b1 and the downward button b2 are displayed above and below this display.
  • the upward button b1 and the downward button b2 are included in the operation input unit 104b.
  • the display unit 104 a is a touch panel, and the upward button b 1 and the downward button b 2 are touch buttons displayed on the display unit 104 a.
  • the number of sides of the work target area CA is changed. For example, in the state shown in FIG. 22, when the worker presses the upward button b1, the number of sides of the work target area CA increases. That is, the shape of the work target area CA is recalculated by the area calculation unit 124 as a pentagon. Along with this, “area shape: pentagon” is displayed on the display unit 104 a.
  • the number of sides of the work target area CA decreases. That is, the shape of the work target area CA is recalculated by the area calculation unit 124 as a triangle. Along with this, "area shape: triangle" is displayed on the display unit 104a.
  • the area determination system A1 includes the operation input unit 104b that receives an artificial operation input. Further, the region calculation unit 124 changes the number of sides of the polygon based on the artificial operation input input to the operation input unit 104 b.
  • the worker performs the operation input to the operation input unit 104b, so that the shape of the work target area CA matches the shape of the actual uncut area UA. It is possible to increase or decrease the number of sides.
  • the traveling route setting unit 122 sets a reaper traveling route LI, which is a traveling route in the work target area CA, as shown in FIG.
  • the cutting traveling path LI is a plurality of parallel lines parallel to one another.
  • the reaper traveling route LI calculated by the traveling route setting unit 122 is sent to the traveling control unit 123.
  • 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 vehicle position calculation unit 121 and the reaper traveling route LI received from the traveling route setting unit 122. More specifically, the traveling control unit 123 controls the traveling of the combine 101 so that the combine 101 automatically travels along the reaper traveling route LI.
  • the operator manually operates the combine 101, and performs harvesting and traveling along the border line of the field at the outer peripheral portion in the field as shown in FIG.
  • the combine 101 performs three rounds of circular traveling.
  • this round trip is completed, the field is in the state shown in FIG.
  • the region calculation unit 124 calculates the traveling locus of the combine 101 in the round trip shown in FIG. 20 based on the temporal position coordinate of the combine 101 received from the host vehicle position calculation unit 121. Then, as shown in FIG. 21, the area calculation unit 124 calculates, based on the calculated traveling locus of the combine 101, an area on the outer peripheral side of the field where the combine 101 travels while harvesting grains as the outer peripheral area SA. Do. In addition, the area calculation unit 124 calculates the inside of the calculated outer peripheral area SA as the work target area CA.
  • the outer peripheral area SA and the work target area CA calculated at this time and the actual uncut area UA are superimposed and shown. Moreover, in FIG. 21, the outline of the actual field is shown by a dotted line. As shown in FIG. 21, the area calculation unit 124 is configured to calculate the work target area CA as a polygon. Thus, the actual uncut area UA is approximately calculated by the polygon. In the example shown in FIG. 21, the shape of the work target area CA is calculated as a quadrangle.
  • the traveling route setting unit 122 sets the reaper traveling route LI in the work target area CA as shown in FIG.
  • the calculated shape of the work target area CA is displayed on the display unit 104 a of the communication terminal 104.
  • the operator can instruct the start of the automatic traveling along the reaper traveling route LI by pressing the automatic traveling start button (not shown). However, in this description, it is assumed that the start of automatic traveling is not instructed at this point.
  • the shape of the work target area CA can be changed by operating the operation input unit 104b.
  • the number of sides of the work target area CA decreases. That is, the shape of the work target area CA is recalculated by the area calculation unit 124 as a triangle.
  • "area shape: triangle" is displayed on the display unit 104a.
  • FIG. 24 the outer peripheral area SA and the work target area CA recalculated at this time are superimposed on the actual uncut area UA. Moreover, in FIG. 24, the outline of the actual field is shown by a dotted line.
  • the traveling route setting unit 122 sets the reaper traveling route LI in the work target area CA again, as shown in FIG. Then, when the operator presses the automatic travel start button, the automatic travel along the reaper traveling path LI is started. When automatic traveling along the reaping traveling route LI is completed, the entire field is harvested.
  • the outer circumferential area SA is used as a space for the combine 101 to change its direction when performing harvest traveling in the work target area CA. Further, the outer peripheral area SA is also used as a space for movement, such as when moving to a discharge place of grain or after moving to a fuel supply place after the harvest traveling is once finished.
  • the distance calculation unit 125 determines the outer boundary of the outer peripheral area SA as shown in FIG. 25 based on the calculation result received from the area calculation unit 124. The distance between the line OB and the inner boundary IB of the outer peripheral area SA is calculated. As shown in FIG. 19, the distance calculated by the distance calculation unit 125 is sent to the region calculation unit 124.
  • the distance calculation unit 125 specifies the narrowest part of the outer peripheral area SA, and then sets the width of the outer peripheral area SA at that part to the outer peripheral border line OB and the inner peripheral border line IB. It may be configured to calculate as the distance between
  • the distance calculation unit 125 selects a plurality of parts in the outer peripheral area SA, and calculates the distance between the outer peripheral border OB and the inner peripheral border IB at each of the selected sites. It may be configured. In this case, the shortest distance among the distances calculated for each part may be output as a final calculation result by the distance calculation unit 125. In addition, the average value of the distances calculated for each part may be output as a final calculation result by the distance calculation unit 125.
  • the region calculation unit 124 determines the outer boundary border OB in the outer peripheral region SA and the inner boundary border IB in the outer peripheral region SA, To increase the number of sides of the work area CA.
  • the predetermined distance may be a fixed value determined according to the model of the combine 101, or may be arbitrarily set by the operator.
  • the distance between the outer peripheral border line OB and the inner peripheral border line IB is shorter than a predetermined distance.
  • the area calculation unit 124 increases the number of sides of the work target area CA.
  • the shape of the work target area CA is a triangle.
  • the shape of the work target area CA becomes a quadrangle.
  • the shape of the work target area CA is calculated as a polygon based on the traveling locus of the combine 101 in the circumferential traveling on the outer peripheral side of the farmland. Thereafter, when the distance calculated by the distance calculation unit 125 is shorter than the predetermined distance, the number of sides of the polygon increases.
  • the width of the outer peripheral area SA can be secured to a certain extent.
  • the area determination system A1 includes the distance calculation unit 125 that calculates the distance between the outer peripheral border line OB in the outer peripheral area SA and the inner peripheral border line IB in the outer peripheral area SA. .
  • the area calculation unit 124 increases the number of sides of the polygon.
  • the width increase of the outer peripheral area SA can be secured to a certain extent by the side increase processing.
  • FIGS. 27 to 29 Another of the two processes performed to secure the width of the outer peripheral area SA to a certain extent is a warning process.
  • this process will be described mainly with reference to FIGS. 27 to 29.
  • the calculated outer peripheral area SA and the work target area CA and the actual uncut area UA are shown in an overlapping manner.
  • the outline of the actual field is shown by a dotted line.
  • the distance calculation unit 125 determines the outer boundary of the outer peripheral area SA as shown in FIG. 27 based on the calculation result received from the area calculation unit 124. The distance between the line OB and the inner boundary IB of the outer peripheral area SA is calculated. As shown in FIG. 19, the distance calculated by the distance calculation unit 125 is sent to the display unit 104a.
  • the distance calculation unit 125 specifies the narrowest part of the outer peripheral area SA, and then sets the width of the outer peripheral area SA at that part to the outer peripheral border line OB and the inner peripheral border line IB. It may be configured to calculate as the distance between
  • the distance calculation unit 125 selects a plurality of parts in the outer peripheral area SA, and calculates the distance between the outer peripheral border OB and the inner peripheral border IB at each of the selected sites. It may be configured. In this case, the shortest distance among the distances calculated for each part may be output as a final calculation result by the distance calculation unit 125. In addition, the average value of the distances calculated for each part may be output as a final calculation result by the distance calculation unit 125.
  • the display unit 104a displays a warning prompting to additionally perform a round trip in the area on the outer circumference side of the field.
  • the predetermined distance may be a fixed value determined according to the model of the combine 101, or may be arbitrarily set by the operator.
  • the distance between the outer peripheral border line OB and the inner peripheral border line IB is shorter than a predetermined distance.
  • the display unit 104a displays a warning message a1 prompting the user to additionally perform a round trip in the area on the outer periphery of the agricultural field.
  • display portion 104a emphasizes and displays a portion where the distance between boundary line OB on the outer circumference side and boundary line IB on the inner circumference side is short in outer circumference area SA. .
  • the area determination system A1 includes the display unit 104a that urges additional circumferential travel in the area on the outer periphery of the field when the distance calculated by the distance calculation unit 125 is shorter than the predetermined distance. .
  • the outer peripheral area SA When the operator additionally performs circumferential traveling in the area on the outer periphery side of the agricultural field according to the warning, the outer peripheral area SA is expanded, and the agricultural field is in the state shown in FIG. As shown in FIG. 29, by the expansion of the outer peripheral area SA, the distance between the boundary OB on the outer peripheral side and the boundary IB on the inner peripheral side becomes longer at the portion P2 of the outer peripheral area SA. Thus, the width of the outer peripheral area SA can be secured to a certain extent.
  • the warning process can ensure the width of the outer peripheral area SA to a certain extent.
  • the above-described side increase processing and warning processing may be executed in combination as appropriate.
  • the warning process may be performed when the distance calculated by the distance calculation unit 125 is still shorter than the predetermined distance after the side increase process is performed.
  • the above-described side increase processing and warning processing may be configured to be used according to the conditions. For example, if the shape of the work target area CA calculated by the area calculation unit 124 is a triangle, the process of increasing the side may be performed, and if it is a polygon other than a triangle, a warning process may be performed. .
  • the shape of the work target area CA is calculated as a polygon. Therefore, the shape of the work target area CA can be calculated as a relatively simple form.
  • the traveling device 111 may be a wheel type or a semi crawler type.
  • the reaping traveling route LI calculated by the traveling route setting unit 122 is a plurality of parallel lines parallel to each other, but the present invention is not limited to this, and the traveling route setting unit 122
  • the reaper traveling route LI to be calculated may not be a plurality of parallel lines parallel to each other.
  • the reaper traveling route LI calculated by the traveling route setting unit 122 may be a spiral traveling route.
  • the operator manually operates the combine 101, and as shown in FIG. 20, the harvesting travels along the border of the field on the outer peripheral portion in the field.
  • the present invention is not limited to this, and the combine 101 may be configured to automatically travel and to perform harvest traveling so as to orbit along the border of the field at the outer peripheral portion in the field.
  • the travel route setting unit 122 the travel control unit 123, the area calculation unit 124, the distance calculation unit 125, the display unit 104a, and the operation input unit 104b It may be provided outside, for example, it may be provided in a management server provided outside the combine 101.
  • the traveling route setting unit 122 and the traveling control unit 123 may not be provided. That is, the "harvest machine” which concerns on this invention does not need to be what can be drive
  • the display unit 104 a in the communication terminal 104 corresponds to the “notification unit” and the “warning unit” according to the present invention.
  • the present invention is not limited to this, and a member corresponding to the "notification unit” and a member corresponding to the "warning unit” may be separately provided.
  • a speaker that urges by voice to additionally perform circumferential traveling in the area on the outer circumference side of the field when the distance calculated by the distance calculation unit 125 is shorter than a predetermined distance It may be provided.
  • the distance calculation unit 125 may not be provided.
  • the display unit 104a may not be provided.
  • the operation input unit 104b may not be provided.
  • the communication terminal 104 may not be provided.
  • the reaping travel path LI may be a straight path or a curved path.
  • the program may be configured as a region determination program that causes a computer to realize the function of each member in the above embodiment.
  • the recording medium may be configured as a recording medium in which a region determination program that causes a computer to realize the function of each member in the above-described embodiment is recorded.
  • the method may be configured as a region determination method in which what is performed by each member in the above embodiment is performed in one or more steps.
  • FIGS. 30 to 40 a third embodiment of the present invention will be described with reference to FIGS. 30 to 40.
  • the direction of arrow F shown in FIG. 30 is “front”, and the direction of arrow B is “rear”. Further, the direction of the arrow U shown in FIG. 30 is “up”, and the direction of the arrow D is “down”.
  • the ordinary type combine 201 includes a crawler type traveling device 211, a driving unit 212, a threshing device 213, a grain tank 214, a harvesting device H, a conveying device 216, a grain discharging device 218, satellite positioning.
  • a module 280 is provided.
  • the traveling device 211 is provided at the lower part of the combine 201.
  • the combine 201 can be self-propelled by the traveling device 211.
  • the driving unit 212, the threshing device 213, and the grain tank 214 are provided on the upper side of the traveling device 211.
  • An operator who monitors the operation of the combine 201 can get on the operation unit 212.
  • the worker may monitor the work of the combine 201 from the outside of the combine 201.
  • the grain discharging device 218 is provided on the upper side of the grain tank 214.
  • the satellite positioning module 280 is attached to the top surface of the driver 212.
  • the harvesting device H is provided at the front of the combine 201.
  • the transport device 216 is provided on the rear side of the harvesting device H.
  • the harvesting device H also has a reaper 215 and a reel 217.
  • the reaper 215 reaps the field crop of the field.
  • the reel 217 scrapes the cropping object of harvest while being rotationally driven.
  • the harvester H harvests the grain in the field.
  • combine 201 can reap travel which runs by traveling device 211, while reaping a crop of a field of a field with reaper 215.
  • the combine 201 has a reaper 215 that reaps the field crop of the field.
  • the cropped rice straw which has been cut by the reaper 215 is transported by the transport device 216 to the threshing device 213.
  • the reaping grain is threshed.
  • the grains obtained by the threshing process are stored in a grain tank 214.
  • the grains stored in the grain tank 214 are discharged to the outside by the grain discharging device 218 as needed.
  • the communication terminal 204 is disposed in the operation unit 212.
  • the communication terminal 204 is configured to be able to display various information.
  • the communication terminal 204 is fixed to the driver 212.
  • the present invention is not limited to this.
  • the communication terminal 204 may be configured to be attachable to and detachable from the operation unit 212, and the communication terminal 204 may be located outside the combine 201. .
  • the combine 201 performs circulation while harvesting grains in the area on the outer periphery side of the field as shown in FIG. 32, then the combine 201 performs reaping travel in the inner area of the field as shown in FIG. 33. , Are configured to harvest the grain of the field.
  • the combine 201 is controlled by the combine control system A2.
  • the configuration of the combine control system A2 will be described.
  • the combine control system A2 includes a satellite positioning module 280 and a control unit 220.
  • the control unit 220 is included in the combine 201.
  • the satellite positioning module 280 is also provided in the combine 201.
  • the control unit 220 includes a host vehicle position calculation unit 221, a route calculation unit 222, a travel control unit 223, an area calculation unit 224, a distance calculation unit 225, and a determination unit 226. Further, the traveling control unit 223 includes a reaper traveling control unit 223a and a direction change control unit 223b.
  • the satellite positioning module 280 receives GPS signals from the artificial satellite GS used in GPS (Global Positioning System). Then, as shown in FIG. 31, the satellite positioning module 280 sends positioning data indicating the vehicle position of the combine 201 to the vehicle position calculation unit 221 based on the received GPS signal.
  • GPS Global Positioning System
  • the host vehicle position calculation unit 221 calculates position coordinates of the combine 201 with time based on the positioning data output by the satellite positioning module 280.
  • the calculated position coordinates of the combine 201 over time are sent to the traveling control unit 223 and the area calculation unit 224.
  • the area calculation unit 224 calculates the outer peripheral area SA and the work target area CA based on the temporal position coordinates of the combine 201 received from the host vehicle position calculation unit 221.
  • the area calculation unit 224 calculates the traveling locus of the combine 201 in the circumferential traveling on the outer periphery side of the field based on the temporal position coordinate of the combine 201 received from the vehicle position calculation unit 221. .
  • region calculation part 224 calculates the area
  • region SA based on the calculated traveling locus of the combine 201.
  • the area calculation unit 224 calculates the inside of the calculated outer peripheral area SA as the work target area CA.
  • the traveling path of the combine 201 for circumferential traveling on the outer circumference side of the field is indicated by an arrow.
  • the combine 201 performs three rounds of circular traveling.
  • the area calculation unit 224 calculates an area on the outer circumference side of the field where the combine 201 travels while harvesting the grain as the outer circumference area SA. In addition, the area calculation unit 224 calculates the inside of the calculated outer peripheral area SA as the work target area CA.
  • the area calculation unit 224 uses the uncorrected area CA1 and the cut area CA2 in the work target area CA based on the temporal position coordinates of the combine 201 received from the host vehicle position calculation unit 221. Calculate
  • the area calculation unit 224 calculates the traveling locus of the combine 201 in the reaping travel in the work target area CA based on the temporal position coordinates of the combine 201 received from the host vehicle position calculation unit 221. . Then, based on the calculated traveling locus of the combine 201, the area calculation unit 224 calculates an area where the combine 201 travels by cutting as the cut area CA2. In addition, the area calculation unit 224 calculates a portion other than the cut area CA2 in the work target area CA as the uncut area CA1.
  • the calculation result by the region calculation unit 224 is sent to the route calculation unit 222 and the distance calculation unit 225.
  • the route calculation unit 222 calculates a reaper traveling route LI, which is a traveling route for reaper travel in the work area CA.
  • the reaper traveling route LI is a plurality of mesh lines extending in the vertical and horizontal directions. The plurality of mesh lines may not be straight, and may be curved.
  • the reaping traveling route LI calculated by the route calculating unit 222 is sent to the traveling control unit 223.
  • the reaper traveling control unit 223a controls automatic traveling of the combine 201 based on the position coordinates of the combine 201 received from the host vehicle position calculation unit 221 and the reaper traveling route LI received from the route calculation unit 222. More specifically, as shown in FIG. 33, the reaper traveling control unit 223a controls the traveling of the combine 201 so that reaper traveling is performed by automatic traveling along the reaper traveling route LI.
  • the distance calculation unit 225 determines the distance between the corner CP in the uncut area CA1 and the boundary line OBL of the field. calculate.
  • the distance calculation unit 225 identifies the narrowest portion between the corner CP and the boundary line OBL of the field, and then determines the distance between the corner CP and the boundary line OBL of the field at the portion.
  • the distance calculation unit 225 may be configured to output a final calculation result.
  • the distance calculation unit 225 selects a plurality of parts between the corner CP and the boundary line OBL of the field, and in each selected part, the distance between the corner CP and the boundary line OBL of the field is It may be configured to calculate. In this case, the shortest distance among the distances calculated for each part may be output as a final calculation result by the distance calculation unit 225. In addition, the average value of the distances calculated at each part may be output as a final calculation result by the distance calculation unit 225.
  • the distance calculated by the distance calculation unit 225 is sent to the determination unit 226.
  • the determination unit 226 determines the direction change method of the combine 201 based on the distance calculated by the distance calculation unit 225.
  • the determining unit 226 performs combining of the combine 201 performed to harvest the grain crest of the corner CP. It is decided that the turn is made by corner turn.
  • the predetermined distance may be a fixed value determined according to the model of the combine 201, or may be arbitrarily set by the operator.
  • the corner special direction change is a direction change method including a reaping and turning operation.
  • the reaping and turning operation is an operation of turning while reaping the crop of rice plant.
  • the corner-use special direction change in this embodiment includes the first reverse operation, the reaping and turning operation, the second reverse operation, and the forward operation.
  • the first reverse operation is an operation performed prior to the reaping and turning operation, and is an operation of moving backward to a position behind the corner CP in the advancing direction of the combine 201 before changing the direction.
  • the second reverse operation is an operation performed after the reaping and turning operation, and is an operation to move backward to a position behind the corner CP in the advancing direction of the combine 201 after the change of direction.
  • the forward movement is an operation performed after the second reverse movement, and is a movement to move forward.
  • the corner-use special direction change is performed in the first reverse operation and the first reverse operation for moving backward to a position behind the corner portion CP in the advancing direction of the combine 201 before the direction change.
  • the determining unit 226 changes the direction of the combine 201 performed to reap the crop of the corner CP. Is determined to be performed by a turning method different from the corner turning.
  • the combine control system A2 includes the determination unit 226 that determines the direction change method of the combine 201.
  • the content of the determination by the determination unit 226 is sent to the direction change control unit 223b.
  • the direction change control unit 223b is configured to control the direction change of the combine 201 according to the content of the determination by the determination unit 226.
  • the combine control system A2 includes the direction change control unit 223b that controls the change of direction of the combine 201.
  • the determination unit 226 is performed to reap the crop of the corner CP. It is determined that the turn of combine 201 is to be performed by corner turn. And, in this case, when the combine 201 performs the direction change in order to cut the planted grain of the corner CP, the direction change control unit 223b causes the direction change of the combine 201 to be performed by the special direction change for the corner.
  • the combine 201 is to be controlled.
  • the direction change control unit 223b performs a reaping turning that turns while harvesting the planted grain.
  • the combine 201 is controlled so that the turn of the combine 201 is performed by the corner directed change which is the turn method including the operation.
  • the operator manually operates the combine 201, and as shown in FIG. 32, performs mowing travel so as to go around along the boundary line OBL of the field at the outer peripheral portion in the field.
  • the combine 201 performs three rounds of circular traveling. When this round trip is completed, the field is in the state shown in FIG.
  • the region calculation unit 224 calculates the traveling locus of the combine 201 in the round trip shown in FIG. 32 based on the temporal position coordinate of the combine 201 received from the host vehicle position calculation unit 221. Then, as shown in FIG. 33, based on the calculated traveling locus of the combine 201, the area calculating unit 224 calculates an area on the outer peripheral side of the field where the combine 201 travels while harvesting the cropped rice husk. Calculated as In addition, the area calculation unit 224 calculates the inside of the calculated outer peripheral area SA as the work target area CA.
  • the route calculation unit 222 sets the reaper traveling route LI in the work target area CA.
  • the reaper traveling control unit 223a controls the traveling of the combine 201 so that reaper traveling is performed by automatic traveling along the reaper traveling path LI.
  • the transport vehicle CV is parked outside the farmland. Then, in the outer peripheral area SA, the stop position PP is set at a position near the transport vehicle CV.
  • the transporter CV can collect and transport the grains discharged by the combine 201 from the grain discharge device 218.
  • the combine 201 stops at the stopping position PP, and discharges the grain to the transport vehicle CV by the grain discharging device 218.
  • the combine 201 performs direction change and starts reaper traveling along another reaper traveling route LI. At this time, the direction change of the combine 201 is automatically performed by the control of the direction change control unit 223b.
  • the first route LI1 and the second route LI2 in FIG. 34 are both reaping travel routes LI.
  • the first route LI1 and the second route LI2 are orthogonal to each other.
  • the combine 201 completes the mowing travel along the first path LI1 and is located at the position Q1.
  • the distance calculation unit 225 calculates the distance between the corner portion CP and the boundary line OBL of the field. As shown in FIG. 34, the distance calculated at this time is the distance DS1.
  • the determination unit 226 determines that the change of direction of the combine 201 performed to harvest the planted rice cake of the corner CP is performed by the special change of direction for the corner.
  • the combine 201 starts corner special direction change from the position Q1.
  • the combine 201 performs the first reverse operation along the first path LI1.
  • the combine 201 moves to the position Q2.
  • the position Q2 is a position behind the corner CP in the traveling direction of the cutting along the first path LI1.
  • the combine 201 performs a reaping and turning operation. As a result, the combine 201 moves to the position Q3. In addition, by this cutting and turning operation, the planted grain weirs of the portion CP1 which is a part of the corner portion CP are cut off.
  • the combine 201 performs a second reverse operation. As a result, the combine 201 moves to the position Q4.
  • the position Q4 is a position behind the corner CP in the traveling direction of the cutting along the second path LI2.
  • the combine 201 moves forward from the position Q4 to complete the change of direction.
  • the orientation of the combine 201's airframe is oriented along the second path LI2. Then, the reaping travel along the second path LI2 is started, and the weed of the corner CP is reaped.
  • the third route LI3 and the fourth route LI4 in FIG. 35 are both reaping travel routes LI. Also, the third path LI3 and the fourth path LI4 are orthogonal to each other.
  • the combine 201 completes the mowing travel along the third path LI3 and is located at the position Q5.
  • the distance calculation unit 225 calculates the distance between the corner portion CP and the boundary line OBL of the field. As shown in FIG. 35, the distance calculated at this time is the distance DS2.
  • the determination unit 226 determines that the change in direction of the combine 201 performed to harvest the planted rice cake of the corner CP is performed by a different method of change from the special direction change for corner.
  • the determination unit 226 determines that the change in direction of the combine 201 performed to harvest the planted rice cake of the corner CP is normally performed by an ⁇ turn.
  • the normal ⁇ -turn is a direction changing method in which a reverse operation is performed after performing a normal turning operation of turning without cutting off the built-up rice husk, and then an advancing operation is performed thereafter.
  • the ⁇ -turn is a method capable of quick change of direction as compared to the corner specific change of direction.
  • the combine 201 starts the normal ⁇ turn from the position Q5.
  • the combine 201 performs a normal turning operation. Thereby, the combine 201 moves to the position Q6.
  • the combine 201 performs a reverse operation. As a result, the combine 201 moves to the position Q7.
  • the position Q7 is a position behind the corner CP in the traveling direction of the cutting along the fourth route LI4.
  • the combine 201 moves forward from the position Q7 to complete the change of direction.
  • the orientation of the combine 201's airframe is oriented along the fourth path LI4. Then, the reaping travel along the fourth path LI4 is started, and the weed of the corner CP is reaped.
  • the combine 201 when the combine 201 changes its direction in order to reap the planted rice cake of the corner CP in the uncrop area CA1 of the field, the combine 201 changes its direction by the special direction change for the corner Is controlled to do And this cutting direction special direction change includes a reaping and turning operation which is turned while reaping the crop.
  • the combine 201 in the direction change, the combine 201 enters the uncut area CA1 by the reaping and turning operation. That is, in the change of direction, since the combine 201 enters the uncut area CA1 while harvesting the built-up cereal weir, it is possible to prevent the combine 201 from stepping on the built-up cereal in the uncut area CA1.
  • the space available for the direction change is wider. Thereby, it is easy to smoothly change the direction of the combine 201.
  • the combine 201 when the combine 201 changes its direction in order to reap the erected grain of the corner CP in the uncut area CA1 of the field, the combine 201 It is controlled to perform a turn by a special turn for the corner or by an alpha turn.
  • the combine 201 when the combine 201 changes its direction in the acute angle part of the field, the combine 201 is controlled to change direction by the special alpha turn for the acute angle part.
  • the special ⁇ -turn for acute-angled part after performing the first reverse movement, performs a normal turning operation that turns without cutting off the built-up rice husk, and the second turning after the normal turning operation. It is a direction change method in which reverse movement is performed and then forward movement is performed.
  • the fifth route LI5 and the sixth route LI6 in FIG. 36 are both reaping travel routes LI. Then, in FIG. 36, after the combine 201 completes the mowing travel along the fifth route LI 5 in the acute angle part of the field, the direction is changed to harvest the planted rice cake of the corner CP, and the sixth route LI 6 The operation up to the start of the reaping travel along is shown.
  • the combine 201 completes the mowing travel along the fifth route LI5 and is located at the position Q8. Then, since the combine 201 is located at the acute angle portion of the field, the determination unit 226 determines that the change of direction of the combine 201 performed for cutting off the erected grain of the corner portion CP is performed by the special alpha turn for acute portion. Decide to be.
  • the combine 201 starts the special alpha turn for sharp corners from the position Q8.
  • the combine 201 performs the first reverse operation along the fifth route LI5.
  • the combine 201 moves to the position Q9.
  • the combine 201 performs a normal turning operation. As a result, the combine 201 moves to the position Q10. Next, the combine 201 performs a second reverse operation. As a result, the combine 201 moves to the position Q11. Then, the combine 201 moves forward from the position Q11 to complete the change of direction.
  • the orientation of the combine 201's airframe is oriented along the sixth path LI6. Then, the reaping travel along the sixth path LI6 is started, and the weeds of the corner CP are reaped.
  • the first reverse operation is performed prior to the normal turning operation.
  • the combine 201 changes its direction at the acute angle portion of the field, it is possible to avoid the situation where the combine 201 usually crosses the boundary line OBL of the field by turning operation.
  • the corner special direction change includes the first reverse operation, the reaping and turning operation, the second reverse operation, and the forward operation.
  • the corner redirection may not include some or all of the first reverse motion, the second reverse motion, and the forward motion.
  • FIG. 37 is a view showing an example in which the direction change of the combine 201 is performed by the corner special direction change in the first alternative embodiment of the third embodiment.
  • the corner special direction change does not include the first reverse movement prior to the reaping movement.
  • the seventh route LI7 in FIG. 37 is a reaper traveling route LI. Then, in FIG. 37, when the combine 201 travels in the outer peripheral area SA, a direction change of 90 degrees is performed to reap the planted grain weir of the corner portion CP, and the reaping travel along the seventh route LI7 The operation to start is shown.
  • the combine 201 travels in the outer peripheral area SA and is located at the position Q12.
  • the distance calculation unit 225 calculates the distance between the corner portion CP and the boundary line OBL of the field. As shown in FIG. 37, the distance calculated at this time is the distance DS3.
  • the determination unit 226 determines that the change of direction of the combine 201 performed to harvest the planted rice cake of the corner CP is performed by the special change of direction for the corner.
  • the combine 201 starts corner special direction change from position Q12.
  • the combine 201 performs a reaping and turning operation.
  • the combine 201 moves to the position Q13.
  • the planted grain weirs of the portion CP2 which is a part of the corner portion CP are reaped.
  • the combine 201 performs a reverse operation. Thereby, the combine 201 moves to the position Q14.
  • the position Q14 is a position behind the corner CP in the traveling direction of the cutting along the seventh route LI7.
  • the combine 201 moves forward from the position Q14 to complete the change of direction.
  • the orientation of the airframe of the combine 201 becomes the orientation along the seventh path LI7. Then, the reaping travel along the seventh path LI7 is started, and the weeds of the corner CP are reaped.
  • the combine 201 performs the direction change in the field shown in FIG. 38 as an example where the direction change of the combine 201 is performed by a direction change method different from the corner direction special direction change. The case will be described.
  • the eighth route LI8 in FIG. 38 is a reaper traveling route LI. Then, in FIG. 38, when the combine 201 travels in the outer peripheral area SA, a direction change of 90 degrees is performed to reap the planted grain weir of the corner portion CP, and the reaping travel along the eighth route LI8 The operation to start is shown.
  • the combine 201 travels in the outer peripheral area SA and is located at the position Q15.
  • the distance calculation unit 225 calculates the distance between the corner portion CP and the boundary line OBL of the field. As shown in FIG. 38, the distance calculated at this time is the distance DS4.
  • the determination unit 226 determines that the change in direction of the combine 201 performed to harvest the planted rice cake of the corner CP is performed by a different method of change from the special direction change for corner.
  • the determination unit 226 determines that the change of direction of the combine 201 performed to harvest the planted rice cake of the corner CP is normally performed by turning.
  • the normal turning is a direction changing method in which the turning is performed only by the normal turning operation in which the turning is performed without cutting off the potted rice husk.
  • the combine 201 starts normal turning from the position Q15. That is, the combine 201 performs the normal turning operation from the position Q15, and completes the direction change.
  • the orientation of the airframe of the combine 201 becomes an orientation along the eighth path LI8. Then, the mowing travel along the eighth route LI8 is started, and the weed of the corner CP is reaped.
  • the corner-use special direction change includes only four operations of the first reverse operation, the reaping and turning operation, the second reverse operation, and the forward operation.
  • the corner portion special direction change may include another operation in addition to the first reverse operation, the reaping and turning operation, the second reverse operation, and the forward operation.
  • FIG. 39 is a view showing an example in which the direction change of the combine 201 is performed by the corner special direction change in the second different embodiment of the third embodiment.
  • the corner special direction change is a first reverse operation, a first reaping and turning operation (corresponding to the "removing and turning operation” according to the present invention, a second reverse operation, and a second reaping turning operation. It includes six operations (corresponding to “the reaping and turning operation” according to the present invention), the third reverse operation, and the forward operation.
  • the ninth route LI9 and the tenth route LI10 in FIG. 39 are both reaping travel routes LI.
  • the ninth route LI9 and the tenth route LI10 are orthogonal to each other.
  • the combine 201 completes the mowing travel along the ninth path LI9 and is located at the position Q16.
  • the distance calculation unit 225 calculates the distance between the corner portion CP and the boundary line OBL of the field. As shown in FIG. 39, the distance calculated at this time is the distance DS5.
  • the determination unit 226 determines that the change of direction of the combine 201 performed to harvest the planted rice cake of the corner CP is performed by the special change of direction for the corner.
  • the combine 201 starts corner special direction change from position Q16.
  • the combine 201 performs the first reverse operation along the ninth route LI9.
  • the combine 201 moves to the position Q17.
  • the position Q17 is a position on the rear side of the corner portion CP in the traveling direction of the mowing travel along the ninth route LI9.
  • the combine 201 performs a first reaping and turning operation. As a result, the combine 201 moves to the position Q18. In addition, by this first reaping and turning operation, the weeds of the erected grain of the portion CP3 which is a part of the corner portion CP are reaped.
  • the combine 201 performs a second reverse operation. As a result, the combine 201 moves to the position Q19.
  • the position Q19 is a position behind the corner CP in the traveling direction of the cutting travel along the tenth path LI10.
  • the combine 201 performs a second reaping and turning operation. As a result, the combine 201 moves to the position Q20. In addition, by this second reaping and turning operation, the weeds of the erected grain of the portion CP4 which is a part of the corner portion CP are reaped.
  • the combine 201 performs a third reverse operation. As a result, the combine 201 moves to the position Q21.
  • the position Q21 is a position on the rear side of the corner portion CP in the traveling direction of the mowing travel along the tenth route LI10.
  • the combine 201 moves forward from the position Q21 to complete the change of direction.
  • the orientation of the combine 201's airframe is oriented along the tenth path LI10. Then, the reaping travel along the tenth path LI10 is started, and the weed of the corner CP is reaped.
  • the replanting and turning operation reaps the built-in grain weir at a part of the corner portion CP.
  • the present invention is not limited to this. It is not necessary for the planted cereal weed to be harvested by the "harvest turning motion" according to the present invention to be the planted cereal for corner CP.
  • 3rd another embodiment of 3rd Embodiment is described focusing on a different point from the said embodiment.
  • the configuration other than the parts described below is the same as that of the above embodiment.
  • the same reference numerals are given to the same components as those in the above embodiment.
  • FIG. 40 is a view showing an example in the case where the direction change of the combine 201 is performed by the corner special direction change in the third alternate embodiment of the third embodiment.
  • Each of the eleventh route LI11 and the twelfth route LI12 in FIG. 40 is a reaper traveling route LI. Further, the eleventh route LI11 and the twelfth route LI12 are orthogonal to each other.
  • FIG. 40 in order to show the operation of the combine 201, the locus of the center portion in the left-right direction of the fuselage at the front end of the reaper 215 is indicated by an arrow.
  • the combine 201 can perform turning by two ways of turning from the position shown in FIG.
  • the first of the two ways of turning is similar to that described in FIG. That is, the first direction change method shown in FIG. 40 includes four operations of a first reverse operation, a reaping and turning operation, a second reverse operation, and an advance operation. Then, in the reaping and turning operation of the four operations, the cropped weir of the portion CP5 which is a part of the corner portion CP is reaped.
  • the second of the two ways of turning is constituted by three operations of the reaper turning operation, the reverse operation and the forward operation. Then, in the reaping and turning operation of the three operations, the cropped weirs in portions other than the corner portion CP are reaped.
  • the corner CP is included in one of the two uncut areas CA1, and the twelfth route LI12 is set. Further, the other of the two uncut areas CA1 is located forward in the traveling direction of the combine 201 before turning.
  • the combine 201 enters the other of the two uncut areas CA1. At this time, a part of the planted rice straw in the other of the two uncut areas CA1 is harvested. Thereafter, the combine 201 performs reverse movement and forward movement to complete the change of direction.
  • Both of the two direction changing methods shown in FIG. 40 correspond to the “special direction change for corner” according to the present invention.
  • the traveling device 211 may be a wheel type or a semi crawler type.
  • the reaping travel route LI calculated by the route calculation unit 222 is a plurality of mesh lines extending in the vertical and horizontal directions.
  • the present invention is not limited to this, and the reaping travel route LI calculated by the route calculation unit 222 may not be a plurality of mesh lines extending in the vertical and horizontal directions.
  • the reaping traveling route LI calculated by the route calculating unit 222 may be a spiral traveling route.
  • the reaper traveling route LI may not be orthogonal to another reaper traveling route LI.
  • the operator manually operates the combine 201, and as shown in FIG. 32, the mowing travel is performed along the border line OBL of the field in the outer peripheral portion in the field. Do.
  • the present invention is not limited to this, and the combine 201 may travel automatically, and may be configured to perform reaping travel along the border line OBL of the field at the outer peripheral portion in the field. .
  • the combine 201 may be configured to perform a direction change of an angle other than 90 degrees under the control of the direction change control unit 223b.
  • the “special direction change for corner” according to the present invention is not limited to the 90 ° direction change method, and may be an angle change method other than 90 °.
  • the timing at which the determination unit 226 determines the direction change method of the combine 201 is immediately before the combine 201 performs the direction change.
  • the present invention is not limited to this, and the timing when the determination unit 226 determines the turning method of the combine 201 may be at any time.
  • the timing at which the determination unit 226 determines the direction changing method of the combine 201 may be when the area calculation unit 224 calculates the outer peripheral area SA and the work target area CA.
  • the reaper travel control unit 223a may not be provided. That is, the reaping travel along the reaping travel path LI may be performed by the operator manually operating the combine 201.
  • Some or all of the host vehicle position calculation unit 221, the route calculation unit 222, the travel control unit 223, the area calculation unit 224, the distance calculation unit 225, and the determination unit 226 are provided outside the combine 201 It may be provided, for example, in a management server provided outside the combine 201.
  • the determination unit 226 may not be provided.
  • the distance calculation unit 225 may not be provided.
  • the communication terminal 204 may not be provided.
  • the external shape of the field in the above embodiment is a square.
  • the present invention is not limited to this, and the external shape of the field may be a shape other than a square.
  • the outer shape of the field may be pentagon or triangle.
  • the reaping travel path LI may be a straight 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 one or several steps.
  • the present invention can be used not only for ordinary type combine but also for self-release 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.
  • First Embodiment 1 Combine harvester 2 Management server 4 Communication terminal (display device) 21 data acquisition unit 22 external shape determination unit 24 area setting unit 25 inner circumference traveling route calculation unit 26 traveling control unit 27 first traveling information generation unit A automatic traveling system G1 first cereal field (field) G2 second grain field (field) LIC Inner circumference travel path P recessed part Pt peak part Q outer peripheral part R1 first area R2 second area W work vehicle
  • Second Embodiment 101 combine harvesters 104a Display unit (notification unit, warning unit) 104b operation input unit 124 area calculation unit 125 distance calculation unit 180 satellite positioning module A1 area determination system CA work target area IB inner peripheral border OB outer peripheral border SA outer peripheral area
  • Third Embodiment 201 combine 215 reaper 220 control part 223 b direction change control part 226 determination part A2 combine control system CA1 uncut area CP corner part OBL field boundary line

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PCT/JP2018/046182 2017-12-18 2018-12-14 自動走行システム、自動走行管理プログラム、自動走行管理プログラムを記録した記録媒体、自動走行管理方法、領域決定システム、領域決定プログラム、領域決定プログラムを記録した記録媒体、領域決定方法、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 WO2019124273A1 (ja)

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KR1020207013203A KR20200096497A (ko) 2017-12-18 2018-12-14 자동 주행 시스템, 자동 주행 관리 프로그램, 자동 주행 관리 프로그램을 기록한 기록 매체, 자동 주행 관리 방법, 영역 결정 시스템, 영역 결정 프로그램, 영역 결정 프로그램을 기록한 기록 매체, 영역 결정 방법, 콤바인 제어 시스템, 콤바인 제어 프로그램, 콤바인 제어 프로그램을 기록한 기록 매체, 콤바인 제어 방법

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