WO2020100810A1 - 収穫機および経路設定システム - Google Patents

収穫機および経路設定システム Download PDF

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Publication number
WO2020100810A1
WO2020100810A1 PCT/JP2019/044133 JP2019044133W WO2020100810A1 WO 2020100810 A1 WO2020100810 A1 WO 2020100810A1 JP 2019044133 W JP2019044133 W JP 2019044133W WO 2020100810 A1 WO2020100810 A1 WO 2020100810A1
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WO
WIPO (PCT)
Prior art keywords
route
traveling
travel
unworked
pattern
Prior art date
Application number
PCT/JP2019/044133
Other languages
English (en)
French (fr)
Japanese (ja)
Inventor
中林隆志
佐野友彦
吉田脩
川畑翔太郎
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.)
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Publication date
Priority claimed from JP2018214874A external-priority patent/JP2020080656A/ja
Priority claimed from JP2018221153A external-priority patent/JP7039444B2/ja
Application filed by 株式会社クボタ filed Critical 株式会社クボタ
Priority to KR1020217013002A priority Critical patent/KR20210089652A/ko
Priority to CN201980073779.0A priority patent/CN112996378B/zh
Publication of WO2020100810A1 publication Critical patent/WO2020100810A1/ja

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    • 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
    • A01D41/1278—Control or measuring arrangements specially adapted for combines for automatic steering
    • 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
    • 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
    • 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
    • A01F—PROCESSING OF HARVESTED PRODUCE; HAY OR STRAW PRESSES; DEVICES FOR STORING AGRICULTURAL OR HORTICULTURAL PRODUCE
    • A01F12/00—Parts or details of threshing apparatus
    • A01F12/60—Grain tanks
    • 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 traveling harvester equipped with a harvest tank for temporarily storing harvests, and a route setting system for setting a target route of this harvester.
  • Patent Document 1 As a combine, for example, the one described in Patent Document 1 is already known.
  • This combine is capable of performing harvesting traveling in which a harvesting device (“mowing device” in Patent Document 1) is used to harvest crops in the field while traveling by the traveling device.
  • the combine also includes a grain tank (“Glen tank” in Patent Document 1) that stores the harvested product obtained by the harvesting device.
  • the combine travel route management system disclosed in Patent Document 2 includes an area setting unit and a parking position setting unit.
  • the area setting unit sets an area in which the work vehicle has traveled along the boundary of the work area as an outer peripheral area, and sets an inner side of the outer peripheral area as a work target area.
  • the parking position setting unit sets the parking position of the work vehicle in the outer peripheral area.
  • the parking position is a place where the work vehicle parks when receiving support from a work assistance vehicle for harvesting crops and refueling.
  • automatic traveling in a counterclockwise spiral traveling pattern is performed until a sufficient work area for the U-turn route in the U-turn traveling pattern is secured in consideration of the parking position. After that, automatic traveling in the U-turn traveling pattern is performed.
  • the combine is configured to automatically travel based on a signal received from a GPS satellite, and a yield sensor (patent reference) for detecting the amount of grains in a grain tank.
  • a yield sensor for detecting the amount of grains in a grain tank.
  • grain amount detecting means may be provided. Then, when the value detected by the yield sensor becomes equal to or higher than the set value, this combine automatically suspends the harvesting work and moves to the vicinity of the transport vehicle (discharge point) in order to discharge the grain from the grain tank. ..
  • the harvester After discharging the harvested material, the harvester does not return to the detached point and restarts the harvesting operation in order to avoid wasteful traveling, but from a nearby work traveling route in a counterclockwise spiral traveling pattern. Resume harvesting work. This is because traveling in the spiral traveling pattern was restricted in the counterclockwise direction. No matter how many times such a spiral traveling less than one round is repeated, the distance between a part of the side of the unworked area and the boundary of the field (such as the shore) does not increase. Will be unevenly distributed. This causes a disadvantage that the U-turn traveling pattern cannot be traveled to the unworked area forever. In order to avoid such an inconvenience, the conventional combine is forced to perform inefficient peripheral work traveling.
  • automatic driving including movement for discharging the grain may not be efficient depending on the position at which the amount of the grain should be discharged. For example, if the amount of grains to be discharged reaches a position away from the end of the field, the combine moves back to the discharge point after retreating to the turning area (unworked area) of the field where harvesting has already been completed. It was necessary to carry out inefficient automatic driving.
  • the present invention aims to perform efficient work traveling.
  • a harvester which is equipped with a harvest tank that temporarily stores harvests and is capable of automatic travel, is an automatic travel control unit that automatically travels based on a target travel route and a vehicle position. And, based on the shape of the outer peripheral area that is the already-worked area formed along the inner side of the boundary line of the field by the surrounding work traveling, an unworked map creation unit that creates unworked map data indicating the unworked area, On the basis of the unworked map data, from a working travel route that is parallel to each side of a polygon showing the outer shape of the unworked region and a turning travel route that connects the two work travel routes with the direction change of the airframe.
  • the first travel pattern for sequentially performing work travel in the clockwise direction the second travel pattern for sequentially performing work travel in the counterclockwise direction, or both the first travel pattern and the second travel pattern
  • a target travel route setting unit that is set by using.
  • the route setting system is capable of automatic traveling, and automatically travels based on the harvested product tank that temporarily stores the harvested product, the target traveling route, and the vehicle position.
  • a route setting system for a harvester having a control unit, based on the shape of an outer peripheral region which is a worked region formed along the inside of the boundary line of the field by the work traveling around the harvester,
  • An unworked map creation unit that creates unworked map data indicating an unworked area, and a work traveling route and a body that are parallel to each side of a polygon that indicates the outer shape of the unworked area based on the unworked map data.
  • a target travel route setting unit that sets using a second travel pattern or both the first travel pattern and the second travel pattern.
  • the spiral traveling around the outer periphery of the unworked area in the spiral manner uses the first traveling pattern, the second traveling pattern, or both the first traveling pattern and the second traveling pattern. Can be done by For this reason, the harvester combines harvesting work in the unworked area without uneven distribution of the unworked area in one corner of the field by combining clockwise and counterclockwise swirl travel by automatic driving. It is possible to proceed and efficient work traveling can be performed.
  • the harvester When the parking position for refueling and checking the harvest status is the starting point, and it is necessary to check the refueling and harvest status in a spiral run for less than one lap, the harvester will work during the work of one lap. It will return to the starting point. After that, when the spiral traveling is performed again in the same direction, as described above, the unworked area is left in a biased form, and the distance from the border line of the field to the unworked area does not reach the predetermined value. The area arises. This makes it difficult to carry out work traveling in the U-turn traveling pattern performed thereafter, and inefficient spiral traveling is required to avoid such a state.
  • the target travel route setting unit sets the target travel route using at least the other of the first travel pattern and the second travel pattern. .. As a result, it is possible to perform efficient work traveling while suppressing uneven distribution of the unprocessed area.
  • the harvester leaves the work traveling route, It is necessary to drive to the designated harvest discharge location. If the unworked area has a large outer shape, it may be necessary to discharge the harvested product from the harvested product tank in a spiral run of less than one turn. In such a case, in order to minimize wasteful idle travel (running without harvesting work), work traveling is restarted from the vicinity of the discharge place of the harvested products, and as a result, spiral traveling less than one lap is repeated. Be done.
  • the target travel route setting unit sets at least the first for the work traveling after the harvested product is discharged.
  • the target travel route is set using the other of the travel pattern and the second travel pattern.
  • the work is separated for discharging the harvest, and after discharging the harvest at the harvest discharging place, Work traveling is performed in the first traveling pattern (clockwise spiral traveling). This enables efficient spiral traveling, and the distance between the boundary line of the field and the unworked area increases over the entire circumference of the unworked area.
  • the first traveling pattern and the second traveling pattern are alternately used every time the harvested product is discharged.
  • the swirl traveling in the first traveling pattern and the swirling traveling in the second traveling pattern are switched at the timing of discharging the harvested matter, so that the traveling loci of the field scene are dispersed and the unworked areas are unevenly distributed. The problem that the farm scene in a specific area is rough is suppressed.
  • the harvested product is provided at the end of the work traveling route on the turning traveling route side that is connected to the turning traveling route closest to the discharge position of the harvested product. Work running after discharge is started.
  • the target travel path setting unit sets linear work travel paths parallel to each other in the already-worked area.
  • the target traveling route is set in a U-turn traveling pattern that connects with the U-turn traveling route in the unworked area, and the target traveling route setting unit secures a space required for the U-turn traveling route. Up to setting the target travel route using the first travel pattern, the second travel pattern, or both the first travel pattern and the second travel pattern, and then using the U-turn travel pattern
  • the target travel route is set.
  • a harvesting machine for harvesting a crop comprising: a harvest tank for storing the harvest, a sensor for detecting the yield of the harvest stored in the harvest tank, and a discharge route for discharging the harvest And a travel route generation unit that generates the travel route, wherein the travel route generation unit is configured to determine whether the yield of the harvested product detected by the sensor in the middle of the unworked area is an emission yield, When the route element adjacent to the route element has already traveled, a traveling route that travels on the adjacent route element and leaves the unworked site is generated.
  • the route setting system automatically travels back and forth on a traveling route generated by selecting one or a plurality of route elements from a plurality of route elements provided in advance in an unworked place.
  • a routing system for a harvester that performs harvesting of a crop while storing a harvested product and a sensor that detects the yield of the harvested product stored in the harvested product tank.
  • a traveling route generation unit that generates the traveling route that includes a discharge route for discharging is provided, and the traveling route generation unit is a yield of the harvested product detected by the sensor in the middle of the unworked area is the emission yield.
  • the advancing route is not moved away from the unworked site by traveling along the adjacent route element that has already been traveled, and the vehicle is not moved forward. Since the vehicle can be separated from the work site, efficient automatic traveling can be performed.
  • efficient automatic traveling can be performed.
  • there is an adjacent route element that has already traveled from the current position to the end of the unworked area it may cross the adjacent route element that has already traveled and leave the unworked area. It is possible, and depending on the position of the discharge point, the work traveling can be efficiently performed by moving forward and leaving the unworked place.
  • the traveling route to leave includes a route that moves to the adjacent route element while moving forward, and when moving to the adjacent route element, the crop route may be moved while harvesting the crop.
  • the leaving traveling route may include a route that moves backward and moves to the adjacent route element.
  • the traveling route to be separated may include a route in which the traveling route element is moved backward and then moved forward to move to the adjacent route element.
  • the traveling route to be departed may include a route that moves backward to move between the traveling route element and the adjacent route element, and then moves forward to move to the adjacent route element.
  • the traveling route generation unit generates a temporary route element between the traveling route element and the adjacent route element, and the traveling route that leaves is moved backward to move to the temporary route element.
  • a path that moves forward to move to the adjacent path element may be included.
  • a typical combine harvester will be taken up and explained as an example of the harvester capable of automatic traveling according to the present invention.
  • “front” (direction of arrow F shown in FIG. 1) means forward with respect to the longitudinal direction (running direction) of the fuselage, and “rear” (arrow B shown in FIG. 1).
  • the direction of means the rear with respect to the longitudinal direction of the machine body (traveling direction).
  • the left-right direction or the lateral direction means a machine body transverse direction (machine body width direction) orthogonal to the machine body front-rear direction.
  • “Upper” (direction of arrow U shown in FIG. 1) and “lower” (direction of arrow D shown in FIG. 1) are positional relations in the vertical direction (vertical direction) of the airframe 10 and relations at the ground height. Indicates.
  • this combine has an airframe 10, a crawler type traveling device 11, a driving unit 12, a threshing device 13, a grain tank 14 as a harvest tank, a harvesting unit 15, a conveying device 16, and a grain discharge.
  • the device 18 and the own vehicle position detection unit 80 are provided.
  • the traveling device 11 is provided at the bottom of the machine body 10.
  • the combine is configured to be self-propelled by the 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 and constitute the upper part of the machine body 10.
  • a driver who drives the combine and an observer who monitors the operation of the combine can be boarded on the drive unit 12.
  • the supervisor may monitor the combine work from outside the combine.
  • the grain discharging device 18 is connected to the grain tank 14.
  • the own vehicle position detection unit 80 is attached to the upper surface of the driving unit 12.
  • the harvesting section 15 is provided in the front part of the combine.
  • the transport device 16 is provided behind the harvesting unit 15.
  • the combine can carry out work traveling in which the traveling device 11 travels while harvesting grain in the field by the harvesting unit 15.
  • the cut culm cut by the harvesting unit 15 is transferred to the threshing device 13 by the transfer device 16.
  • the cut culm is threshed.
  • the grain obtained by the threshing process is stored in the grain tank 14.
  • the grain tank 14 is provided with a yield sensor 19 (corresponding to “sensor”) that measures the yield of the grain stored in the grain tank 14.
  • the grain tank 14 is equipped with a full sensor 21 (corresponding to “sensor” in FIG. 4).
  • the full sensor 21 is provided in the grain tank 14 and is a sensor that detects that the grain stored in the grain tank 14 is stored in an amount suitable for discharging such as a full state. is there.
  • the grain stored in the grain tank 14 is discharged to the outside of the machine by the grain discharging device 18 as necessary (eg, full).
  • a general-purpose terminal (communication terminal) 4 is arranged in the operating unit 12.
  • the general-purpose terminal 4 is fixed to the driving unit 12.
  • the present invention is not limited to this, and the general-purpose terminal 4 may be configured to be attachable / detachable to / from the driving unit 12, or the general-purpose terminal 4 may be taken out of the combine machine. ..
  • the vehicle position detection unit 80 includes a satellite positioning module 81 and an inertial measurement module 82.
  • the satellite positioning module 81 receives a GNSS (global navigation satellite system) signal (including a GPS signal), which is position information transmitted from the artificial satellite GS, and outputs positioning data for calculating the own vehicle position.
  • the inertial measurement module 82 incorporates a gyro acceleration sensor and a magnetic direction sensor, and outputs a signal indicating an instantaneous traveling direction.
  • the inertial measurement module 82 is used to complement the own vehicle position calculation by the satellite positioning module 81.
  • the inertial measurement module 82 may be arranged in a place different from the satellite positioning module 81.
  • the driver / monitor operates the combine and, as shown in FIG. 2, in the outer peripheral portion in the field, harvesting traveling (hereinafter, “surrounding work traveling”, so as to circulate along the boundary of the field). Perform "surround cutting” or simply “surround cutting”).
  • the area that has become the already-cut area (the already-worked area) due to the peripheral cutting is set as the outer peripheral area (the already-worked area) SA.
  • the internal area left inside the outer peripheral area SA as the uncut area (unworked area) is set as the unworked area (work target area) CA.
  • the peripheral cutting is performed by manual driving, but the peripheral cutting at this time may be the driving in which the driver rides on the combine and operates the combine, but the observer or the like drives the combine by remote control. May be. Further, in this embodiment, the peripheral cutting traveling is performed so that the unworked area CA becomes a quadrangle. Of course, a triangular or pentagonal unworked area CA may be adopted.
  • the outer peripheral area SA is used as a space for the combine to turn when harvesting is performed in the unworked area CA that is the work target area. Further, the outer peripheral area SA is also used as a moving space when the harvesting run is finished and the grain is moved to a grain discharge place or a fuel supply place. Therefore, in order to secure the width of the outer peripheral area SA to some extent, the driver performs the cutting operation around the circumference for 2 to 3 rounds.
  • the carrier CV shown in FIG. 2 collects the grains discharged from the grain discharging device 18 by the combine and transports them to a drying facility or the like. At the time of grain discharge, the combine moves through the outer peripheral area SA to the vicinity of the carrier CV, and then the grain discharge device 18 discharges the grain to the carrier CV, and suspends the work through the outer peripheral area SA. Return to the work start point, which is the position where you did.
  • the unworked map data showing the shape of the unworked area CA is created based on the inner circumference shape of the outer circumference area SA which is the already worked area. Based on this unworked map data, in order to work in the unworked area CA by automatic operation, a linear (straight or curved) work travel route is set in the unworked area CA, and one work travel route is set. The turning traveling route for shifting to the next working traveling route is set in the already-worked area. The unworked map data is updated as the work on the unworked area CA progresses.
  • the traveling patterns used when the work traveling (harvest traveling) is performed in the unworked area CA include a reciprocating traveling pattern shown in FIG. 3 and a spiral traveling pattern shown in FIG.
  • the reciprocating traveling pattern the combine travels while connecting two traveling routes (work traveling routes) parallel to one side of the polygon showing the outer shape of the unworked area CA with the U-turn turning route (non-work traveling route).
  • the spiral traveling pattern the combine is a turning traveling that connects the two traveling routes with the traveling route (work traveling route) that is parallel to each side of the polygon showing the outer shape of the unworked area CA and the direction change of the body 10.
  • a spiral target traveling route including a route is sequentially driven in a clockwise direction (same direction as clockwise direction) or sequentially in a counterclockwise direction (direction opposite to clockwise direction).
  • a turning travel route required in each corner area a turning travel route in which an alpha turn traveling is performed using a straight traveling route, a backward traveling route and a forward traveling route is adopted.
  • the revolving traveling route is set to the already-worked area regardless of whether it is a reciprocating traveling pattern or a spiral traveling pattern.
  • the second running pattern that goes around the outer circumference of the unworked area CA in the counterclockwise direction as shown in Fig. 5 has been conventionally used.
  • the first travel pattern that turns around the outer periphery of the unworked area CA in the clockwise direction as shown in FIG. 6 is also used.
  • Fig. 7 shows an example of standard harvesting work in a relatively small field.
  • the peripheral cutting SA is performed by manual steering, and the outer peripheral area SA that is the already-worked area is formed on the outer periphery of the field (#b).
  • the spiral travel in the second travel pattern is performed on the unworked area CA (#c). This spiral traveling is performed until the unworked area CA becomes large enough to allow the U-turn turning traveling in the U-turn traveling pattern, which is a kind of reciprocating traveling pattern (#d).
  • a travel route that covers the unworked area CA in the U-turn travel pattern is set (#e). The vehicle travels in the U-turn travel pattern along the set target travel route (#f).
  • the work process shown in FIG. 7 is a standard process, and such a work process is impossible in some fields.
  • the field is very large, it is required to discharge the grain (harvest product) from the grain tank 14 (see FIG. 1) in about half a turn in the swirling traveling in step #c because of fullness. ..
  • the timing of this discharge request is as follows. Grain storage amount per unit traveling distance in the work traveling up to and including the surrounding cutting traveling, storage amount of grain in the grain tank 14, capacity of the grain tank 14, transport vehicle CV ( The vehicle CV will be determined based on the capacity of the vehicle CV (see FIG. 2).
  • the combine temporarily suspends the work and moves to the discharge position where the transport vehicle CV is parked.
  • the position where the work is restarted is not the position where the work was interrupted. Near the first starting point is where work will resume. Therefore, when the spiral traveling in the second traveling pattern is repeated for the specific half circumferential area, the already-worked area is not expanded in the half circumferential area facing the specific half circumferential area. That is, the U-turn travel route cannot be set in a part of the existing work area, and the work travel according to the reciprocating travel pattern becomes impossible. In order to avoid this problem, in the present embodiment, as illustrated in FIG. 8, the target travel route is set by combining the first travel pattern and the second travel pattern.
  • the carrier CV is parked near the entrance to the farm field from the farm road, and the combine enters the farm field through the entrance from the farm road.
  • This approach position becomes the start position SP of the harvesting work (#A).
  • the surrounding cutting operation is manually performed from the start position SP. If the grain tank 14 becomes full in the middle of cutting the surrounding area, the grain tank 14 is temporarily stopped and the combine moves backward to return to the position of the carrier CV, or the carrier CV moves to the combine stop position to discharge the grain. Is done.
  • the outer peripheral area SA which is the already-worked area is formed on the outer periphery of the field (#B).
  • the resumption position RP for resuming the harvesting work has a principle that the traveling distance in the non-working should be as short as possible, so that an end portion of the traveling route close to the ejection position near the ejection position is selected. Therefore, in this example, the previous start position SP is adopted as the restart position RP.
  • the combine automatic traveling was limited to the spiral traveling in the second traveling pattern, so that the target traveling route for spiral traveling in the second traveling pattern is set from the restart position RP, and the harvesting work is performed. It is restarted (#D).
  • the already-worked area increases in the upper side area and the left-side area of the field, but the already-worked area does not increase in the lower side area and the right-side area of the field. Space for the route cannot be secured, and it becomes difficult to carry out work traveling according to the U-turn traveling pattern.
  • the target travel route in which the vehicle travels spirally in the first travel pattern from the restart position RP is set as shown in step #E without performing the travel as in step #D.
  • the spiral traveling along the traveling route is performed.
  • the spiral traveling may be performed so as to directly connect the first traveling pattern and the second traveling pattern until the grain discharge from the grain tank 14 is required.
  • Fig. 9 shows the combine control system.
  • This control system includes a control unit 5 including one or more electronic control units called ECUs, and various input / output devices that perform signal communication (data communication) with the control unit 5 through a wiring network such as an in-vehicle LAN. It is configured.
  • the control unit 5 is the core element of this control system, and is shown as an aggregate of a plurality of ECUs.
  • the signal from the vehicle position detection unit 80 is input to the control unit 5 through the vehicle-mounted LAN.
  • the one or more functional units constructed by the ECU configuring the control unit 5 can also be constructed by a program installed in the general-purpose terminal 4.
  • the control unit 5 includes a notification unit 501, an input processing unit 502, and an output processing unit 503 as an input / output interface.
  • the notification unit 501 generates notification data based on a command from each functional unit of the control unit 5 and gives the notification data to the notification device 62.
  • the notification device 62 is a device for notifying the driver of the work traveling state and various warnings, and is a buzzer, a lamp, a speaker, a display, or the like.
  • the input processing unit 502 is connected with a traveling state sensor group 63, a work state sensor group 64, a traveling operation unit 90, and the like.
  • the work state sensor group 64 includes sensors that detect the amount of stored grains in the grain tank 14.
  • the traveling operation unit 90 is a general term for operating tools that are manually operated by a driver and an operation signal thereof is input to the control unit 5.
  • the output processing unit 503 is connected to various operating devices 70 via the device driver 65.
  • the operating devices 70 there are a traveling device group 71 that is a traveling-related device and a working device group 72 that is a work-related device.
  • the traveling device group 71 includes steering devices that steer the machine body 10. This steering device is a device that changes the speed of the left and right crawlers when the crawler type traveling device 11 is adopted as in the present embodiment.
  • the steering device is a device that changes the steering angle of the steered wheels.
  • the control unit 5 includes a vehicle position calculation unit 50, a travel control unit 51, a work control unit 52, a travel mode management unit 53, a travel locus calculation unit 54, a work area determination unit 55, an unworked map creation unit 56, a travel route.
  • a calculator 57 is provided.
  • the vehicle position calculation unit 50 calculates the vehicle position based on the positioning data sequentially transmitted from the vehicle position detection unit 80 (satellite positioning module 81 or inertial measurement module 82) in the form of map coordinates (or field coordinates). Calculate with. At that time, the position of a specific portion of the machine body 10 (for example, the center of the machine body or the end of the harvesting section 15) can be set as the vehicle position.
  • the traveling locus calculation unit 54 calculates the traveling locus by plotting the vehicle position calculated by the vehicle position calculation unit 50 over time. Further, the traveling direction of the machine body 10 is calculated from the traveling locus (instantaneous traveling locus) in a predetermined time. Further, the traveling direction can be calculated based on the direction data included in the output data from the inertial measurement module 82.
  • the work area deciding unit 55 decides an already-worked area, an unworked area CA to be a work target area, and the like from the harvesting work performed with a predetermined work width.
  • the unworked map creating unit 56 includes a member on the ridge side of the machine body (a lateral outer end of the harvesting unit 15) obtained when the combine travels along the boundary line between the farm scene and the ridge (border line of the field). Part) traveling locus data (outer traveling locus data) and traveling locus data (inner traveling locus data) of a member (horizontal inner end portion of the harvesting section 15) on the side opposite to the ridges of the machine body 10 are input.
  • the non-working map creation unit 56 creates boundary line data indicating the map position of the boundary line of the field based on the outside travel locus data.
  • the unworked map creation unit 56 creates work boundary line data indicating the map position of the boundary line on the inner circumference side of the outer circumference area SA, that is, the boundary line between the already worked area and the unworked area CA, based on the inner running trajectory data. To generate.
  • the unworked map creation unit 56 also creates unworked map data indicating the unworked area CA from this work boundary line data.
  • the travel route calculation unit 57 calculates a travel route which is a target travel route for automatic travel covering the unworked area CA by the registered route calculation algorithm. As shown in FIG. 3 and FIG. 4, this travel route is parallel to each side in the polygon showing the outer shape of the unworked area CA, and two work travel routes with the direction change of the machine body 10. And a turning route connecting the two.
  • the traveling control unit 51 has an engine control function, a steering control function, a vehicle speed control function, and the like, and gives a traveling control signal to the traveling device group 71.
  • the work control unit 52 gives a work control signal to the work equipment group 72 in order to control the movement of the harvesting work device (the harvesting unit 15, the threshing device 13, the transport device 16, the grain discharging device 18, etc.). Further, the work control unit 52 also has a function of outputting a discharge request for discharging the grain from the grain tank 14.
  • the traveling control unit 51 includes a manual traveling control unit 511, an automatic traveling control unit 512, and a target traveling route setting unit 513.
  • the automatic travel mode is set, the automatic travel is performed, and when the manual travel mode is set, the manual travel is performed.
  • the switching of the driving modes is managed by the driving mode management unit 53.
  • the manual traveling control unit 511 When the manual traveling mode is selected, the manual traveling control unit 511 generates a control signal based on the operation by the driver to control the traveling device group 71, thereby realizing the manual driving.
  • the automatic traveling control unit 512 When the automatic traveling mode is set, the automatic traveling control unit 512 generates a control signal for changing the vehicle speed including automatic steering and stopping, and controls the traveling device group 71.
  • the control signal relating to the automatic steering eliminates the azimuth deviation and the positional deviation between the target traveling route set by the target traveling route setting unit 513 and the own vehicle position calculated by the own vehicle position calculating unit 50. Is generated as.
  • the target travel route setting unit 513 sets the target travel route using the work travel route and the turning travel route calculated by the travel route calculation unit 57. At that time, a first traveling pattern in which the work traveling is performed in the clockwise direction and a second traveling pattern in which the work traveling is performed in the counterclockwise direction are used.
  • the target travel route setting unit 513 can set the target travel route in various forms according to the field conditions, the harvest conditions, and the like. Further, the driver or the administrator can instruct the setting of the target travel route in a specific form. Below, the example of a form of target travel route setting is shown. (1) The spiral traveling using either one of the first traveling pattern and the second traveling pattern and the temporary disengagement traveling returning to the work starting point after discharging the grains from the grain tank 14 are repeatedly performed. Nevertheless, if there is a portion of the already-worked area in which the distance from the field boundary line to the unworked area CA does not reach the predetermined value, the target travel route is determined using the other of the first travel pattern and the second travel pattern. Is set.
  • the grain discharge from the grain tank 14 is required during the work traveling for less than one lap, and the grain discharge is performed.
  • the other traveling pattern is used for the spiral traveling after the grain discharge.
  • the first traveling pattern and the second traveling pattern are alternately used for the spiral traveling after the grain discharge from the grain tank 14 is requested and the grain discharge is executed.
  • the target travel route is set so that the work travel after the grain discharge is started from the end of the work travel route connected to the swivel travel route closest to the position where the grain is discharged, on the turn travel route side. Is set.
  • a target travel route for spiral travel which is a combination of the first travel pattern and the second travel pattern, is set until the space required for the U-turn travel route is secured, and then the U-turn travel pattern is set. The target travel route in is set.
  • the combine management / control system includes a control unit 5 including a large number of electronic control units called ECUs, and various input / outputs for performing signal communication (data communication) with the control unit 5 through a wiring network such as an in-vehicle LAN. It is composed of equipment.
  • the communication unit 66 is used by the combine management / control system for exchanging data with the general-purpose terminal 4 or with a management computer installed in a remote place.
  • the general-purpose terminal 4 also includes a tablet computer operated by an observer standing in the field, or a driver and an observer boarding the combine, a computer installed at home or in a management office, and the like.
  • the control unit 5 is a core element of this control system, and is shown as an assembly of a plurality of ECUs.
  • the signal from the vehicle position detection unit 80 is input to the control unit 5 through the vehicle-mounted LAN. Note that some of the components of the control unit 5 may be arranged in the general-purpose terminal 4.
  • the control unit 5 includes an input processing unit 502, a vehicle position calculation unit 50, a vehicle body direction calculation unit 58, a field management unit 83, a yield management unit 30, and a travel route generation unit 59. Further, although not shown, the control unit 5 can include an output processing unit, a traveling control unit that controls the traveling device group, a work control unit that controls the harvesting work device, and the like.
  • the output processing unit includes a steering device, an engine device, a transmission device, a braking device, a harvesting unit 15 (see FIG. 1), a threshing device 13 (see FIG. 1), a transport device 16 (see FIG. 1), and a grain discharging device 18 ( (See FIG. 1) and the like.
  • the vehicle position detection unit 80, the yield output unit 20, the traveling state sensor group 63, the work state sensor group 64, a traveling operation unit (not shown), etc. are connected to the input processing unit 502.
  • the input processing unit 502 receives information from these and provides the information to various functional units in the control unit 5.
  • the traveling state sensor group 63 includes an engine speed sensor, an overheat detection sensor, a brake pedal position detection sensor, a shift position detection sensor, a steering position detection sensor, and the like.
  • the working state sensor group 64 includes a harvesting working device (harvesting unit 15 (see FIG. 1)), a threshing device 13 (see FIG. 1), a transport device 16 (see FIG. 1), and a grain discharging device 18 (see FIG. 1). It includes a sensor for detecting the driving state of, a sensor for detecting the state of grain culms and grains, and the like.
  • the own vehicle position calculation unit 50 determines the map coordinates (or the field coordinates) of the specific location of the preset airframe 10 (see FIG. 1) based on the positioning data sequentially sent from the own vehicle position detection unit 80. Calculate the vehicle position and the positions of both ends of the harvest width.
  • the vehicle body heading calculation unit 58 obtains a traveling locus in a minute time from the own vehicle position sequentially calculated by the own vehicle position calculation unit 50 and obtains a vehicle body heading indicating the direction of the body 10 (see FIG. 1) in the traveling direction. decide. Further, the vehicle body azimuth calculation unit 58 can also determine the vehicle body azimuth based on the azimuth data included in the output data from the inertial measurement module 82.
  • the field management unit 83 based on the vehicle position calculated by the vehicle position calculation unit 50, the outer shape of the field, the outer shape of the work target area (unworked area) CA, the area of the field, and the area of the work target area CA. Etc. are calculated.
  • the farm field management unit 83 includes an area calculation unit 84, a shape calculation unit 85, and the like.
  • the shape calculation unit 85 calculates the outer shape of the field and the outer shape of the work target area CA.
  • the area calculation unit 84 calculates the area of the field and the area of the work target area CA.
  • the farm field management unit 83 may include a discharge point setting unit 86 that sets a discharge point (discharge position) for discharging the grains to the transport vehicle CV.
  • the yield management unit 30 manages the yield used for determining the travel route for automatic travel. Therefore, the yield management unit 30 estimates the yield rate, which is the yield for harvesting the crop per unit area of the field, the total yield that can be harvested in the work target area CA, and the like. In addition, the yield management unit 30 calculates the minimum number of discharges of the stored grain and the yield of the grain at the time of discharge, which is the minimum required when harvesting the crop in the work target area CA. Specifically, the yield management unit 30 can include a yield rate calculation unit 31, a total yield calculation unit 32 (corresponding to a total yield estimation unit), a discharge number calculation unit 33, a discharge reference yield calculation unit 34, and the like. The yield management unit 30 may be provided with all of them, or may be provided with some of them in combination.
  • the yield rate calculation unit 31 calculates the yield rate, which is the yield per unit area, from the yield of grains harvested in the outer peripheral area SA and the area of the outer peripheral area SA in the surrounding cutting. Specifically, the yield rate is obtained by dividing the yield of grains harvested in the outer peripheral area SA by the area of the outer peripheral area SA. The yield of the grains harvested in the outer peripheral area SA is obtained from the increase amount of the grains stored in the grain tank 14 from the start to the end of the peripheral cutting by the manual traveling. In addition, when the grain is discharged during the surrounding cutting, the amount of increase in the grain before and after that is integrated. Further, the yield of the grain harvested in the outer peripheral area SA may be calculated by the yield rate calculation unit 31, but may be calculated by another functional unit such as another functional unit in the yield management unit 30. The area of the outer peripheral area SA is obtained by the area calculation unit 84 by subtracting the area of the work target area CA from the area of the field.
  • the total yield calculation unit 32 estimates the total yield of grains expected to be harvested in the entire work target area CA from the area of the work target area CA and the yield rate. Specifically, the total yield is obtained by multiplying the area of the work target area CA by the yield rate. This makes it possible to efficiently generate a travel route of automatic travel in the work target area CA while taking into consideration the discharge of grains with reference to the total yield.
  • the discharge number calculation unit 33 is a minimum required for automatic traveling in the work target area CA from the discharge yield that is the yield stored in the grain tank 14 when discharging the grain and the total yield of the work target area CA.
  • the number of discharges is calculated. Specifically, the number of discharges is obtained by dividing the total yield by the discharge yield and raising it to an integer value.
  • the discharge yield may be the full yield of the grain tank 14 or a predetermined ratio or a smaller amount than the full yield, the discharge yield required from the outside, the yield corresponding to the loading capacity of the carrier, or the yield at the time of discharge in advance.
  • the yield can be defined as Further, when the grain is discharged during the surrounding cutting, the yield at the time of discharging may be the discharge yield.
  • the discharge standard yield calculation unit 34 calculates the discharge standard yield from the total yield of the work target area CA and the discharge count calculated by the discharge count calculation unit 33.
  • the discharge standard yield is the yield of the grain stored in the grain tank 14, which is a standard for discharging the grain during the automatic traveling.
  • the emission standard yield is obtained by dividing the total yield by the number of emissions.
  • the traveling route generation unit 59 generates an automatic traveling route in the work target area CA based on the outer shape of the field, the outer shape of the work target area CA, and the like.
  • the traveling route used in the automatic traveling can be generated by the traveling route generation unit 59 by a route calculation algorithm, or a downloaded one generated by the general-purpose terminal 4 or a management computer at a remote place can be used. It is possible.
  • the traveling route calculated by the traveling route generation unit 59 can be used for guidance purposes for the combine to travel along the traveling route even in manual operation.
  • this combine can be driven by both automatic operation for performing harvesting work by automatic traveling and manual operation for performing harvesting work by manual traveling.
  • the automatic driving mode is set, and in order to perform manual driving, the manual driving mode is set.
  • the switching of the driving mode is managed by a driving mode management unit (not shown) or the like.
  • the travel route generation unit 59 when generating the travel route of automatic travel, selects one of the total yield of the work target area CA, the number of discharges calculated by the discharge count calculation unit 33, and the discharge reference yield, or these. It is also possible to consider it in an appropriate combination. Further, the travel route generation unit 59 can also generate the travel route in consideration of the discharge points set by the discharge point setting unit 86.
  • the travel route including the discharge travel that moves to the discharge point can be efficiently performed while referring to the emission yield. Can be generated. It is also possible to calculate the remaining yield from the yield of grains harvested during the automatic traveling, and to change the remaining yield of the work target area CA to an efficient traveling route as the automatic traveling progresses.
  • the timing of reaching the discharge yield is estimated, and the timing of reaching the discharge yield is taken into consideration in consideration of the route to reach the discharge point. It is desirable to generate the CA at a timing to cut through the CA.
  • the combine during automatic traveling travels so as to traverse the work target area CA at a certain position, then turns and traverses the work target area CA at another position, and reciprocates like this.
  • the combine shown as the fuselage 10 in the figure
  • the combine was set in the vicinity of the carrier CV to discharge the stored grains when the yield of the grains stored in the grain tank 14 reached the discharge yield.
  • the discharge yield is, for example, the full yield and can be determined from the measurement value of the yield sensor 19 (see FIG. 1).
  • the discharge yield can be detected by the full sensor 21 (see FIG. 10) provided in the grain tank 14 (see FIG. 1) when the stored grain has reached the discharge yield.
  • the driver may be notified that the discharge yield has been reached.
  • the combine Assuming that the combine is traveling at a position inside the work target area CA (for example, position PF1) when the discharge yield is reached, the combine moves backward in the already harvested travel route and turns in the outer peripheral area SA.
  • the vehicle travels on the discharge travel route LO1 toward the discharge point PO.
  • the discharge travel route LO1 becomes long due to the discharge, and the efficiency of automatic travel deteriorates.
  • the stability and safety of traveling may deteriorate.
  • the traveling route that automatically travels in the work target area CA in consideration of the emission standard yield, the emission standard yield does not exceed the full yield (emission yield) as the yield when the grain is discharged. It suffices if the yield with a range is taken into consideration. Therefore, the travel route can be easily generated so that the timing of moving to the discharge point is the timing of cutting through the work target area CA. For example, as shown in FIG. 11, if the yield reaches a width that is equal to or higher than the discharge reference yield and equal to or less than the full yield at the position PF2 at the end of the work target area CA, then proceed forward and follow the discharge travel route LO2. You can go through to the discharge point PO. As a result, an efficient travel route can be easily generated.
  • the work target area CA is full.
  • the yield (discharging yield)
  • it does not newly enter the work target area CA.
  • the discharge yield has been reached in the middle of the work target area CA, and it may move to the discharge point.
  • the discharge yield occurs at an unexpected position, and the combine moves to the discharge point.
  • the full sensor 21 see FIG.
  • the combine will move to the emission point even if the emission yield is not actually reached.
  • the combine When the discharge yield is reached in the middle of the work target area CA, as described above, the combine needs to retreat the travel route that has already been harvested, travel along the discharge travel route LO1, and move to the discharge point PO. .. Then, as described above, efficient automatic traveling cannot be performed.
  • the work target area CA is separated by utilizing the adjacent harvested area, so that the backward traveling is suppressed as much as possible and the work target area CA is separated by the forward movement. Can be moved to the discharge point. As a result, efficient automatic traveling can be performed.
  • the route element is a candidate for a travel route.
  • the route elements are set at intervals smaller than the combine cutting width, and are basically set parallel to one side of the work target area CA.
  • the path element is usually a straight line that extends vertically through the work target area CA and is provided in parallel with each other. However, depending on the state of the field and the shape of the work target area CA, there may be a bent portion, or a part or the whole. May be curved.
  • a travel route in automatic travel is generated by selecting a plurality of route elements and adding a U turning route (turning traveling route) connecting the selected route elements (working traveling route). At this time, it is preferable to generate the traveling route in consideration of the emission standard yield and the like.
  • the combine travels forward from the route element LT1 to the route element LT2, travels forward through the route element LT2, and leaves the work target area CA.
  • uncut mowing planted culms remain in the traveling direction of the route element LT1, and if they move forward as they are, they will step over the uncut mowing planted culms. Therefore, when traveling forward from the route element LT1 to the route element LT2, the combine (machine body 10) performs harvesting traveling at least while traveling in the uncut area.
  • the harvested traveling route element LT2 is moved forward to perform work.
  • the target area CA it is not necessary to retract the path element LT1 to leave the work target area CA, and it is possible to efficiently move to the discharge point PO.
  • the vehicle since the vehicle does not travel backward, it is possible to maintain stability and safety of traveling. As a result, efficient automatic traveling can be performed.
  • the distance from the outer periphery of the work target area CA in the backward direction to the discharge point PO is greater than the distance from the outer circumference of the work target area CA to the discharge point PO in the forward direction from the point where the discharge yield is reached.
  • the discharge traveling route LO3 may be a route traveling in the second traveling pattern, but may be a route traveling in the first traveling pattern as shown in the first embodiment.
  • the combine when the combine (airframe 10) reaches the discharge yield in the middle of the work target area CA, it may be separated from the work target area CA via the route element LT2 by the manual travel, but the route is automatically traveled. It may be separated from the work target area CA via the element LT2.
  • the driver In the case of manual driving, when the full sensor 21 (see FIG. 10) or the yield sensor 19 (see FIG. 10) detects that the emission yield has been reached, the driver is notified that the emission yield has been reached. After that, the driver manually travels in response to the notification to leave the work target area CA via the above-described route element LT2.
  • the combine (airframe 10) is stopped at the time when the discharge yield is reached in the middle of the work target area CA by the control of the control unit 5 (see FIG. 10), and the route element LT2 has already been harvested. Whether or not the vehicle is traveling is checked, and when the route element LT2 has already been harvested and traveled, the traveling route generation unit 59 (see FIG. 10) determines a traveling route that leaves the work target area CA via the route element LT2. By generating it, automatic traveling is performed.
  • the combine when the discharge yield is reached in the middle of the work target area CA, the combine (airframe 10) travels backward on the backward route L3 and then on the forward route L4. The vehicle travels forward and moves from the route element LT1 to the route element LT2. As a result, the combine (airframe 10) moves to the route element LT2 without stepping on the uncut crop culm on the route element LT1, advances the route element LT2, and efficiently leaves the work target area CA. be able to.
  • the combine moves to the route element LT2 without stepping on the uncut planting culm on the route element LT1, advances the route element LT2, and efficiently leaves the work target area CA. can do. Further, it is possible to easily move from the route element LT1 to the route element LT2 without paying attention to the uncut mowing planted culm that remains in front of the position on the route element LT1 where the discharge yield has been reached.
  • the adjacent route element LT3 on the opposite side of the route element LT2 of the route element LT1 is not traveling for harvesting.
  • the route element LT4 adjacent to the route element LT2 on the opposite side of the route element LT1 may not be harvested. If the route element LT3 is not traveling for harvesting, there is a case where the uncut grass culm remaining on the route element LT3 is stepped on during backward traveling on the backward route L3 in the other embodiment 1. Further, when the route element LT4 is not traveling for harvesting, when the vehicle travels backward on the backward route L5 according to the second embodiment, an uncut planted grain culm remaining on the route element LT4 may be stepped on.
  • the route element LT1 or the route element LT1 or the route element LT2 is placed between the route element LT1 and the route element LT2.
  • a temporary path element LTP parallel to LT2 is set.
  • the combine (machine 10) moves from the route element LT1 to the temporary route element LTP by backward traveling (reverse route L7).
  • the combine (machine 10) moves from the temporary route element LTP to the route element LT2 by forward traveling (forward route L8).
  • the combine (machine 10) travels forward on the route element LT2 and leaves the work target area CA.
  • the combine (machine 10) may move between the route element LT1 and the route element LT2 by backward traveling (reverse route L7) without setting the provisional route element LTP.
  • the temporary route element LTP when the discharge yield is reached in the middle of the work target area CA, the temporary route element LTP is set, and the combine (machine 10) uses the backward route L7 as the temporary route. After traveling backward to the element LTP, the vehicle travels forward on the forward route L8 and moves to the route element LT2. As a result, it is possible to efficiently leave the work target area CA while suppressing the stepping on the uncut mowing planted culm remaining on the route elements LT3 and LT4.
  • the substantial harvesting work is performed by traveling using the straight work traveling route of the combine.
  • the straight work traveling route is not limited to one straight line.
  • the straight work traveling route may be a bent route, a curved route having a large radius of curvature, or a meandering line route.
  • the shape of the unworked area CA is a quadrangle, but it may be another polygon such as a triangle or a pentagon.
  • At least a part of the configuration in each of the above embodiments can be realized by using a program.
  • the program is stored in the storage device 92 provided in the control unit 5, and is executed by the control unit 91 including a processor such as a CPU and an ECU.
  • the storage device 92 and the control unit 91 may be provided in the control unit 5, but may be provided in another place.
  • a part or all of the travel route (target travel route) for the harvester to automatically travel is not limited to being set by the control unit 5 mounted on the harvester, but may be externally It may be configured to be generated by the above and acquired by the harvester.
  • the configuration for setting a part or all of the traveling route (target traveling route) is a route setting system, which includes a harvester or is configured separately from the harvester.
  • the traveling route (target traveling route) is a traveling route for swirling, or a route L1, a route L2, a backward route L3, a forward route L4, a backward route L5, a forward route L6, a backward route for moving to the discharge point PO. L7, forward path L8 and the like are included.
  • the route setting system has a configuration in which at least some of the components of the control unit 5 are provided outside the machine body 10 and information and signals can be transmitted and received between these and the machine body 10.
  • the target travel route setting unit 513 and the travel route generation unit 59 are provided outside the machine body 10, acquire information on a field from the machine body 10, and provide the machine body 10 with a travel route (target travel route) and the like.
  • the unworked map creation unit 56 and the farm field management unit 83 may be provided outside the machine body 10. Further, only the unworked map creation unit 56 and the farm field management unit 83 may be provided outside the machine body 10. Further, the yield management unit 30 may be provided outside, and which configuration of the control unit 5 is provided inside or outside the machine body 10 is arbitrary.
  • the present invention can be used not only for ordinary combine harvesters, but also for self-removing combine harvesters, and further for various harvesters such as corn harvesters and sugar cane harvesters.
  • Airframe 14 Grain tank (harvest tank) 19: Yield sensor (sensor) 21: Full sensor (sensor) 54: travel route generation unit 56: unworked map creation unit 513: target travel route setting unit CA: unworked area (unworked site) L3: Route L4: Route L7: Route L8: Route LT1: Route element LT2: Route element LTP: Temporary route element SA: Peripheral area (work area)

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