JP2019110782A - Travel route calculation system - Google Patents

Abstract

To provide a travel route calculation system capable of preventing deterioration of work efficiency by accumulating grains in a grain tank of a combine-harvester as much as possible while avoiding filling up the grain tank in the middle of traveling line.SOLUTION: A travel route calculation system comprises: a reaping and traveling route calculation unit which calculates a reaping and traveling route that is a traveling route for reaping and traveling in a farm field; an accumulation prediction unit which predicts whether a grain accumulation amount reaches a prescribed threshold value in the middle of a next traveling line LNb that is a traveling line LN planned to travel next time on the basis of detection result by an accumulation amount sensor in which the reaping and traveling routes consists of a plurality of traveling lines LN. The reaping and traveling route calculation unit performs, when the accumulation prediction unit predicts that the grain accumulation amount reaches the threshold value in the middle of the next traveling line LNb, a traveling line correction processing to correct the next traveling line LNb so that the grain accumulation amount does not reach the threshold value in the middle of the next traveling line LNb.SELECTED DRAWING: Figure 7

Description

  The present invention relates to a reaping device for reaping field set up grain stalks, a threshing device for threshing a reaping grain remnant harvested by the reaping device, and a grain tank for storing grains obtained by the threshing process using the threshing device. The present invention relates to a travel route calculation system for calculating a travel route of a combine having a storage amount sensor for detecting a grain storage amount in a grain tank and

  Patent Document 1 describes an idea of an automatic travel combine. In the harvesting operation using the combine, the operator manually operates the combine at the beginning of the harvesting operation and performs the mowing travel so as to go around the outer peripheral portion in the field.

  During traveling on the outer circumference, the traveling direction of the harvester is recorded. Then, the automatic traveling based on the recorded direction performs the reaping travel in the uncut area in the field.

  Here, in the device described in Patent Document 1, a collecting tank is disposed at an outer peripheral portion in the field. The collection tank is configured to be able to receive and store grains discharged from the discharge cylinder of the combine.

  And the combine of patent document 1 is comprised so that reaping driving | running | working in a non-cutting area | region may be performed by repeating the lap | rotation driving | running | working which passes the vicinity of a collection tank. In this round trip, when the combine comes close to the collection tank, the combine stops near the collection tank if it is necessary to discharge the grain. Then, the grains are discharged from the discharge cylinder of the combine into the collection tank.

Japanese Utility Model Application Publication No. 2-107911

  In the combine described in Patent Document 1, the combine travels automatically to pass near the collection tank even when it is not necessary to discharge the grain. At this time, the combine travels in the existing area.

  That is, in the automatic travel of the combine described in Patent Document 1, the ratio of travel in the already-cut region becomes relatively large. This tends to lower the work efficiency.

  Here, in order to improve the working efficiency, after setting the reaping travel path formed of a plurality of travel lines as an uncrop area, the combine travels along the reaping travel path, and the need for grain discharge etc. occurs. In such a case, a configuration may be considered in which the combine is controlled so as to temporarily leave the reaping travel path.

  In this configuration, the combine grain tank may be full at a position midway along the traveling line. In this case it is necessary to interrupt the harvesting run at that location and to leave the running line for grain removal. As a result, a part of the travel line is left uncut.

  And, after the grain is discharged, when the combine travels on the uncut part of the traveling line, it is necessary to travel the already cut part of the traveling line. Thereby, the efficiency of mowing travel of the combine tends to be reduced.

  That is, when the grain tank of the combine is full in the middle of the traveling line, the efficiency of the combine traveling by the harvest tends to decrease.

  Here, the predicted value of the grain storage amount is calculated when the combine travels along the entire traveling line scheduled to travel next and the calculated predicted value is equal to or more than the storage limit amount, and the next traveling is performed. It is conceivable that the grain discharging operation is performed before starting the mowing travel along the line. With this configuration, it is possible to avoid that the combine grain tank becomes full in the middle of the traveling line.

  However, in this configuration, it is assumed that the grain discharging operation is performed despite the relatively large allowance in the grain tank. As a result, work efficiency tends to be reduced.

  The object of the present invention is to travel as it is easy to prevent a drop in working efficiency by storing as many grains as possible in the grain tank while avoiding that the grain tank of the combine is full in the middle of the traveling line It is providing a route calculation system.

The features of the present invention are:
A reaping device for reaping a field crop yard, a threshing device for threshing a reaping crop remnant harvested by the reaping device, and a grain tank for storing grains obtained by the threshing treatment by the threshing device; A travel route calculation system for calculating a travel route of a combine having a storage amount sensor for detecting a grain storage amount in the grain tank,
It has a reaper travel route calculation unit that calculates a reaper travel route that is a travel route for reaper travel in a field.
The reaper traveling route is constituted by a plurality of traveling lines,
According to the detection result by the storage amount sensor, there is provided a storage prediction unit that predicts whether or not the grain storage amount reaches a predetermined threshold in the middle of the next travel line which is the travel line scheduled to travel next based on the detection result by the storage amount sensor ,
When the grain storage amount is predicted to reach the threshold in the middle of the next travel line by the storage prediction unit, the harvest travel route calculation unit calculates the grain storage amount in the middle of the next travel line. A traveling line correction process is performed to correct the next traveling line so as not to reach the threshold.

  In the case of the present invention, when it is predicted by the storage prediction unit that the grain storage amount reaches a predetermined threshold on the way of the next travel line which is a travel line scheduled to travel next, the travel line correction processing is performed. It will be. The traveling line correction process corrects the next traveling line so that the grain storage amount does not reach the threshold in the middle of the next traveling line. Then, if the combine travels based on the corrected next traveling line, the grain storage amount does not reach the threshold in the middle of the next traveling line.

  Therefore, according to the present invention, it is possible to avoid that the grain storage amount reaches a predetermined threshold in the middle of the traveling line. Then, if the predetermined threshold value is set to be equal to or less than the grain amount corresponding to the full amount of the grain tank, it can be avoided that the grain tank becomes full in the middle of the traveling line.

  Moreover, according to the present invention, it is easy to store as many grains as possible in the grain tank by performing combine cutting along the corrected next traveling line. This makes it easy to prevent a drop in work efficiency.

  That is, according to the present invention, it is possible to store as many grains as possible in the grain tank while preventing the grain tank of the combine from becoming full in the middle of the traveling line, thereby preventing a drop in work efficiency. Cheap.

Furthermore, in the present invention,
The traveling control unit is configured to control the combine so that the reaper traveling is performed by the automatic traveling along the reaper traveling path.
It is preferable that the reaper traveling route calculation unit corrects the next traveling line so that a reaper width by the reaper decreases in the traveling line correction process.

  According to this configuration, when the storage prediction unit predicts that the grain storage amount will reach the predetermined threshold in the middle of the next traveling line, the next traveling line is corrected so that the reaping width by the reaper decreases. Ru. Then, under the control of the traveling control unit, the combine travels automatically along the corrected next traveling line.

  Therefore, according to this configuration, when the storage prediction unit predicts that the grain storage amount will reach the predetermined threshold in the middle of the next traveling line, the cutting width in traveling along the next traveling line will be reduced. . And, by reducing the cutting width, the amount of grain obtained when the entire traveling line is cut is reduced. Thereby, it becomes difficult for the grain storage amount to reach a predetermined threshold in the middle of the next traveling line.

  That is, according to this configuration, in the traveling line correction process, it is possible to reliably perform correction so that the grain storage amount does not reach the predetermined threshold in the middle of the next traveling line.

Furthermore, in the present invention,
A unit yield calculation unit that calculates a unit yield, which is the amount of grain harvested per unit cutting distance;
Based on the threshold value, the detection result by the storage amount sensor, and the unit harvest amount calculated by the unit yield calculation unit, the position of the combine at the time when the grain storage amount reaches the threshold is determined. And a position prediction unit for predicting
The storage prediction unit predicts that the grain storage amount reaches the threshold in the middle of the next traveling line when the position of the combine predicted by the position prediction unit is in the middle of the next traveling line. Then, it is suitable.

  According to this configuration, the position of the combine is predicted when the grain storage amount reaches a predetermined threshold. Then, if the predicted combine position is in the middle of the next travel line, it is predicted that the grain storage amount will reach a predetermined threshold in the middle of the next travel line.

  This makes it possible to reliably predict that the grain storage amount will reach the predetermined threshold in the middle of the next traveling line.

It is a left view of a combine. It is a block diagram showing composition of a travel route calculation system. It is a figure which shows the round trip in a field. It is a figure which shows a reaping travel path. It is a figure which shows mowing travel along a mowing travel path. It is a figure which shows the example in case a traveling line correction process is performed. It is a figure which shows the following traveling line after a traveling line correction process. It is a figure which shows the example in the case where a traveling line correction process is performed in 1st other embodiment. It is a figure which shows the combine in 2nd another embodiment.

  An embodiment for carrying out the present invention will be described based on the drawings. In the following description, the direction of the arrow F shown in FIG. 1 is "front", and the direction of the arrow B is "rear". Further, the direction of the arrow U shown in FIG. 1 is “up”, and the direction of the arrow D is “down”.

[Overall configuration of combine]
As shown in FIG. 1, the ordinary type combine 1 has a crawler type traveling device 11, an operating unit 12, a threshing device 13, a grain tank 14, a harvesting device H, a conveying device 16, a grain discharging device 18, satellite positioning A module 80 is provided.

  The traveling device 11 is provided at the lower portion of the combine 1. Combine 1 is self-propelled by traveling device 11.

  The operating unit 12, the threshing device 13, and the grain tank 14 are provided on the upper side of the traveling device 11. An operator who monitors the operation of the combine 1 can ride on the operation unit 12. The worker may monitor the operation of the combine 1 from the outside of the combine 1.

  The grain discharging device 18 is provided on the upper side of the grain tank 14. In addition, the satellite positioning module 80 is attached to the upper surface of the driver 12.

  The harvesting device H is provided at the front of the combine 1. The transport device 16 is provided on the rear side of the harvesting device H. The harvesting device H also has a reaper 15 and a reel 17.

  The reaper 15 reaps the field crop of the field. In addition, the reel 17 scrapes the cropped cereals to be harvested while being rotationally driven. With this configuration, the harvester H harvests the grain in the field. Then, the combine 1 is capable of reaping travel traveling by the traveling device 11 while reaping the crop of the field in the field with the reaper 15.

  The cropped rice bran that has been harvested by the harvesting device 15 is transported by the transport device 16 to the threshing device 13. In the threshing device 13, the reaping grain is threshed. The grains obtained by the threshing process are stored in a grain tank 14. The grains stored in the grain tank 14 are discharged to the outside by the grain discharging device 18 as needed.

  Further, as shown in FIG. 1, the communication terminal 4 is disposed in the operation unit 12. The communication terminal 4 is configured to be able to display various information. In the present embodiment, the communication terminal 4 is fixed to the operation unit 12. However, the present invention is not limited to this, and the communication terminal 4 may be configured to be attachable to and detachable from the operation unit 12, and the communication terminal 4 may be located outside the machine of the combine 1 .

  Moreover, as shown in FIG. 2, the combine 1 is equipped with the storage amount sensor 14S. The storage amount sensor 14S is configured to detect a grain storage amount in the grain tank 14. The “grain storage amount” according to the present invention may be the volume of the stored grain, or may be the weight of the stored grain, or the accumulated height of the stored grain It may be

  That is, the storage amount sensor 14S may be configured to detect the volume of the grain in the grain tank 14 as the grain storage amount in the grain tank 14, or the grain in the grain tank 14 It may be configured to detect the weight of the grain, or may be configured to detect the deposition height of the grain in the grain tank 14.

  As described above, the combine 1 is obtained by the harvesting device 15 for harvesting the field crop of the field, the threshing device 13 for threshing the cropping grain harvested by the harvesting device 15, and the threshing treatment with the threshing device 13. A grain tank 14 for storing grains and a storage amount sensor 14S for detecting the grain storage amount in the grain tank 14 are provided.

  Here, after the combine 1 performs circulation while harvesting grains in the area on the outer periphery side of the field as shown in FIG. 3, then the combine 1 carries out the cutting and traveling in the inner area of the field as shown in FIG. 5. , Are configured to harvest the grain of the field.

  Then, in this harvesting operation, the travel route of the combine 1 is calculated by the travel route calculation system A. The configuration of the travel route calculation system A will be described below.

[Configuration of travel route calculation system]
As shown in FIG. 2, the travel route calculation system A includes a satellite positioning module 80, a control unit 20, a travel distance detection unit 33, a work state detection unit 34, a storage amount sensor 14S, and the communication terminal 4. The control unit 20, the travel distance detection unit 33, and the work state detection unit 34 are provided in the combine 1. Further, as described above, the satellite positioning module 80, the storage amount sensor 14S, and the communication terminal 4 are also provided in the combine 1.

  The control unit 20 includes the vehicle position calculation unit 21, the cutting traveling route calculating unit 22, the traveling control unit 23, the area calculating unit 24, the cutting traveling distance calculation unit 25, the unit yield calculation unit 26, the storage limit amount storage unit 27, A position prediction unit 28 and a storage prediction unit 29 are provided.

  As shown in FIG. 1, the satellite positioning module 80 receives GPS signals from the artificial satellite GS used in GPS (Global Positioning System). Then, as shown in FIG. 2, the satellite positioning module 80 sends positioning data indicating the vehicle position of the combine 1 to the vehicle position calculating unit 21 based on the received GPS signal.

  The vehicle position calculation unit 21 calculates position coordinates of the combine 1 with time based on the positioning data output by the satellite positioning module 80. The calculated positional coordinates of the combine 1 with time are sent to the traveling control unit 23 and the area calculation unit 24.

  As shown in FIG. 4, the area calculation unit 24 calculates the outer peripheral area SA and the work target area CA based on the temporal position coordinates of the combine 1 received from the host vehicle position calculation unit 21.

  More specifically, the area calculation unit 24 calculates the traveling locus of the combine 1 in the circumferential traveling on the outer circumference side of the field based on the temporal position coordinate of the combine 1 received from the vehicle position calculation unit 21. . And area | region calculation part 24 calculates the area | region by the side of the outer periphery of the farmland which the combine 1 carried out circular traveling based on the calculated traveling locus of the combine 1 as outer periphery area | region SA. In addition, the area calculation unit 24 calculates the inside of the calculated outer peripheral area SA as the work target area CA.

  For example, in FIG. 3, the traveling path of the combine 1 for circumferential traveling on the outer circumference side of the field is indicated by an arrow. In the example shown in FIG. 3, the combine 1 performs three rounds. When the mowing travel along the travel route is completed, the field is in the state shown in FIG.

  As shown in FIG. 4, the area calculation unit 24 calculates an area on the outer circumference side of the field where the combine 1 travels while harvesting the grain as the outer circumference area SA. In addition, the area calculation unit 24 calculates the inside of the calculated outer peripheral area SA as the work target area CA.

  Then, as shown in FIG. 2, the calculation result by the area calculation unit 24 is sent to the reaper traveling route calculation unit 22.

  As shown in FIG. 4, the reaper traveling route calculation unit 22 calculates a reaper traveling route LI, which is a traveling route for reaper traveling in the work target area CA, based on the calculation result received from the area calculation unit 24. As shown in FIG. 4, the reaper traveling route LI is configured of a plurality of traveling lines LN parallel to each other.

  As described above, the travel route calculation system A includes the reaper travel route calculation unit 22 that calculates a reaper travel route LI, which is a travel route for reaper travel in a field. In addition, the reaper traveling route LI is configured by a plurality of traveling lines LN.

  As shown in FIG. 2, the reaper traveling route LI calculated by the reaper traveling route calculating unit 22 is sent to the traveling control unit 23.

  The traveling control unit 23 controls the automatic traveling of the combine 1 based on the position coordinates of the combine 1 received from the host vehicle position calculation unit 21 and the reaper traveling route LI received from the reaper traveling route calculation unit 22. More specifically, as shown in FIG. 5, the traveling control unit 23 controls the traveling of the combine 1 so that the reaper traveling is performed by the automatic traveling along the reaper traveling route LI.

  As described above, the travel path calculation system A includes the travel control unit 23 that controls the combine 1 so that the reap travel is performed by the automatic travel along the reap travel path LI.

  Further, as shown in FIG. 2, the detection result by the storage amount sensor 14S is sent to the communication terminal 4. The communication terminal 4 displays the grain storage amount in the grain tank 14 on the display of the communication terminal 4 based on the detection result received from the storage amount sensor 14S.

  The worker can view the grain storage amount displayed on the display of the communication terminal 4. Then, when the worker presses a grain discharging button (not shown), the grain discharging operation by the combine 1 is started.

  Further, the travel distance detection unit 33 detects the travel distance of the combine 1 with time. The travel distance detected by the travel distance detection unit 33 is sent to the reaper travel distance calculation unit 25.

  The work state detection unit 34 detects over time whether the combine 1 is in a state where the reaper 15 harvests the crop of the field in the field. Then, the detection result by the work state detection unit 34 is sent to the reaper travel distance calculation unit 25.

  The reaper traveling distance calculating unit 25 temporally calculates a reaper traveling distance based on the traveling distance detected by the traveling distance detection unit 33 and the detection result by the working state detection unit 34. The reaping travel distance is the travel distance in reaping travel.

  More specifically, the reaper travel distance calculating unit 25 extracts only the travel distance in a state where the combine 1 reaps the field crop by the reaper 15 from the travel distance of the combine 1, Calculate the traveling distance of reaper.

  Then, the reaping travel distance calculated by the reaping travel distance calculating unit 25 is sent to the unit harvest amount calculating unit 26. Further, the detection result by the storage amount sensor 14S is also sent to the unit harvest amount calculation unit 26.

  The unit harvest amount calculation unit 26 calculates a unit harvest amount based on the detection result of the storage amount sensor 14S and the reaping travel distance calculated by the reaping travel distance calculating unit 25. The unit yield is the amount of grain harvested per unit cutting distance.

  The unit yield calculated by the unit yield calculation unit 26 is sent to the position prediction unit 28.

  As described above, the travel route calculation system A includes the unit yield calculation unit 26 that calculates the unit yield which is the amount of grains harvested per unit cutting travel distance.

  As shown in FIG. 2, the position prediction unit 28 acquires position coordinates of the combine 1 from the vehicle position calculation unit 21. In addition, the position prediction unit 28 acquires the reaping traveling route LI from the reaping traveling route calculation unit 22. Further, the position prediction unit 28 acquires the detection result from the storage amount sensor 14S. In addition, the position prediction unit 28 acquires a predetermined storage limit amount (corresponding to the “threshold” according to the present invention) stored in the storage limit amount storage unit 27.

  The storage limit amount may be, for example, a grain amount corresponding to 100% of the storage space in the grain tank 14, or may be a grain amount other than that.

  Then, based on the storage limit amount acquired from the storage limit amount storage unit 27, the detection result by the storage amount sensor 14S, and the unit harvest amount calculated by the unit yield calculation unit 26, the position prediction unit 28 Predict the position of Combine 1 at the time when grain storage reaches storage limit.

  More specifically, the position prediction unit 28 is based on the storage limit amount acquired from the storage limit amount storage unit 27, the detection result by the storage amount sensor 14S, and the unit yield calculated by the unit yield calculation unit 26. To calculate the travelable distance. The travelable distance is a limit distance at which the combine 1 can travel by reaping until the grain storage amount in the grain tank 14 reaches the storage limit amount.

  More specifically, the position prediction unit 28 calculates the travelable distance by dividing the difference between the storage limit amount and the grain storage amount at the present time by the unit harvest amount.

  Then, based on the calculated travelable distance, the position coordinates of the combine 1 at the present time, and the reaping travel route LI, the position prediction unit 28 combines 1 at the time when the grain storage amount reaches the storage limit amount. Predict the position of

  The position prediction result by the position prediction unit 28 is sent to the storage prediction unit 29.

  As described above, the travel route calculation system A stores the grain storage amount based on the storage limit amount, the detection result by the storage amount sensor 14S, and the unit harvest amount calculated by the unit harvest amount calculation unit 26. The position prediction unit 28 predicts the position of the combine 1 at the time when the limit amount is reached.

  Based on the position prediction result received from the position prediction unit 28, the storage prediction unit 29 predicts whether or not the grain storage amount reaches the storage limit amount while the combine 1 is traveling on the next traveling line LNb. .

  The next traveling line LNb is a traveling line LN where the combine 1 is to travel next to the current traveling line LNa among the plurality of traveling lines LN. Further, the current travel line LNa is a travel line LN on which the combine 1 is currently traveling among the plurality of travel lines LN.

  Describing the prediction by the storage prediction unit 29 in detail, if the position of the combine 1 predicted by the position prediction unit 28 is a position on the next traveling line LNb, the storage prediction unit 29 sets the grain in the middle of the next traveling line LNb. It is predicted that the grain storage amount will reach the storage limit amount.

  As described above, the position prediction result by the position prediction unit 28 is based on the detection result by the storage amount sensor 14S. The prediction by the storage prediction unit 29 is based on the position prediction result by the position prediction unit 28. That is, the prediction by the storage prediction unit 29 is based on the detection result by the storage amount sensor 14S.

  As described above, the travel route calculation system A, based on the detection result by the storage amount sensor 14S, the grain storage amount reaches the storage limit amount in the middle of the next travel line LNb which is the travel line LN scheduled to travel next. It has a storage prediction unit 29 that predicts whether or not.

  Then, the prediction result by the storage prediction unit 29 is sent to the reaper traveling route calculation unit 22.

  The reaper traveling route calculation unit 22 is configured to perform traveling line correction processing when the storage prediction unit 29 predicts that the grain storage amount will reach the storage limit amount in the middle of the next travel line LNb. The traveling line correction process is a process of correcting the next traveling line LNb so that the grain storage amount does not reach the storage limit in the middle of the next traveling line LNb.

  Then, in the present embodiment, the reaper traveling route calculation unit 22 corrects the next traveling line LNb so that the reaper width by the reaper 15 decreases in the traveling line correction process.

  As described above, when the storage prediction unit 29 predicts that the grain storage amount will reach the storage limit amount in the middle of the next travel line LNb, the reaping travel route calculation unit 22 makes grains in the middle of the next travel line LNb A traveling line correction process is performed to correct the next traveling line LNb so that the storage amount does not reach the storage limit amount.

[Flow of harvest work using travel route calculation system]
Hereinafter, as an example of a harvesting operation using the travel route calculation system A, a flow in the case where the combine 1 performs the harvesting operation in the field shown in FIG. 3 will be described.

  First, the operator manually operates the combine 1, and as shown in FIG. 3, in the outer peripheral portion in the field, the mowing travel is performed so as to go around along the boundary of the field. In the example shown in FIG. 3, the combine 1 performs three rounds. When this round trip is completed, the field is in the state shown in FIG.

  The area calculation unit 24 calculates the traveling locus of the combine 1 in the round trip shown in FIG. 3 based on the temporal position coordinates of the combine 1 received from the host vehicle position calculation unit 21. Then, as shown in FIG. 4, the area calculation unit 24 calculates the area on the outer circumference side of the field where the combine 1 travels while harvesting the set-up kernel based on the calculated travel locus of the combine 1. Calculated as In addition, the area calculation unit 24 calculates the inside of the calculated outer peripheral area SA as the work target area CA.

  Next, based on the calculation result received from the area calculation unit 24, the reaper traveling route calculation unit 22 calculates a reaper traveling route LI in the work target area CA, as shown in FIG. The reaper traveling route LI is configured of a plurality of traveling lines LN parallel to each other.

  Then, when the worker presses an automatic travel start button (not shown), as shown in FIG. 5, automatic travel along the reaper travel path LI is started. At this time, the traveling control unit 23 controls the traveling of the combine 1 so that the reaper traveling is performed by the automatic traveling along the reaper traveling route LI.

  In the present embodiment, as shown in FIG. 3 to FIG. 5, the transport vehicle CV is parked outside the field. Then, in the outer peripheral area SA, the stop position PP is set at a position near the transport vehicle CV.

  The transport vehicle CV can collect and transport the grains discharged from the grain discharging device 18 by the combine 1. When the grain is discharged, the combine 1 stops at the stopping position PP, and discharges the grain to the transport vehicle CV by the grain discharging device 18.

  When the combine 1 is performing harvesting work in a field, the worker can view the grain storage amount displayed on the display of the communication terminal 4 as described above. Then, when the worker presses a grain discharging button (not shown), the grain discharging operation by the combine 1 is started.

  When the grain discharging operation is started, the combine 1 automatically travels to the stopping position PP. Then, the combine 1 stops at the stopping position PP, and discharges the grains to the transport vehicle CV by the grain discharging device 18. When the grain discharging operation is completed, the combine 1 returns to the automatic traveling along the reaping traveling route LI.

  Then, when the mowing travel along all the travel lines LN in the work target area CA is completed, the entire field becomes harvested.

[About traveling line correction processing]
As shown in FIG. 5, while the combine 1 is performing the mowing travel along the traveling line LN, the position prediction unit 28 always predicts the position of the combine 1 at the time when the grain storage amount reaches the storage limit amount. It is done.

  If the position of the combine 1 predicted by the position prediction unit 28 is not in the middle of the next traveling line LNb, the storage prediction unit 29 predicts that the grain storage amount does not reach the storage limit in the middle of the next traveling line LNb Do. Therefore, in this case, the traveling line correction process described above is not performed.

  On the other hand, when the position of the combine 1 predicted by the position prediction unit 28 is a position on the next traveling line LNb, the storage prediction unit 29 determines that the grain storage amount is the storage limit on the next traveling line LNb. Forecast to reach. Therefore, in this case, the traveling line correction process described above is performed.

  Hereinafter, the traveling line correction process will be described with reference to FIGS. 6 and 7 as an example in which the traveling line correction process is performed.

  In the example shown in FIG. 6, the combine 1 is performing the mowing travel along the traveling line LN in the work target area CA of the field.

  Of the operation target area CA shown in FIG. 6, the already-cropped area CA2 is an area in which the reaping work has already been completed. Then, the combine 1 reaps the built-in grain weirs of the uncut area CA1 in the work target area CA.

  As shown in FIG. 6, the combine 1 performs reaping travel along a travel line LN (current travel line LNa) located at an end of the uncrop area CA1. At this time, the mowing width of the mowing device 15 of the combine 1 is the width W1. The width W1 is the maximum width that can be trimmed by the reaper 15.

  Further, as shown in FIG. 6, the next traveling line LNb is adjacent to the current traveling line LNa. At this time, it is assumed that the position of the combine 1 predicted by the position prediction unit 28 is the position P1. As shown in FIG. 6, the position P1 is a position in the middle of the next traveling line LNb.

  At this time, since the position of the combine 1 predicted by the position prediction unit 28 is the position on the way of the next travel line LNb, the storage prediction unit 29 sets the grain storage amount to the storage limit amount in the middle of the next travel line LNb. Predict to reach. As a result, traveling line correction processing by the reaper traveling route calculation unit 22 is performed.

  As shown in FIG. 7, in this travel line correction process, the next travel line LNb is corrected so as to change its position in the direction approaching the current travel line LNa.

  As shown in FIG. 6, when the combine 1 travels along the next traveling line LNb before correction, the reaping width by the reaper 15 of the combine 1 becomes the width W1. On the other hand, as shown in FIG. 7, when the combine 1 travels along the corrected next travel line LNb, the reaping width by the reaper 15 of the combine 1 is the width W2. The width W2 is smaller than the width W1.

  That is, since the next traveling line LNb is corrected, the cutting width by the cutting device 15 when the combine 1 travels along the next traveling line LNb is reduced from the width W1 to the width W2. This is because, as shown in FIG. 7, when the combine 1 travels along the corrected next travel line LNb, a part of the reaper 15 passes through the already-cropped area CA2.

  As described above, in the traveling line correction process in the present embodiment, the next traveling line LNb is corrected such that the cutting width by the cutting device 15 is reduced. Then, under the control of the traveling control unit 23, the combine 1 travels automatically along the corrected next traveling line LNb.

  If it is predicted that the grain storage amount will reach the storage limit in the middle of the next travel line LNb which is the travel line LN scheduled to travel next by the storage prediction unit 29, with the configuration described above, A traveling line correction process is performed. By this traveling line correction processing, the next traveling line LNb is corrected so that the grain storage amount does not reach the storage limit amount in the middle of the next traveling line LNb. Then, if the combine 1 travels based on the corrected next travel line LNb, the grain storage amount does not reach the storage limit amount in the middle of the next travel line LNb.

  Therefore, with the configuration described above, it is possible to avoid that the grain storage amount reaches the storage limit amount in the middle of the traveling line LN. Then, if the storage limit amount is set to be equal to or less than the grain amount corresponding to the full amount of the grain tank 14, it is possible to prevent the grain tank 14 from being full in the middle of the traveling line LN.

  Moreover, with the configuration described above, it is easy to store as many grains as possible in the grain tank 14 by the combine 1 performing the mowing travel along the corrected next traveling line LNa. This makes it easy to prevent a drop in work efficiency.

  That is, with the configuration described above, as much grain as possible is stored in the grain tank 14 while avoiding that the grain tank 14 of the combine 1 becomes full in the middle of the traveling line LN. It is easy to prevent the decline of work efficiency.

First Embodiment
In the traveling line correction process in the above-described embodiment, the next traveling line LNb is corrected such that the mowing width by the mowing device 15 is reduced.

  However, the present invention is not limited to this. Hereinafter, a first alternative embodiment according to the present invention will be described focusing on differences from the above embodiment. The configuration other than the parts described below is the same as that of the above embodiment. The same reference numerals are given to the same components as those in the above embodiment.

  FIG. 8 is a diagram showing traveling line correction processing in the first embodiment according to the present invention. As shown in FIG. 8, the combine 1 performs reaping travel along a travel line LN (current travel line LNa) located at an end of the uncrop area CA1.

  At this time, it is assumed that the position of the combine 1 predicted by the position prediction unit 28 is the position P2. As shown in FIG. 8, the position P2 is a position on the way of the next traveling line LNb.

  At this time, since the position of the combine 1 predicted by the position prediction unit 28 is the position on the way of the next travel line LNb, the storage prediction unit 29 sets the grain storage amount to the storage limit amount in the middle of the next travel line LNb. Predict to reach. As a result, traveling line correction processing by the reaper traveling route calculation unit 22 is performed.

  As shown in FIG. 8, in the traveling line correction process in the first alternative embodiment, the next traveling line LNb is corrected so as to be short.

  More specifically, as shown in FIG. 8, before the travel line correction process, the travel line LN extends along the longitudinal direction in the rectangular work target area CA. Then, the traveling line correction process corrects the next traveling line LNb so as to extend along the short direction in the work target area CA. As a result, the next traveling line LNb becomes short.

  According to this configuration, when the storage prediction unit 29 predicts that the grain storage amount will reach the storage limit in the middle of the next traveling line LNb, the next traveling line LNb is corrected so as to be short. Then, by shortening the next traveling line LNb, the grain amount obtained when the whole of the next traveling line LNb is cut and traveled is reduced. Thereby, it becomes difficult for the grain storage amount to reach the storage limit amount in the middle of the next traveling line LNb.

  That is, according to this configuration, in the traveling line correction process, it is possible to reliably perform correction such that the grain storage amount does not reach the storage limit amount in the middle of the next traveling line LNb.

Second alternative embodiment
In the said embodiment, the combine 1 is a common type.

  However, the present invention is not limited to this. Hereinafter, a second alternative embodiment according to the present invention will be described focusing on differences from the above embodiment. The configuration other than the parts described below is the same as that of the above embodiment.

  FIG. 9 is a view showing a combine 2 in a second alternative embodiment according to the present invention. As shown in FIG. 9, the combine 2 is a self-lifting type, and is a specification of six-row cutting.

  In the traveling line correction process in the second alternative embodiment, the next traveling line LNb is corrected such that the number of cutting lines by the combine 2 is reduced. At this time, for example, the next travel line LNb is corrected such that the combine 2 travels in a state of straddling the row of uncut land and the row of the existing land. As a result, the number of cutting lines by combine 2 decreases. That is, the cutting width by the combine 2 is reduced.

  For example, in the traveling line correction process, the next traveling line LNb may be corrected so that the number of reaping streaks decreases from six to five, or may be reduced to four or less. LNb may be modified.

  In addition, the reaper traveling route calculation unit 22 in the combine 2 is configured to receive the line information transmitted from the rice transplanter or the management server. The article information includes the position information of the article in the field. Then, the reaper traveling route calculation unit 22 performs traveling line correction processing based on the received line information.

  As shown in FIG. 9, if the cereal grains in the field are row-planted, it is easy to accurately grasp the grain harvest amount corresponding to the number of cutting lines. Therefore, in the field of row planting, by performing the traveling line correction processing on the basis of the number of cutting strips, it is possible to adjust the harvest amount of grain with high accuracy. Thereby, it is easy to store as many grains as possible in the grain tank 14.

  In addition, each embodiment described above is only an example, and this invention is not limited to this, A change is suitably possible.

Other Embodiments
(1) The traveling device 11 may be a wheel type or a semi crawler type.

  (2) In the above-mentioned embodiment, although mowing travel path LI is constituted by a plurality of traveling lines LN parallel to each other, the present invention is not limited to this. For example, the reaper traveling route LI may be configured by a plurality of traveling lines LN arranged in a mesh shape.

  (3) In the above embodiment, the operator manually operates the combine 1, and as shown in FIG. 3, in the outer peripheral portion in the field, the mowing travel is performed so as to go around along the boundary of the field. . However, the present invention is not limited to this, and the combine 1 may be configured to automatically travel and to perform reaping travel along the border line of the field in the outer peripheral portion in the field.

  (4) In the above embodiment, traveling of the combine 1 along the reaper traveling route LI is performed by automatic traveling under the control of the traveling control unit 23. However, the present invention is not limited to this, and traveling of the combine 1 along the reaper traveling route LI may be performed by manual operation. In this case, the current positions of the traveling line LN and the combine 1 may be displayed on the communication terminal 4. Further, the next traveling line LNb after the correction by the traveling line correction process may be displayed on the communication terminal 4 as a guidance for the worker.

  (5) When the storage prediction unit 29 predicts that the grain storage amount will reach the storage limit in the middle of the next travel line LNb, automatic travel is performed so that the position of the satellite positioning module 80 matches the travel line LN. The state may be changed to a state in which the vehicle travels automatically so that the traveling line LN is aligned with a position different from the satellite positioning module 80 in the airframe of the combine 1. Such a change is also substantially equivalent to the "travel line correction process" according to the present invention.

  (6) Vehicle position calculation unit 21, reaper travel route calculation unit 22, travel control unit 23, area calculation unit 24, reaper travel distance calculation unit 25, unit harvest amount calculation unit 26, storage limit amount storage unit 27, position prediction Part or all of the unit 28 and the storage prediction unit 29 may be provided outside the combine 1 and may be provided, for example, in a management server provided outside the combine 1.

  (7) The storage prediction unit 29 may be configured to calculate the predicted value of the grain storage amount when the combine 1 travels along the entire following travel line LNb. In addition, when the predicted value of the calculated grain storage amount is equal to or more than the storage limit amount, the storage prediction unit 29 predicts that the grain storage amount reaches the storage limit amount in the middle of the next traveling line LNb. It may be configured.

  (8) The travel distance detection unit 33 may not be provided.

  (9) The work state detection unit 34 may not be provided.

  (10) The reaping travel distance calculating unit 25 may not be provided.

  (11) The unit harvest amount calculation unit 26 may not be provided.

  (12) The position prediction unit 28 may not be provided.

  (13) The traveling control unit 23 may not be provided.

  (14) The communication terminal 4 may not be provided.

  The present invention can be used not only for ordinary type combine but also for self-release type combine.

DESCRIPTION OF SYMBOLS 1 Combine 13 threshing device 14 grain tank 14S storage amount sensor 15 reaping device 22 reaping traveling route calculating unit 23 traveling control unit 26 unit yield calculating unit 28 position predicting unit 29 storage predicting unit A traveling route calculating system LI reaping traveling route LN Driving line LNb Next driving line

Claims (3)

A reaping device for reaping a field crop yard, a threshing device for threshing a reaping crop remnant harvested by the reaping device, and a grain tank for storing grains obtained by the threshing treatment by the threshing device; A travel route calculation system for calculating a travel route of a combine having a storage amount sensor for detecting a grain storage amount in the grain tank,
It has a reaper travel route calculation unit that calculates a reaper travel route that is a travel route for reaper travel in a field.
The reaper traveling route is constituted by a plurality of traveling lines,
According to the detection result by the storage amount sensor, there is provided a storage prediction unit that predicts whether or not the grain storage amount reaches a predetermined threshold in the middle of the next travel line which is the travel line scheduled to travel next based on the detection result by the storage amount sensor ,
When the grain storage amount is predicted to reach the threshold in the middle of the next travel line by the storage prediction unit, the harvest travel route calculation unit calculates the grain storage amount in the middle of the next travel line. A travel route calculation system that performs travel line correction processing that corrects the next travel line so as not to reach the threshold. The traveling control unit is configured to control the combine so that the reaper traveling is performed by the automatic traveling along the reaper traveling path.
The traveling route calculation system according to claim 1, wherein the reaper traveling route calculation unit corrects the next traveling line so that a reaper width by the reaper decreases in the traveling line correction process. A unit yield calculation unit that calculates a unit yield, which is the amount of grain harvested per unit cutting distance;
Based on the threshold value, the detection result by the storage amount sensor, and the unit harvest amount calculated by the unit yield calculation unit, the position of the combine at the time when the grain storage amount reaches the threshold is determined. And a position prediction unit for predicting
The storage prediction unit predicts that the grain storage amount reaches the threshold in the middle of the next traveling line when the position of the combine predicted by the position prediction unit is in the middle of the next traveling line. The travel route calculation system according to claim 1 or 2.

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