WO2022118570A1 - コンバイン及び走行経路作成方法 - Google Patents
コンバイン及び走行経路作成方法 Download PDFInfo
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- WO2022118570A1 WO2022118570A1 PCT/JP2021/039600 JP2021039600W WO2022118570A1 WO 2022118570 A1 WO2022118570 A1 WO 2022118570A1 JP 2021039600 W JP2021039600 W JP 2021039600W WO 2022118570 A1 WO2022118570 A1 WO 2022118570A1
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- Prior art keywords
- cutting
- rows
- stroke
- maximum
- remaining
- Prior art date
Links
- 238000000034 method Methods 0.000 title claims abstract description 106
- 238000005520 cutting process Methods 0.000 claims description 362
- 230000008569 process Effects 0.000 claims description 77
- 238000007792 addition Methods 0.000 claims 4
- 230000006870 function Effects 0.000 abstract description 4
- 235000013339 cereals Nutrition 0.000 description 38
- 239000010902 straw Substances 0.000 description 26
- 238000003306 harvesting Methods 0.000 description 15
- 238000004891 communication Methods 0.000 description 12
- 238000012545 processing Methods 0.000 description 10
- 239000002699 waste material Substances 0.000 description 9
- 238000010295 mobile communication Methods 0.000 description 8
- 230000032258 transport Effects 0.000 description 7
- 239000000446 fuel Substances 0.000 description 6
- 230000005540 biological transmission Effects 0.000 description 5
- 230000007547 defect Effects 0.000 description 4
- 230000004044 response Effects 0.000 description 4
- 238000009966 trimming Methods 0.000 description 4
- 238000012937 correction Methods 0.000 description 3
- 230000006866 deterioration Effects 0.000 description 3
- 238000007599 discharging Methods 0.000 description 3
- 241000209094 Oryza Species 0.000 description 2
- 235000007164 Oryza sativa Nutrition 0.000 description 2
- 241000209140 Triticum Species 0.000 description 2
- 235000021307 Triticum Nutrition 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 230000003028 elevating effect Effects 0.000 description 2
- 235000009566 rice Nutrition 0.000 description 2
- 241000196324 Embryophyta Species 0.000 description 1
- 238000007664 blowing Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000012876 topography Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Images
Classifications
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- 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
- A01B69/003—Steering or guiding of machines or implements pushed or pulled by or mounted on agricultural vehicles such as tractors, e.g. by lateral shifting of the towing connection
- A01B69/004—Steering or guiding of machines or implements pushed or pulled by or mounted on agricultural vehicles such as tractors, e.g. by lateral shifting of the towing connection automatic
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
-
- 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
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
Definitions
- the present invention is a combine that performs automatic cutting according to a traveling route, and is a combine that creates a traveling route by adjusting the number of cutting rows in each process for a plurality of rows in a field, and the combine performs automatic traveling and automatic cutting.
- the present invention relates to a traveling route creation method for creating a traveling route to be performed.
- a combine that cuts culms while running in a field performs automatic cutting according to a preset running route based on the position information of its own device acquired by using a satellite positioning system such as GPS. Can be done.
- the combine disclosed in Patent Document 1 has a plurality of straight traveling paths, and each linear traveling path is bent and connected at a turning position to store a traveling work path set in the field. Based on the position information acquired by the positioning unit, the vehicle body is made to travel straight along the straight traveling path, turned at the turning position, and the next straight traveling path is made to travel linearly, and autonomously while executing the cutting work. It is equipped with a travel control unit that controls travel.
- Patent Document 2 is provided with a cutting portion movably connected to the machine body and a tilt angle sensor for detecting the tilt angle of the machine body, and acquires position information using GPS to perform autonomous driving. It is possible.
- a combine harvester When harvesting crops from grains planted in multiple rows in a field, for example, a combine harvester travels back and forth in multiple straight strokes along the row direction, and each stroke has a predetermined number of rows. Perform reciprocating mowing.
- the combine When performing such automatic cutting of reciprocating cutting, the combine creates in advance a traveling route for reciprocating a plurality of straight strokes. At this time, it is preferable that the cutting work of each process is performed for the row of the maximum number of cutting rows of the harvesting portion of the combine. Therefore, the travel route for automatic cutting is basically created by setting the maximum number of cutting rows in each stroke.
- the total number of rows of multiple rows in the field is not limited to a multiple of the maximum number of cut rows
- the number of cut rows such as 1 or 2 rows, which is less than the maximum number of cut rows, is set in the travel route. May be done. If the cutting work is performed on such a small number of rows, there is a risk that problems such as a decrease in threshing accuracy and entrainment of straw will occur due to a decrease in the cutting amount and running in the already cut area. ..
- a traveling route for reciprocating cutting is created for each divided region, and the traveling routes of each divided region are connected to connect the traveling routes of the entire field. May create a travel route.
- the total number of rows in each divided area is not a multiple of the maximum number of cut rows, and the number of cut rows such as 1 and 2 rows, which is less than the maximum number of cut rows, is in the straight line stroke of the traveling route of each divided area. May be set. Therefore, there is a possibility that problems such as deterioration of threshing accuracy and involvement of straw may occur in each divided region.
- the combine of the present invention has a plurality of rows of fields, in which a cutting section for cutting grain stalks and a minimum number of cutting rows smaller than the maximum number of cutting rows of the cutting section are set in advance.
- a traveling route for automatic cutting traveling by reciprocating a plurality of steps along the row direction with respect to the work area, the total number of rows in the work area, the maximum number of cutting rows, and the lower limit cutting are performed.
- a traveling route creating unit that creates the traveling route by setting the lower limit cutting number or more in each stroke based on the number of rows, and an automatic driving control unit that controls automatic traveling and automatic cutting according to the traveling route. It is characterized by having.
- the traveling route creating unit divides the remaining number of strips when the lower limit cut number is set in the final stroke of the work area by the maximum number of cuts, and the remainder of the division result.
- the number of rows is within the difference between the maximum number of cutting rows and the minimum number of cutting rows, the number of additional rows of the minimum number of cutting rows and the remaining number of rows is set in the final stroke, and the final stroke is performed. It is advisable to set the maximum number of cutting lines in the remaining strokes other than the above to create the traveling route.
- the traveling route creating unit performs the final stroke and other strokes when the number of surplus rows of the division result exceeds the difference between the maximum number of cut rows and the minimum number of cut rows.
- the number of remaining rows when the minimum number of cutting rows is set in the adjustment process to be included is divided by the maximum number of cutting rows, and the remaining number of the division result is within the difference between the maximum number of cutting rows and the minimum number of cutting rows.
- the number of additional rows of the lower limit cutting row and the remaining number of cutting rows or the lower limit cutting row number is set in the adjustment stroke, and the maximum number of cutting rows is set in the remaining stroke, and the traveling route is set. Should be created.
- the traveling route creating unit may include a predetermined number of strokes traced back from the final stroke in the adjustment stroke as the other strokes.
- the traveling route creating unit uses the divided area obtained by dividing the field according to the predetermined number of middle divisions as the working area, and the maximum cutting line is set in the middle division process along the middle division.
- the number is set and the lower limit cutting number is set in the final stroke of each dividing area
- the remaining number of cuttings in the divided area is divided by the maximum cutting number, and the remaining number of the division result is the maximum cutting.
- the number of rows is within the difference between the number of rows and the minimum number of cuts, the number of additional rows of the minimum number of cuts and the number of surplus rows is set in the final stroke, and the maximum number of rows is set in the remaining strokes of the divided area.
- the final stroke and other strokes are created when the number of cutting rows is set and the traveling route is created, while the remaining number of the division result exceeds the difference between the maximum number of cutting rows and the minimum number of cutting rows.
- the remaining number of the divided area when the lower limit cutting number is set in the adjustment process including When it is within the difference from the number, the addition number of the lower limit cutting number and the surplus number of the cutting line or the lower limit cutting line number is set in the adjustment stroke, and the maximum cutting is made in the remaining stroke of the divided area. It is advisable to set the number of rows and create the traveling route.
- the traveling route creating unit may create the traveling route by setting an even number of strokes with respect to the divided region.
- the traveling route creating method of the present invention is a traveling route creating method for creating a traveling route in which the combine automatically travels and automatically cuts, and the lower limit cutting is smaller than the maximum number of cutting rows.
- the traveling route for performing automatic mowing travel by reciprocating a plurality of steps along the row direction with respect to a work area having a plurality of rows in the field is created, the work area of the work area.
- the traveling route is created by setting the minimum number of cutting rows or more in each stroke.
- the number of remaining rows when the minimum number of cut rows is set in the final stroke of the work area is divided by the maximum number of cut rows, and the remaining number of the division result is the above.
- the number of additional rows of the minimum number of cutting rows and the remaining number of cutting rows is set in the final stroke, and the remaining strokes other than the final stroke are set. It is advisable to set the maximum number of cutting lines in the above and create the traveling route.
- the above-mentioned traveling route creation method of the present invention is used for an adjustment process including the final process and other processes when the remaining number of lines of the division result exceeds the difference between the maximum number of cutting lines and the minimum number of cutting lines.
- the adjustment stroke may be set to the number of additional rows of the lower limit cutting row and the surplus row, or the lower limit cutting row may be set, and the maximum number of cutting rows may be set to the remaining stroke to create the traveling route. ..
- the above-mentioned method for creating a travel route of the present invention may include a predetermined number of strokes retroactive from the final stroke as the other strokes in the adjustment stroke.
- the divided area obtained by dividing the field according to a predetermined number of middle divisions is set as the working area, and the maximum number of cutting rows is set in the middle division process along the middle division.
- the remaining number of cuttings in the divided area when the lower limit cutting number is set in the final stroke of each dividing area is divided by the maximum number of cuttings, and the remaining number of the division result is the maximum number of cuttings and the above.
- the addition number of the lower limit cutting line and the surplus number is set in the final stroke, and the maximum cutting row is set in the remaining stroke of the divided area.
- the traveling route is created by setting, while the adjustment process including the final process and other processes is performed when the remaining number of lines of the division result exceeds the difference between the maximum number of cutting lines and the minimum number of cutting lines.
- the remaining number of the divided area when the lower limit cutting number is set is divided by the maximum cutting number, and the remaining number of the division result is the difference between the maximum cutting number and the lower limit cutting number. If it is within the range, the number of additional rows of the lower limit cutting row and the surplus row or the lower limit cutting row is set in the adjustment stroke, and the maximum number of cutting rows is set in the remaining stroke of the divided area. Then, the traveling route may be created.
- traveling route creation method of the present invention it is preferable to set an even number of strokes for the divided region to create the traveling route.
- a combine and a traveling route creation method capable of suppressing a defect that occurs when cutting work is performed on a small number of rows.
- Combine 1 travels in the field to be worked by automatic operation or manual operation, and also performs work such as harvesting to harvest crops from culms planted in a plurality of rows in the field. ..
- the combine 1 is configured to perform, for example, an automatic work in which the steering is controlled by automatic driving, an automatic work in which the running speed is controlled in response to a manual operation, and an unmanned work in which the steering and running speed are controlled by automatic driving. It can run, turn and work autonomously in the field.
- Combine 1 performs cutting work on a plurality of rows of grain culms while traveling in one stroke having rows within the maximum number of cutting rows.
- the combine 1 is composed of, for example, 6-row cutting having a maximum number of cutting rows of 6 and 7-row cutting having a maximum number of cutting rows of 7, and the present invention does not limit the maximum number of cutting rows. In this embodiment, the combine 1 of 6-row cutting will be described.
- the combine 1 includes a traveling unit 2, a harvesting unit 3, a threshing unit 4, a sorting unit 5, a storage unit 6, a straw waste processing unit 7, a power unit 8, and a control unit. It is equipped with a 9 and is composed of a so-called self-removing combine. While traveling by the traveling unit 2, the combine 1 threshs the grain culms cut by the cutting unit 3 in the threshing unit 4, selects the grains in the sorting unit 5, and stores them in the storage unit 6. The combine 1 processes the straw after threshing by the straw processing unit 7. The combine 1 drives the traveling unit 2, the harvesting unit 3, the threshing unit 4, the sorting unit 5, the storage unit 6, and the straw waste processing unit 7 by the power supplied by the power unit 8.
- the traveling unit 2 is provided below the machine frame 10, and includes a pair of left and right crawler type traveling devices 11 and a transmission (not shown).
- the traveling unit 2 rotates the crawler of the crawler type traveling device 11 by the power transmitted from the engine 27 of the power unit 8 (for example, rotational power), whereby the combine 1 is traveled in the front-rear direction or in the left-right direction. I turn it.
- the transmission transmits the power (rotational power) of the power unit 8 to the crawler type traveling device 11, and can also shift the rotational power.
- the cutting section 3 is provided in front of the traveling section 2 and performs cutting work of rows within the maximum number of cutting rows included in a predetermined cutting width.
- the cutting unit 3 includes a divider 13, a raising device 14, a cutting device 15, and a transport device 16.
- the divider 13 weeds the grain culms in the field for each row, and guides the grain culms for a predetermined number of rows within the maximum number of cut rows to the raising device 14.
- the elevating device 14 causes the grain culm guided by the divider 13.
- the cutting device 15 cuts the culm caused by the raising device 14.
- the transport device 16 transports the grain culms cut by the cutting device 15 to the threshing section 4.
- the threshing section 4 is provided behind the cutting section 3.
- the threshing unit 4 includes a feed chain 18 and a handling cylinder 19.
- the feed chain 18 conveys the grain culms conveyed from the transfer device 16 of the cutting unit 3 for threshing, and further conveys the grain culms after threshing, that is, the straw discharged to the straw processing unit 7.
- the handling cylinder 19 threshs the culm carried by the feed chain 18.
- the sorting unit 5 is provided below the threshing unit 4.
- the sorting unit 5 includes a swing sorting device 21, a wind sorting device 22, a grain transporting device (not shown), and a straw waste discharging device (not shown).
- the rocking sorting device 21 sifts the threshed grains that have fallen from the threshing section 4 and sorts them into grains, straw debris, and the like.
- the wind sorting device 22 further sorts the threshed grains sorted by the rocking sorting device 21 into grains, straw debris, and the like by blowing air.
- the grain transporting device transports the grains sorted by the rocking sorting device 21 and the wind sorting device 22 to the storage unit 6.
- the straw waste discharging device discharges the straw waste and the like sorted by the rocking sorting device 21 and the wind sorting device 22 to the outside of the machine.
- the storage section 6 is provided on the right side of the threshing section 4.
- the storage unit 6 includes a grain tank 24 and a discharge device 25.
- the grain tank 24 stores the grains transported from the sorting unit 5.
- the discharging device 25 is composed of an auger or the like, and discharges the grains stored in the grain tank 24 to an arbitrary place.
- the straw waste processing unit 7 is provided behind the threshing unit 4.
- the straw discharge processing unit 7 includes a straw discharge transport device (not shown) and a straw discharge cutting device (not shown).
- the straw-removing transport device conveys the straw-removed straw conveyed from the feed chain 18 of the threshing unit 4 to the straw-removing cutting device.
- the straw-removing cutting device cuts the straw transported by the straw-removing transport device and discharges it to the outside of the machine, and discharges it to the right side behind the combine 1, for example.
- the power unit 8 is provided above the traveling unit 2 and in front of the storage unit 6.
- the power unit 8 includes an engine 27 that generates rotational power.
- the power unit 8 transmits the rotational power generated by the engine 27 to the traveling unit 2, the cutting unit 3, the threshing unit 4, the sorting unit 5, the storage unit 6, and the straw waste processing unit 7.
- the control unit 9 is provided above the power unit 8.
- the control unit 9 includes a driver's seat 29 and a plurality of operating tools (not shown).
- the driver's seat 29 is a seat on which an operator sits, and is provided on the right side, for example.
- the operation tool includes a handle for changing the traveling direction of the combine 1, that is, steering the combine 1, and the operator controls the traveling and work of the combine 1 by operating the operation tool such as the handle. can.
- the operating tool includes an accelerator for adjusting the rotation speed of the engine 27, that is, the traveling speed of the traveling unit 2 of the combine 1, and an elevating switch for raising and lowering the cutting unit 3.
- the combine 1 is equipped with an airframe camera 32 (see FIG. 3) that captures an image of the surroundings of the combine 1.
- the machine camera 32 photographs the field to be worked on and acquires a field image.
- the combine 1 includes a mobile station 34 that acquires the position information of the combine 1 by using a satellite positioning system such as GPS.
- the mobile station 34 includes, for example, a mobile communication device 35, a mobile GPS antenna 36, and a data receiving antenna 37.
- the mobile communication device 35 acquires the position information of the mobile station 34, that is, the position information of the combine 1 by communicating with the GPS satellite by the mobile GPS antenna 36.
- a base station 39 may be installed on the ridges and the like around the field to be worked on by the combine 1.
- the base station 39 includes a fixed communication device 40, a fixed GPS antenna 41, and a data transmission antenna 42.
- the fixed communication device 40 acquires the position information of the base station 39 by communicating with the GPS satellite by the fixed GPS antenna 41.
- the fixed communication device 40 transmits correction information based on the position information of the base station 39 to the mobile communication device 35 via the data transmission antenna 42.
- the base station 39 may be provided with a fixed camera 43 for photographing the field.
- the fixed camera 43 photographs the field to be worked on and acquires a field image.
- the fixed communication device 40 acquires an image taken by the fixed camera 43 and transmits it to the mobile communication device 35 via the data transmission antenna 42.
- the fixed camera 43 of the base station 39 is used for acquiring the field information will be described, but the fixed camera 43 may not be provided, and the field information may not be acquired by the fixed camera 43. May be good.
- the mobile communication device 35 of the mobile station 34 wirelessly communicates with the fixed communication device 40 of the base station 39 via the data receiving antenna 37.
- the mobile communication device 35 receives the correction information from the fixed communication device 40, and corrects the position information of the mobile station 34, that is, the position information of the combine 1 based on the correction information.
- the mobile communication device 35 receives the field image taken by the fixed camera 43 from the fixed communication device 40.
- control device 50 of the combine 1 will be described with reference to FIG.
- the control device 50 is composed of a computer such as a CPU, and is connected to a storage unit 51 such as a ROM, RAM, a hard disk drive, and a flash memory.
- the storage unit 51 stores programs and data for controlling various components and various functions of the combine 1, and the control device 50 executes arithmetic processing based on the programs and data stored in the storage unit 51. Controls various components and various functions. For example, the control device 50 controls the mobile station 34 to acquire the position information of the combine 1 from the mobile communication device 35.
- the combine 1 includes a communication unit 52, and the control device 50 wirelessly communicates with an external device such as a mobile terminal 53 owned by the operator via the communication unit 52, and various types are performed with the mobile terminal 53. Send and receive information.
- the mobile terminal 53 is a terminal capable of remotely controlling the combine 1, and is composed of, for example, a tablet terminal provided with a touch panel, a notebook-type personal computer, or the like.
- the control unit 9 may be provided with an operation tool similar to that of the mobile terminal 53.
- the mobile terminal 53 may include a mobile camera 54 that captures an image.
- the mobile camera 54 for example, captures a field to be worked on and acquires a field image. In the present embodiment, an example in which the portable camera 54 is used for acquiring the field information will be described, but the portable camera 54 may not be provided, and the field information may not be acquired by the portable camera 54.
- the mobile terminal 53 is configured to accept an input operation such as a touch operation of a touch panel for field information related to the field to be worked.
- the mobile terminal 53 has, for example, the shape of the field edge constituting the outer periphery of the field (hereinafter referred to as the field shape), the position information (coordinates, etc.) of the field edge, the shape of the uncut area in the field, and the area having the uncut grain sword.
- the mobile terminal 53 can display the field map based on the field information and display the traveling route of the combine 1 on the field map so that the traveling direction can be understood.
- the control device 50 may perform wireless communication with the aerial photography device 56 such as a drone provided with the aerial photography camera 57 via the communication unit 52, and the aerial photography device 56 wirelessly communicates with the mobile terminal 53. You may go.
- the aerial photography device 56 and the aerial photography camera 57 are used for acquiring the field information will be described, but the aerial photography device 56 and the aerial photography camera 57 may not be provided, and the aerial photography camera 57 may not be provided. It is not necessary to acquire the field information by.
- the control device 50 or the mobile terminal 53 receives an operation instruction of the aerial photography device 56 and a field photography instruction by the operator and transmits the operation instruction to the aerial photography device 56.
- the aerial photography device 56 operates in response to an operation instruction, and also controls the aerial photography camera 57 in response to an operation instruction to photograph a field and acquire a field image.
- the aerial photography device 56 transmits the field image taken by the aerial photography camera 57 to the control device 50 or the mobile terminal 53.
- the control device 50 receives the field image taken by the airframe camera 32, the fixed camera 43, the portable camera 54, or the aerial camera 57 and displays it on the monitor of the control unit 9. Alternatively, the control device 50 may transmit the captured field image to the mobile terminal 53 and display it on the monitor of the mobile terminal 53.
- the combine 1 presets 6 rows as the maximum number of cutting strips, which is the cutting capacity value of the harvesting section 3, and stores them in the storage section 51.
- Combine 1 has reduced threshing accuracy and straw removal due to a decrease in the amount of harvesting and running in the already-cut area when the harvesting work is performed with the number of cutting rows such as 1 and 2 rows, which is less than the maximum number of cutting rows. There is a possibility that problems such as entanglement may occur. However, even if the number of cutting rows is less than the maximum number of cutting rows, when the cutting work is performed with the number of cutting rows such as 4 or 5, the reduction amount of the cutting amount is small and the traveling width of the already cut area is narrow. Defects are suppressed.
- the number of rows in which defects caused by the small number of trimming operations are suppressed is referred to as the minimum number of trimming rows, and the combine 1 has 5 strips as the minimum number of trimming strips smaller than the maximum number of trimming strips. It is set in advance and stored in the storage unit 51.
- the lower limit of the number of cuts may be arbitrarily set according to the input operation of the mobile terminal 53 by the operator, and is not limited to 5 which is 1 less than the maximum number of cuts and 2 less than the maximum number of cuts. It may be set to Article 4.
- the combine 1 may store the cutting width of each row, which is the cutting capacity value of the cutting unit 3, and the cutting width of the row having the maximum number of cutting rows in the storage unit 51 in advance.
- the cutting width of the row of the maximum number of cutting rows may be grasped based on the cutting width of each row.
- control device 50 operates as a field information setting unit 60, a travel route creation unit 61, and an automatic operation control unit 62 by executing a program stored in the storage unit 51.
- the travel route creation unit 61 realizes the travel route creation method according to the present invention.
- the field information setting unit 60 automatically or manually sets the field information related to the field to be worked and stores it in the storage unit 51.
- the field information setting unit 60 manually sets the field information in response to the field information input operation on the field information setting screen of the mobile terminal 53.
- the field information setting unit 60 acquires a field image of the field taken by the machine camera 32 of the combine 1, the fixed camera 43 of the base station 39, the mobile camera 54 of the mobile terminal 53, or the aerial camera 57 of the aerial photography device 56. Then, the field information is automatically acquired by analyzing the field image.
- the field information setting unit 60 may analyze field information from the field image of one camera among the machine camera 32, the fixed camera 43, the mobile camera 54, or the aerial camera 57, and may analyze the field information of two or more cameras. The field information may be analyzed from the field image.
- the field information setting unit 60 is automatically set from the field information manually set via the mobile terminal 53 and the field image of the machine camera 32, the fixed camera 43, the mobile camera 54 or the aerial camera 57. It is also possible to obtain more accurate field information by taking consistency with the information.
- the travel route creation unit 61 creates a travel route to be referred to for the combine 1 to automatically travel and mow the field by automatic operation, and stores it in the storage unit 51.
- the travel route includes not only travel settings related to travel but also work settings related to work such as mowing.
- the travel setting includes the travel speed and the traveling direction (steering direction and forward or backward) at each traveling position in addition to the traveling position in the field.
- the work settings include information on the operation or stop of cutting at each running position, cutting speed and height, number of cutting lines, and other work.
- the travel route creation unit 61 sets the uncut area in the field as a work area, sets the process of cutting while traveling in a straight line, and sets the travel route by combining a plurality of straight lines with respect to the work area.
- the traveling route creating unit 61 reciprocates a plurality of rows in the work area in a plurality of straight strokes along the row direction, and reciprocates to mow a predetermined number of rows in each stroke. Create a travel route for mowing.
- the uncut area and the area after the cutting work of the grain culm (hereinafter referred to as the cut area) exist in the work area, and the traveling route creating unit 61 has the combined area 1 as much as possible. Combine the reciprocating mowing process so that the uncut area is located on the right side of the combine 1 and the uncut area is located on the left side of the combine 1.
- the traveling route creating unit 61 travels in one direction on the stroke on one end side in the arrangement direction of the strips intersecting the strip direction, then travels on the headland and moves to the other end side, and then moves to the other end side. Create a travel route so that the vehicle travels in the other direction (opposite to one direction). Further, the travel route creation unit 61 creates a travel route for performing such reciprocating travel while shifting the stroke from both end sides in the arrangement direction toward the center side. As a result, the start stroke of the traveling route is set to one end side in the arrangement direction of the work area, and the final stroke is set to the center side.
- the travel route creation unit 61 has a U-shaped turn, which is a basic turning method of turning 180 degrees only in the forward direction, or a U-shaped turn, which is a basic turning method of turning 180 degrees in the forward direction, as an idle route running on the headland between the two strokes, and then turns 90 degrees in the forward direction. Any of various turning methods such as a fishtail turn that reverses and turns 90 degrees further forward may be set.
- the travel route creation unit 61 may automatically select a turning method according to the distance between the two strokes. For example, when it is relatively far away, it selects a U-shaped turn, while it is relatively close. If you cannot make a U-shaped turn, you may select a fishtail turn.
- the traveling route creating unit 61 may automatically select a turning method according to the topography of the headland and the road surface condition (muddy or the like). Alternatively, the travel route creation unit 61 may manually select the turning method according to the input operation using the mobile terminal 53.
- the travel route creation unit 61 sets the maximum number of cutting rows in each stroke as much as possible (assigns the rows of the maximum number of cutting rows), but the total number of rows in the work area, which is the field information, and the cutting. Based on the maximum number of cutting rows and the minimum number of cutting rows, which are the cutting capacity values of Part 3, a traveling route is created by setting the minimum number of cutting rows or more in each process. The travel route creation unit 61 sets the maximum number of cut rows for a process having only the cut rows. At this time, the traveling route creating unit 61 may set the stroke of the maximum number of cutting lines as the traveling route regardless of whether the left side and the right side of the combine 1 are the cut area or the uncut area.
- the traveling route creation unit 61 sets the lower limit number of cut rows for the process having the cut rows and the uncut rows. At this time, in the traveling route creating unit 61, the mowed row is located on the right side in front of the combine 1 and the uncut row is located on the left side in front of the combine 1, that is, the mowed area is located. The stroke of the lower limit cutting number is set in the traveling route so as to be located on the right side of the combine 1 aircraft.
- the traveling route creation unit 61 divides the total number of rows in the work area by the maximum number of cutting rows as the first setting operation.
- this division is referred to as a first division.
- the travel route creation unit 61 sets the quotient as the number of strokes and has a plurality of work areas. Determine the process and set the maximum number of cutting lines for each process.
- the travel route creation unit 61 creates a travel route so as to perform the cutting work of the maximum number of cutting rows in each stroke of the number of strokes.
- the travel route creation unit 61 temporarily sets a value obtained by adding 1 to the quotient as the number of strokes as the second setting operation, and provisionally sets a plurality of strokes in the work area. After deciding, the maximum number of cutting lines is provisionally set for each process other than the final process. Further, the traveling route creating unit 61 provisionally sets the lower limit number of cutting rows with the final stroke of the work area as the adjustment stroke, and divides the remaining number of rows other than the final stroke by the maximum number of cutting rows.
- this division will be referred to as a second division.
- the traveling route creating unit 61 adds the lower limit of cuts and the number of surpluses.
- the number of additional rows is set in the final stroke, and the maximum number of cut rows is set in the remaining strokes other than the final stroke. Then, the traveling route creating unit 61 creates a traveling route so as to perform the cutting work of the maximum number of cutting rows from the start stroke to the stroke immediately before the final stroke, and to perform the cutting work of the additional number of cutting rows in the final stroke.
- the traveling route creation unit 61 performs the final stroke and other strokes as the third setting operation. Temporarily set the lower limit number of cutting rows in the adjustment stroke including, and divide the remaining number of rows other than the adjustment stroke by the maximum number of cutting rows, that is, perform the second division again.
- the traveling route creation unit 61 determines the lower limit cutting number and the number of remainder cutting. The added number of additional rows or the minimum number of cut rows is set in the adjustment stroke, and the maximum number of cut rows is set in the remaining strokes other than the adjustment stroke. Then, the traveling route creating unit 61 performs the cutting work of the maximum number of cutting rows in the stroke other than the final stroke and the adjustment stroke including other strokes, and the additional row number or the lower limit cutting in the adjustment stroke including the final stroke and other strokes. Create a travel route so that the cutting work of the number of rows is performed.
- the traveling route creation unit 61 further performs the third setting operation. In other words, the traveling route creating unit 61 repeats the third setting operation until the number of surplus rows is within the difference between the maximum number of cut rows and the minimum number of cut rows.
- the travel route creation unit 61 may add a predetermined number of processes retroactive from the final process. For example, in the first third setting operation, the travel route creation unit 61 sets an adjustment stroke including a stroke immediately before the final stroke in addition to the final stroke. Further, in the second third setting operation, the traveling route creating unit 61 further includes an adjustment process including the first adjustment process (the final process and the process immediately before the final process) two steps before the final process. Reset. In this way, each time the traveling route creating unit 61 performs the third setting operation, the traveling route creating unit 61 goes back in order from the stroke immediately before the final stroke and adds the strokes to the adjustment stroke one by one.
- the traveling route creating unit 61 divides the uncut area of the field by a predetermined number of middle divisions along the row direction, the traveling route creating unit 61 divides the uncut area by each middle division and divides the uncut area into a plurality of steps in each of the plurality of divided areas. To set. Further, the traveling route creating unit 61 connects the strokes between the divided regions by setting an idle route traveling on the headland between the final stroke of one divided region and the start stroke of the next divided region. In this way, the travel route creation unit 61 creates travel routes in a plurality of divided regions.
- the process along the middle division may have an uncut area on the right side of the combine 1 aircraft, and the traveling route creation unit 61 sets the maximum number of cutting lines in such a middle division process. do.
- the traveling route creating unit 61 performs the above-mentioned first setting operation, second setting operation, and third setting operation with each divided area as a work area in a state where the maximum number of cutting lines is set in the middle division process of each divided area. , Set multiple strokes in each division area.
- the traveling route creating unit 61 sets the maximum number of cutting rows in the middle division stroke of the divided area and sets the minimum number of cutting rows in the final stroke, and sets the maximum number of cutting rows. Divide by (second division).
- the traveling route creating unit 61 sets the maximum number of cutting lines in the middle division process of the divided area and sets the lower limit number of cutting lines in the adjustment process including the final process and other processes. Divide the number of remaining rows by the maximum number of cut rows (second division again).
- the traveling route creating unit 61 sets the start stroke of the next divided area so that one divided area, which is a cut area, is located on the right side of the body of the combine 1. Further, in the plurality of divided regions, it is preferable to make the free running route between the final stroke of one divided region and the start stroke of the next divided region as short as possible. Therefore, the traveling route creation unit 61 sets the traveling direction of the final stroke of one divided region and the start stroke of the next divided region in the opposite direction, and sets the start stroke of the next divided region to the one divided region side. Set. For these reasons, the travel route creation unit 61 creates an travel route by setting an even number of strokes for each divided region.
- the automatic driving control unit 62 controls the power unit 8, the traveling unit 2 and the cutting unit 3 based on the traveling setting and the work setting of the traveling route created by the traveling route creating unit 61, and automatically according to the traveling route. Run and run and automatically mow.
- the automatic operation control unit 62 automatically cuts uncut culms on the traveling route by the cutting unit 3. Further, the automatic operation control unit 62 controls the threshing unit 4, the sorting unit 5, the storage unit 6 and the straw waste processing unit 7 in accordance with the automatic cutting, and threshing the culm after cutting, the grain after threshing, and the grain. Sorting of straw waste, storage of grains after sorting, processing of straw after threshing, etc. are automatically executed.
- the combine 1 is provided with a gyro sensor and an orientation sensor to acquire displacement information and orientation information of the combine 1, and the automatic operation control unit 62 adjusts the automatic traveling of the combine 1 based on the displacement information and the orientation information. May be good.
- a field F1 which is formed in a rectangular shape and has rice, wheat, or the like as a crop is targeted for work
- the vertical direction of the paper in FIG. 4 is the grain of the field F1. It is a direction
- the horizontal direction of the paper surface is the arrangement direction (width direction) of the strips.
- the field F1 has a headland H1 that serves as a turning space during reciprocating mowing running around the uncut area A1.
- the headland H1 is created by manually manipulating the combine 1 to run and mow the uncut area along the outer circumference of the field F1.
- the headland H1 may be created by going straight on the headland (automatic straight line) along a straight line at the edge of the field and turning manually. For example, the operator manually controls the power unit 8, the traveling unit 2, and the harvesting unit 3 of the combine 1 to travel and mow the inside of the field F1 so as to orbit along the field edge, and the field edge. Create a headland H1 along the line.
- the headland H1 may be prepared in advance in the field F1.
- the field information setting unit 60 automatically or manually performs the field shape, the position information of the field edge, the shape of the uncut area A1, and the uncut area A1 in order to perform the automatic cutting operation with the uncut area A1 of the field F1 as the work area.
- Field information such as the position information of the cutting area A1, the row direction of a plurality of rows in the uncut area A1, the arrangement direction of the rows intersecting the row directions, and the total number of rows of the plurality of rows is set.
- the travel route creation unit 61 automatically travels and automatically cuts the uncut area A1 by reciprocating cutting based on the field information set by the field information setting unit 60. It is created and stored in the storage unit 51.
- FIG. 4 shows an example of a traveling route P1 in which six straight strokes R1 to R6 are set for an uncut area A1 having a total number of rows of 31 to 36, and the stroke R1 is a start stroke and a stroke. R6 is the final process.
- the traveling route creating unit 61 divides the total number of rows (36 articles) in the work area by the maximum number of cutting rows (6 articles) (first division). .. As a result of this first division, the quotient is 6 and the remainder is 0, and the travel route creation unit 61 sets the number of strokes to 6 to determine a plurality of strokes, and travels back and forth between the 6 strokes R1 to R6.
- the travel route P1 is created as described above (see FIG. 4). Then, as shown in FIG. 5, the traveling route creating unit 61 sets the maximum number of cutting rows (6 rows) in each of the strokes R1 to R6.
- the traveling route creating unit 61 divides the total number of rows (35 articles) in the work area by the maximum number of cutting rows (6 articles) (first division). .. As a result of this first division, the quotient is 5 and the remainder is 5, and as the second setting operation, the traveling route creation unit 61 adds 1 to 5 of the quotient and sets the number of strokes to 6, and a plurality of strokes. Is determined, and a travel path P1 is created so as to reciprocate on the six strokes R1 to R6 (see FIG. 4). Then, as shown in FIG. 6, the traveling route creating unit 61 provisionally sets the lower limit cutting number (5) in the final stroke R6.
- the traveling route creation unit 61 divides the remaining number of rows (30 rows) other than the final stroke R6 for which the minimum number of cut rows (5 rows) is set by the maximum number of cut rows (6 rows) (second). division). As a result of this second division, the remainder (remainder number of rows) is 0, and the difference (1 row) between the maximum number of cut rows (6 rows) and the minimum number of cut rows (5 rows) is within the travel route. As shown in FIG. 7, the creating unit 61 sets the additional number (5), which is the sum of the lower limit cutting number (5) and the remainder (0), in the final process R6, and also sets the final process. The maximum number of cutting rows (6 rows) is set for the remaining strokes R1 to R5 other than R6.
- the traveling route creating unit 61 divides the total number of rows (34 articles) in the work area by the maximum number of cutting rows (6 articles) (first division). .. As a result of this first division, the quotient is 5 and the remainder is 4, and as the second setting operation, the traveling route creation unit 61 adds 1 to 5 of the quotient and sets the number of strokes to 6, and a plurality of strokes. Is determined, and a travel path P1 is created so as to reciprocate on the six strokes R1 to R6 (see FIG. 4). Then, as shown in FIG. 8, the traveling route creating unit 61 provisionally sets the lower limit cutting number (5) in the final stroke R6.
- the traveling route creation unit 61 divides the remaining number of rows (29 articles) other than the final stroke R6 for which the minimum number of cutting rows (5 articles) is set by the maximum number of cutting rows (6 articles) (second). division). As a result of this second division, the remainder (remaining number of rows) is 5, and the difference between the maximum number of cutting rows (6) and the minimum number of cutting rows (5) is not within (1), so the travel route is created.
- the unit 61 temporarily sets the lower limit cutting number (5 articles) in the adjustment process including the final process R6 and the previous process R5, and sets the articles other than the adjustment process. Divide the remaining number of rows (24) by the maximum number of cuts (6) (second division again).
- the traveling route creating unit 61 adjusts the additional number (5) by adding the lower limit cutting number (5) and the remainder (0) to the final process R6 (or) of the adjustment process. Set to the previous stroke R5), set the lower limit cutting number (5) to the previous stroke R5 (or the final stroke R6), and set the maximum to the remaining strokes R1 to R4 other than the adjustment stroke. Set the number of cuts (6).
- a field F2 which is formed in a rectangular shape and has rice, wheat, or the like as a crop is targeted for work
- the vertical direction of the paper in FIG. 11 is the grain of the field F2. It is a direction
- the horizontal direction of the paper surface is the arrangement direction (width direction) of the strips.
- the field F2 has a headland H2 that serves as a turning space during reciprocating mowing running around the uncut area A2.
- the headland H2 is created in the same manner as the headland H1 of the first embodiment.
- the field F2 and the uncut area A2 are long in the row arrangement direction, and the uncut area A2 is divided into divided areas Da, Db, and Dc by a predetermined number of times (for example, twice) of the middle divisions Ca and Cb.
- the field information setting unit 60 automatically or manually performs the field shape, the position information of the field edge, the shape of the uncut area A2, and the uncut area A2 in order to perform the automatic cutting operation with the uncut area A2 of the field F2 as the work area.
- Field information such as the position information of the cut area A2, the row direction of a plurality of rows in the uncut area A2, the arrangement direction of the rows intersecting the row directions, and the total number of rows of the plurality of rows is set.
- the field information setting unit 60 automatically or manually performs the position information of the middle division Ca and Cb and the respective division areas Da and Db in order to perform the automatic cutting operation with each division area Da, Db and Dc as the work area.
- Dc shape and position information field information such as the total number of rows of each divided area Da, Db, Dc is set.
- the travel route creation unit 61 automatically travels and automatically cuts the uncut area A2 by reciprocating cutting based on the field information set by the field information setting unit 60. It is created and stored in the storage unit 51.
- FIG. 11 shows an example in which the uncut area A2 has divided areas Da, Db, and Dc having a total number of rows of 31 to 36, and automatic cutting is performed in the order of the divided areas Da, Db, and Dc.
- a traveling path Pa in which six straight strokes Ra1 to Ra6 are set for the divided region Da is created
- a traveling path Pb in which six straight strokes Rb1 to Rb6 are set for the divided region Db is created.
- a traveling route Pc in which six straight strokes Rc1 to Rc6 are set for the divided region Dc is created. Further, in each of the divided regions Da, Db, and Dc, the strokes Ra1, Rb1, and Rc1 are the start strokes, and the strokes Ra6, Rb6, and Rc6 are the final strokes. Then, the traveling route creating unit 61 connects the traveling route Pa of the divided region Da, the traveling route Pb of the divided region Db, and the traveling route Pb of the divided region Db to create the traveling route P2 of the uncut region A2.
- each divided area Da, Db, Dc when the total number of rows of each divided area Da, Db, Dc is a multiple of the maximum number of cutting rows, for example, each divided region Da, Db, with respect to the maximum number of cutting rows of 6.
- a fourth operation example when the total number of rows of Dc is 36 will be described with reference to FIG.
- the traveling route creating unit 61 divides the total number of rows (36 rows) of the divided area Da by the maximum number of cutting rows (6 rows) (1st division). ). As a result of this first division, the quotient is 6 and the remainder is 0, and the travel route creation unit 61 sets the number of strokes to 6 to determine a plurality of strokes, and travels back and forth between the 6 strokes Ra1 to Ra6.
- the travel route Pa is created as described above (see FIG. 11). Then, as shown in FIG. 12, the traveling route creating unit 61 sets the maximum number of cutting rows (6 rows) in each of the strokes Ra1 to Ra6.
- the traveling paths Pb and Pc are created in the same manner as in the above-described fourth operation example.
- each divided area Da, Db, Dc when the total number of rows of each divided area Da, Db, Dc is not a multiple of the maximum number of cutting rows, for example, each divided region Da, Db, with respect to the maximum number of cutting rows of 6.
- a fifth operation example when the total number of rows of Dc is 35 will be described with reference to FIGS. 13 and 14.
- the traveling route creating unit 61 divides the total number of rows (35 articles) of the divided area Da by the maximum number of cutting rows (6 articles) (1st division). ). As a result of this first division, the quotient is 5 and the remainder is 5, and as the second setting operation, the traveling route creation unit 61 adds 1 to 5 of the quotient and sets the number of strokes to 6, and a plurality of strokes. Is determined, and a travel path Pa is created so as to reciprocate on the six strokes Ra1 to Ra6 (see FIG. 11). Then, as shown in FIG.
- the traveling route creating unit 61 has an uncut area on the right side of the body of the combine 1 in the process Ra2 along the middle section, so that the maximum cutting line is set in the middle section Ra2.
- the number (6 articles) is set, and the lower limit cutting number (5 articles) is provisionally set in the final process Ra6.
- the traveling route creation unit 61 has the remaining number of rows (24 articles) other than the middle division process Ra2 in which the maximum number of cuts (6 articles) is set and the final process Ra6 in which the minimum number of cuts (5 articles) is set. ) Is divided by the maximum number of cuts (6) (second division). As a result of this second division, the remainder (remainder number of rows) is 0, and the difference (1 row) between the maximum number of cut rows (6 rows) and the minimum number of cut rows (5 rows) is within the travel route. As shown in FIG. 14, the creating unit 61 sets the additional number of threads (5 articles), which is the sum of the lower limit number of cut threads (5 articles) and the remaining number of threads (0 articles), in the final process Ra6, and also sets the middle division. The maximum number of cutting rows (6 rows) is set for the remaining strokes Ra1 and Ra3 to Ra5 other than the stroke Ra2 and the final stroke Ra6.
- the traveling paths Pb and Pc are created in the same manner as in the above-mentioned fifth operation example.
- the split region Dc does not have a middle split stroke having an uncut region on the right side of the combine harvester 1
- the travel path Pc is the same as in the second operation example of the first embodiment regardless of the middle split stroke. Will be created.
- FIGS. 15 to 17 show an example of the sixth operation in the case where the total number of rows of the divided regions Da, Db, and Dc is 34 for the maximum number of cutting rows of 6. It will be explained with reference to.
- the traveling route creating unit 61 divides the total number of rows (34 articles) of the divided area Da by the maximum number of cutting rows (6 articles) (1st division). ). As a result of this first division, the quotient is 5 and the remainder is 4, and as the second setting operation, the traveling route creation unit 61 adds 1 to 5 of the quotient and sets the number of strokes to 6, and a plurality of strokes. Is determined, and a travel path Pa is created so as to reciprocate on the six strokes Ra1 to Ra6 (see FIG. 11). Then, as shown in FIG. 15, the traveling route creating unit 61 temporarily sets the maximum number of cutting rows (6 rows) in the middle division stroke Ra2 and the minimum number of cutting rows (5 rows) in the final stroke Ra6. do.
- the traveling route creation unit 61 has the remaining number of rows (Article 23) other than the middle division process Ra2 in which the maximum number of cuts (6 articles) is set and the final process Ra6 in which the minimum number of cuts (5 articles) is set. ) Is divided by the maximum number of cuts (6) (second division). As a result of this second division, the remainder (remaining number of rows) is 5, and the difference between the maximum number of cutting rows (6) and the minimum number of cutting rows (5) is not within (1), so the travel route is created.
- the unit 61 has an adjustment stroke including the final stroke Ra6 and the previous stroke Ra5 in a state where the maximum number of cutting rows (6 rows) is set in the middle division stroke Ra2 as shown in FIG. Temporarily set the minimum number of cuts (5) in, and divide the remaining number of rows (18) other than the middle division process Ra2 and the adjustment process by the maximum number of cuts (6) (again, the second). division).
- the traveling route creating unit 61 adjusts the additional number (5) by adding the lower limit cutting number (5) and the remainder (0) to the final process Ra6 (or) of the adjustment process.
- the traveling route creating unit 61 sets the additional number (5) by adding the lower limit cutting number (5) and the remainder (0) to the final process Ra6 (or) of the adjustment process.
- the traveling route creating unit 61 sets the additional number (5) by adding the lower limit cutting number (5) and the remainder (0) to the final process Ra6 (or) of the adjustment process.
- Ra5 the previous stroke Ra5
- Ra6 or the final stroke Ra6
- the middle division stroke Ra2 and the remaining strokes other than the adjustment stroke set the maximum number of cutting rows (6 rows) for Ra1, Ra3 to Ra4.
- the traveling paths Pb and Pc are created in the same manner as in the sixth operation example described above.
- the split region Dc does not have a middle split stroke having an uncut region on the right side of the combine harvester 1
- the travel path Pc is the same as in the third operation example of the first embodiment regardless of the middle split stroke. Will be created.
- the combine 1 includes a control device 50, and the control device 50 automatically travels according to the travel route creation unit 61 for creating a travel route corresponding to the field and the travel route. It functions as an automatic operation control unit 62 that controls automatic cutting.
- the travel route creation unit 61 creates a travel route for performing automatic mowing travel by reciprocating a plurality of steps along the row direction with respect to a work area having a plurality of rows in the field, all the rows of the work area. Based on the number of rows, the maximum number of cutting rows, and the minimum number of cutting rows, the minimum number of cutting rows or more is set for each process to create a traveling route.
- Combine 1 may cause problems such as deterioration of threshing accuracy and entrainment of straw when cutting work is performed on rows that are relatively smaller than the maximum number of cut rows.
- the combine 1 does not perform the cutting work on the rows smaller than the lower limit cutting number in the automatic cutting running, and causes problems such as deterioration of threshing accuracy and involvement of straw. It can be suppressed, and therefore, automatic cutting can be efficiently performed.
- the traveling route creating unit 61 divides the remaining number of cutting lines when the lower limit cutting number is set in the final stroke of the work area by the maximum number of cutting lines (the second setting operation). 2 division). Then, when the remaining number of the division result is within the difference between the maximum cutting number and the lower limit cutting number, the traveling route creating unit 61 adds the lower limit cutting number and the remaining number to the final stroke. In addition to setting the number, the maximum number of cutting lines is set for the remaining strokes other than the final stroke to create a traveling route.
- the traveling route creation unit 61 adjusts including the final stroke and other strokes when the remaining number of division results exceeds the difference between the maximum number of cut rows and the lower limit cut rows. Divide the remaining number of cutting rows by the maximum number of cutting rows when the lower limit cutting number is set in the process (second division of the third setting operation again). Then, when the surplus number of the division result is within the difference between the maximum number of cuts and the lower limit of the cuts, the traveling route creation unit 61 adds the lower limit cuts and the surplus to the adjustment process. Set the number or the minimum number of cuts, and set the maximum number of cuts in the remaining stroke to create a traveling route.
- the traveling route creating unit 61 may include a predetermined number of strokes traced back from the final stroke in the adjustment stroke as other strokes.
- the combine 1 performs the cutting work with the maximum number of cutting rows in the first half of the automatic cutting running and the cutting work with the minimum number of cutting rows smaller than the maximum number of cutting rows in the latter half, as in the case of manual cutting.
- the process can be realized.
- the combine 1 performs the automatic cutting operation while considering the remaining fuel amount of the engine 27 of the power unit 8 and the grain storage amount of the grain tank 24 of the storage unit 6, the maximum cutting line is used throughout the automatic cutting operation. Since the process of harvesting by number is continuous, it is easy to grasp the remaining amount of fuel and the amount of grain stored. Further, the combine 1 can adjust the remaining fuel amount and the grain storage amount in the final process of performing the cutting work with the lower limit number of cutting lines.
- the combine 1 adjusts the number of cutting rows for each of the plurality of divided regions divided by the middle division, but the present invention is not limited to this example, and the combine 1 is not limited to this example.
- the number of harvested rows may be adjusted for the entire field.
- the combine 1 may adjust the number of cuts of a predetermined number of steps back from the final step of the entire field while basically setting the maximum number of cuts in each step. For example, as shown in FIG. 18, when the total number of rows of the field F2 is 105 with respect to the maximum number of cutting rows of 6, the combine 1 has a predetermined number of strokes traced back from the final stroke Rc6 of the entire field.
- the lower limit of the number of cuts is set for, and the maximum number of cuts is set for the steps other than the lower limit of the number of cuts.
- the combine 1 sets the lower limit number of cutting rows (5 rows) for the three strokes Rc6, Rc5, and Rc4 traced back from the final stroke Rc6 in the divided region Dc having the final stroke Rc6 of the entire field.
- the maximum number of cutting rows (6 rows) is set for each of the other strokes of the divided region Dc and the other strokes of the divided regions Da and Db.
- the division region for setting the lower limit number of cutting rows is not limited to the division region Dc, and may be the division region Da or Db.
- the combine 1 has described an example in which the lower limit cutting number is set for the final stroke and a predetermined number of strokes traced back from the final stroke, but the present invention is not limited to this example. ..
- the combine 1 is the final stroke if the mowed area is located on the right side of the combine 1 aircraft or the mowed row is located on the right side in front of the combine 1 aircraft.
- the lower limit of the number of cutting lines may be set for the first half of the automatic harvesting run and the middle step of the automatic harvesting run, without limiting to the steps in the vicinity of (the second half of the automatic harvesting run).
- the traveling route creating unit 61 uses a divided area obtained by dividing the field according to a predetermined number of middle divisions as a work area, and sets the maximum number of cutting rows in the middle division process along the middle division. Set. Further, the traveling route creating unit 61 divides the remaining number of cutting lines in the divided area when the lower limit cutting number is set in the final stroke of each dividing area by the maximum number of cutting lines (second division of the second setting operation). .. Then, when the remaining number of the division result is within the difference between the maximum cutting number and the lower limit cutting number, the traveling route creating unit 61 adds the lower limit cutting number and the remaining number to the final stroke.
- the travel route creation unit 61 sets the minimum number of cuts in the adjustment stroke including the final stroke and other strokes.
- the number of remaining rows of the divided area at that time is divided by the maximum number of cutting rows (second division of the second setting operation).
- the traveling route creation unit 61 adds the lower limit cuts and the surplus to the adjustment process.
- the maximum number of cutting lines is set in the remaining stroke of the divided area to create a traveling route.
- the combine 1 can realize the process of performing the cutting work with the maximum number of cutting rows in the first half of each divided region and performing the cutting work with the minimum number of cutting rows smaller than the maximum number of cutting rows in the second half. Further, the combine 1 is the maximum in each divided region when the automatic cutting operation of each divided region is performed while considering the remaining fuel amount of the engine 27 of the power unit 8 and the grain storage amount of the grain tank 24 of the storage unit 6. Since the process of cutting is continuous according to the number of cutting lines, it is easy to grasp the remaining amount of fuel and the amount of grain stored. Further, the combine 1 can adjust the remaining fuel amount and the grain storage amount in the final step of performing the cutting work with the lower limit number of cutting lines in each divided region.
- the travel route creation unit 61 may create an travel route by setting an even number of strokes for the divided region.
- each division area can be arranged on the same side, and the free running route between the division areas can be shortened.
- the present invention is not limited to this example, and the combine 1 may be composed of a normal combine.
- FIGS. 4 to 17 an example in which the idle route between strokes is turned in a U-turn is shown, but the present invention is not limited to this example, and the idle route between strokes is not limited to this example.
- Fishtail turns and other turning methods may be used.
Abstract
Description
2 走行部
3 刈取部
34 移動局
39 基地局
50 制御装置
51 記憶部
52 通信部
53 携帯端末
60 圃場情報設定部
61 走行経路作成部
62 自動運転制御部
Claims (12)
- 穀稈を刈り取る刈取部と、
前記刈取部の最大刈取条数よりも少ない下限刈取条数を予め設定し、圃場の複数の条列を有する作業領域に対して条方向に沿った複数の行程を往復して自動刈取走行を行う走行経路を作成する場合に、前記作業領域の全条列数と、前記最大刈取条数と、前記下限刈取条数とに基づいて、各行程に前記下限刈取条数以上を設定して前記走行経路を作成する走行経路作成部と、
前記走行経路に従って自動走行及び自動刈取を制御する自動運転制御部と、
を備えることを特徴とするコンバイン。 - 前記走行経路作成部は、前記作業領域の最終行程に前記下限刈取条数を設定したときの残存条数を前記最大刈取条数で除算し、当該除算結果の余り条数が前記最大刈取条数と前記下限刈取条数との差分以内である場合に、前記最終行程に前記下限刈取条数と前記余り条数との加算条数を設定すると共に、前記最終行程以外の残存行程に前記最大刈取条数を設定して前記走行経路を作成することを特徴とする請求項1に記載のコンバイン。
- 前記走行経路作成部は、前記除算結果の余り条数が前記最大刈取条数と前記下限刈取条数との差分を超える場合に、前記最終行程及び他の行程を含む調整行程に前記下限刈取条数を設定したときの残存条数を前記最大刈取条数で除算し、当該除算結果の余り条数が前記最大刈取条数と前記下限刈取条数との差分以内である場合に、前記調整行程に前記下限刈取条数と前記余り条数との加算条数又は前記下限刈取条数を設定すると共に、残存行程に前記最大刈取条数を設定して前記走行経路を作成することを特徴とする請求項2に記載のコンバイン。
- 前記走行経路作成部は、前記最終行程から遡った所定数の行程を前記他の行程として前記調整行程に含むことを特徴とする請求項3に記載のコンバイン。
- 前記走行経路作成部は、前記圃場を所定回数の中割に応じて分割した分割領域を前記作業領域とし、
前記中割に沿った中割行程に前記最大刈取条数を設定し、
各分割領域の最終行程に前記下限刈取条数を設定したときの当該分割領域の残存条数を前記最大刈取条数で除算し、当該除算結果の余り条数が前記最大刈取条数と前記下限刈取条数との差分以内である場合に、前記最終行程に前記下限刈取条数と前記余り条数との加算条数を設定すると共に、当該分割領域の残存行程に前記最大刈取条数を設定して前記走行経路を作成し、
一方、前記除算結果の余り条数が前記最大刈取条数と前記下限刈取条数との差分を超える場合に、前記最終行程及び他の行程を含む調整行程に前記下限刈取条数を設定したときの当該分割領域の残存条数を前記最大刈取条数で除算し、当該除算結果の余り条数が前記最大刈取条数と前記下限刈取条数との差分以内である場合に、前記調整行程に前記下限刈取条数と前記余り条数との加算条数又は前記下限刈取条数を設定すると共に、当該分割領域の残存行程に前記最大刈取条数を設定して前記走行経路を作成することを特徴とする請求項1に記載のコンバイン。 - 前記走行経路作成部は、前記分割領域に対して偶数の行程を設定して前記走行経路を作成することを特徴とする請求項5に記載のコンバイン。
- コンバインが自動走行及び自動刈取を行う走行経路を作成する走行経路作成方法であって、
最大刈取条数よりも少ない下限刈取条数を予め設定し、圃場の複数の条列を有する作業領域に対して条方向に沿った複数の行程を往復して自動刈取走行を行う前記走行経路を作成する場合に、前記作業領域の全条列数と、前記最大刈取条数と、前記下限刈取条数とに基づいて、各行程に前記下限刈取条数以上を設定して前記走行経路を作成することを特徴とする走行経路作成方法。 - 前記作業領域の最終行程に前記下限刈取条数を設定したときの残存条数を前記最大刈取条数で除算し、当該除算結果の余り条数が前記最大刈取条数と前記下限刈取条数との差分以内である場合に、前記最終行程に前記下限刈取条数と前記余り条数との加算条数を設定すると共に、前記最終行程以外の残存行程に前記最大刈取条数を設定して前記走行経路を作成することを特徴とする請求項7に記載の走行経路作成方法。
- 前記除算結果の余り条数が前記最大刈取条数と前記下限刈取条数との差分を超える場合に、前記最終行程及び他の行程を含む調整行程に前記下限刈取条数を設定したときの残存条数を前記最大刈取条数で除算し、当該除算結果の余り条数が前記最大刈取条数と前記下限刈取条数との差分以内である場合に、前記調整行程に前記下限刈取条数と前記余り条数との加算条数又は前記下限刈取条数を設定すると共に、残存行程に前記最大刈取条数を設定して前記走行経路を作成することを特徴とする請求項8に記載の走行経路作成方法。
- 前記最終行程から遡った所定数の行程を前記他の行程として前記調整行程に含むことを特徴とする請求項9に記載の走行経路作成方法。
- 前記圃場を所定回数の中割に応じて分割した分割領域を前記作業領域とし、
前記中割に沿った中割行程に前記最大刈取条数を設定し、
各分割領域の最終行程に前記下限刈取条数を設定したときの当該分割領域の残存条数を前記最大刈取条数で除算し、当該除算結果の余り条数が前記最大刈取条数と前記下限刈取条数との差分以内である場合に、前記最終行程に前記下限刈取条数と前記余り条数との加算条数を設定すると共に、当該分割領域の残存行程に前記最大刈取条数を設定して前記走行経路を作成し、
一方、前記除算結果の余り条数が前記最大刈取条数と前記下限刈取条数との差分を超える場合に、前記最終行程及び他の行程を含む調整行程に前記下限刈取条数を設定したときの当該分割領域の残存条数を前記最大刈取条数で除算し、当該除算結果の余り条数が前記最大刈取条数と前記下限刈取条数との差分以内である場合に、前記調整行程に前記下限刈取条数と前記余り条数との加算条数又は前記下限刈取条数を設定すると共に、当該分割領域の残存行程に前記最大刈取条数を設定して前記走行経路を作成することを特徴とする請求項7に記載の走行経路作成方法。 - 前記分割領域に対して偶数の行程を設定して前記走行経路を作成することを特徴とする請求項11に記載の走行経路作成方法。
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