JP7224151B2 - Driving route generation system and driving route generation method - Google Patents

Description

The present invention relates to a travel route generation system and a travel route generation method for managing and controlling the work of a combine harvesting crops in a field.

As a combine harvester, for example, the one described in Patent Document 1 is already known. This combine harvester can harvest crops in a field by a harvesting device (a “reaping device” in Patent Document 1) while traveling by a traveling device. Moreover, this combine is provided with a grain tank (“grain tank” in Patent Literature 1) that stores the harvested material harvested by the harvesting device.

This combine is configured to automatically travel based on signals received from GPS satellites, and a yield sensor that detects the amount of grain in the grain tank ("grain amount detection means" in Patent Document 1). It has When the value detected by the yield sensor exceeds the set value, the combine interrupts the harvesting operation and automatically moves to the vicinity of the truck (discharge point) in order to discharge the grain from the grain tank. .

JP-A-2001-69836

However, in the automatic running of the conventional combine, automatic running including movement for discharging the grain may not be efficient depending on the position where the amount of grain to be discharged is reached. For example, when the grain volume to be discharged is reached far from the edge of the field, the combine retreats to the swivel area (unworked area) of the already harvested field and then moves to the discharge point. It was necessary to do inefficient automatic driving.

An object of the present invention is to perform efficient automatic driving.

A travel route generation system according to one embodiment of the present invention automatically travels in a combine harvester that harvests crops in an unworked land while automatically reciprocating along an unworked land in a field along traveling routes that are parallel to each other. A travel route generation system for generating a route, wherein the shape of the unworked land is determined based on the relationship between the travel distance of the harvester and the yield, the shape of the unworked land, and the discharge yield of the harvester. a travel route generating unit that generates a preliminary adjustment route for automatic travel prior to the round trip travel so as to have an optimum shape for travel, and the optimal shape for the round trip travel is determined in the middle of the travel route. The shape is such that it does not result in a discharge yield, and the preliminary adjustment route is a route for shortening the length of the unworked land in the direction along the travel route.

In this way, by traveling the preliminary adjustment route prior to automatic travel on the unworked land, the shape of the unworked land can be such that an efficient travel route can be easily generated in automatic travel. .

Also, the discharged yield may be the yield when the grain tank is full.

If the grains are discharged when the grain tank is full, many grains can be discharged at once, and the grains can be discharged efficiently.

Also, the discharged yield may be set to be equal to or greater than a predetermined percentage of the yield when the grain tank is full.

The capacity of the transport vehicle and the yield to be discharged according to the request from the outside may be stipulated. In such a case, an efficient travel route can be generated by defining the discharge yield according to the yield.

Further, a discharge point setting unit for setting a discharge point for discharging the grains stored in the grain tank to one end side of the travel route outside the unworked land, the travel route generation unit Preferably, the preliminary adjustment route is generated such that the discharged yield is on a side on which one end or the other end of the travel route is located, among the sides forming the outer shape of the unworked land.

With such a configuration, it is possible to generate a more efficient traveling route by generating a traveling route so that the discharged yield is generated particularly at the position facing the discharging point and the unworked land is cleared.

In addition, the travel route generation unit may generate, of the sides constituting the unworked land, one side facing an entrance from a ridge in the farm field, or a side opposite to the one side facing the entrance with the travel route interposed therebetween. Preferably, the preconditioning path is generated so as to finish harvesting the unworked land at .

With such a configuration, the travel route when leaving the field after the harvesting work is also optimized, and a more efficient travel route can be generated.

Moreover, it is preferable that the preliminary adjustment route is a route along a direction intersecting the travel route.

With such a configuration, the shape of the unworked land can be made into a shape that can easily generate an efficient travel route.

Also, the preliminary adjustment route may be a route along the outer periphery of the unworked land.
With such a configuration, it is possible to perform preliminary adjustment traveling by enlarging the area for peripheral mowing, and it is possible to obtain a shape that can easily generate an efficient traveling route.

Furthermore, a travel route generation method according to an embodiment of the present invention is a combine harvester that harvests crops in an unworked land while automatically traveling back and forth along an unworked land in a field along traveling routes that are parallel to each other. A traveling route generation method for generating an automatic traveling route, wherein the shape of the unworked land is determined based on the relationship between the travel distance and the yield of the combine harvester, the shape of the unworked land, and the discharge yield of the combine harvester. and generating a preliminary adjustment route for automatically traveling prior to the round trip travel so as to have an optimum shape for traveling , wherein the optimal shape for the round trip travel is determined by the emission yield in the middle of the travel route. The preliminary adjustment route is a route for shortening the length of the unworked land in the direction along the traveling route.

In this way, by traveling the preliminary adjustment route prior to automatic travel on the unworked land, the shape of the unworked land can be such that an efficient travel route can be easily generated in automatic travel. .

Also, the discharged yield may be the yield when the grain tank is full.

It is often most efficient to discharge the grain when the grain tank is full. Therefore, a more efficient travel route can be generated by adopting a shape in which the grain tank does not become full inside the unworked land.

Also, the discharged yield may be set to be equal to or greater than a predetermined percentage of the yield when the grain tank is full.

The capacity of the transport vehicle and the yield to be discharged according to the request from the outside may be stipulated. In such a case, an efficient travel route can be generated by defining the discharge yield according to the yield.

Further, a discharge point for discharging the grains stored in the grain tank is set on one end side of the travel route on the outer side of the unworked land, and is located within the side forming the outer shape of the unworked land. Preferably, the preliminary adjustment route is generated so that the discharge yield is obtained on the side where one end or the other end of the travel route is located.

With such a configuration, it is possible to generate a traveling route so that the discharged yield is generated particularly at the position facing the discharging point, and the unworked land is cleared, and a more efficient traveling route can be generated.

Further, among the sides constituting the unworked land, harvesting of the unworked land is performed on one side facing an entrance from a ridge in the farm field or on a side opposite to the one side facing the entrance with the traveling route interposed therebetween. Preferably, the preconditioning path is generated to finish the job.

With such a configuration, the travel route when leaving the field after the harvesting work is also optimized, and a more efficient travel route can be generated.

Moreover, it is preferable that the preliminary adjustment route is a route along a direction intersecting the travel route.

With such a configuration, the shape of the unworked land can be made into a shape that can easily generate an efficient travel route.

Also, the preliminary adjustment route may be a route along the outer periphery of the unworked land.
With such a configuration, it is possible to perform preliminary adjustment traveling by enlarging the area for peripheral mowing, and it is possible to obtain a shape that can easily generate an efficient traveling route.

It is a left view of a combine. It is a figure which shows the outline|summary of automatic driving|running|working of a combine. It is a figure which shows the driving|running route in automatic driving|running|working. It is a functional block diagram which shows the structure of the management and control system of a combine. It is a figure explaining discharge|emission of the grain performed during a harvesting driving|running|working. It is a figure explaining a preliminary|backup adjustment path|route. It is a figure which shows the flow in the management and control method of a combine. FIG. 10 is a diagram for explaining a preliminary adjustment path in alpha cutting;

A mode for carrying out the present invention will be described based on the drawings. In the following description, the direction of arrow F shown in FIG. 1 is defined as "front", the direction of arrow B is defined as "back", the front direction of the paper surface of FIG. and The direction of arrow U shown in FIG. 1 is defined as "up", and the direction of arrow D is defined as "down".

[Overall configuration of combine harvester]
As shown in FIGS. 1 and 2, the combine includes a crawler type traveling device 11, an operation unit 12, a threshing device 13, a grain tank 14, a harvesting device H, a conveying device 16, a grain discharging device 18, and a satellite positioning module. It has 80.

As shown in FIG. 1, the traveling device 11 is provided under a traveling vehicle body 10 (hereinafter simply referred to as vehicle body 10). The combine is configured to be self-propelled by a travel device 11 .

The driving unit 12 , the threshing device 13 and the grain tank 14 are provided above the traveling device 11 . A supervisor who monitors the operation of the combine can be on board the operation unit 12 . Note that the supervisor may monitor the operation of the combine from outside the combine.

The grain discharging device 18 is provided above the grain tank 14 . Also, the satellite positioning module 80 is attached to the upper surface of the operating section 12 .

A harvesting device H is provided at the front of the combine. The conveying device 16 is provided behind the harvesting device H. As shown in FIG. The harvesting device H also has a cutting mechanism 15 and a reel 17 .

The cutting mechanism 15 cuts planted grain culms in the field. In addition, the reel 17 rakes in the planted culms to be harvested while being driven to rotate. With this configuration, the harvesting device H harvests grains (hereinafter also referred to as “crops”) in the field. The combine can travel by the harvesting device H while traveling by the traveling device 11 to harvest the grains in the field.

Thus, the combine has the harvesting device H for harvesting the grains in the field and the traveling device 11 .

The harvested culms harvested by the cutting mechanism 15 are conveyed to the threshing device 13 by the conveying device 16 . In the threshing device 13, harvested grain culms are threshed. Grains obtained by the threshing process are stored in the grain tank 14 . The grain tank 14 is provided with a yield sensor 19 that measures the yield of grains stored in the grain tank 14 . The grains stored in the grain tank 14 are discharged out of the machine by the grain discharging device 18 as required.

Thus, the combine has a grain tank 14 for storing grains harvested by the harvesting device H.

A communication terminal 2 is arranged in the driving unit 12 . In FIG. 1, the communication terminal 2 is fixed to the operating section 12 . However, the present invention is not limited to this, and the communication terminal 2 may be configured to be detachable from the operating section 12 . Also, it may be taken out of the combine.

[Configuration related to automatic driving]
As shown in FIG. 2, the combine automatically travels along the traveling route generated in the field. Therefore, the combine needs to recognize the own vehicle position. A satellite positioning module 80 with satellite antenna includes a satellite navigation module 81 and an inertial navigation module 82 . The satellite navigation module 81 receives GNSS (global navigation satellite system) signals (including GPS signals) from artificial satellites GS via a satellite antenna and outputs positioning data for calculating the position of the vehicle. The inertial navigation module 82 incorporates a gyroscopic accelerometer and a magnetic heading sensor, and outputs a position vector indicating the instantaneous direction of travel. The inertial navigation module 82 is used to complement the vehicle position calculation by the satellite navigation module 81 . Inertial navigation module 82 may be located at a different location than satellite navigation module 81 .

The procedure for harvesting in a field using a combine is as described below.

First, the driver/monitor manually operates the combine harvester, and as shown in FIG. also called). Thus, the area that has become the already harvested land (already worked land) is set as the outer peripheral area SA. An area left uncut (unworked) inside the outer peripheral area SA is set as a work target area CA. FIG. 2 shows an example of the peripheral area SA and the work area CA. The surrounding mowing is carried out by manual traveling, but the surrounding mowing at this time may be traveling in which the operator gets on the combine and operates the combine, but the operator or the like can operate the combine by remote control. can be

Further, at this time, in order to secure the width of the outer peripheral area SA to some extent, the driver makes the combine run two or three times. In this running, the width of the outer peripheral area SA is expanded by the working width of the combine each time the combine makes one turn. After the first two to three rounds of travel are completed, the width of the outer peripheral area SA is about two to three times the working width of the combine harvester.

The outer peripheral area SA is used as a space for the combine to change direction when automatically traveling for harvesting in the work target area CA. In addition, the outer peripheral area SA is also used as a space for movement, such as when moving to a grain discharge location or a fuel replenishment location after temporarily finishing harvesting.

The transport vehicle CV shown in FIG. 2 can collect and transport the grains discharged from the combine. When the grain is discharged, the combine moves to the vicinity of the transport vehicle CV, and then the grain is discharged to the transport vehicle CV by the grain discharge device 18 .

When the outer peripheral area SA and the work area CA are set, the travel route in the work area CA is calculated as shown in FIG. The calculated travel route is sequentially generated based on the work travel pattern, and becomes a route along which the combine automatically travels along the generated travel route. In addition to the U-turning pattern for changing direction along a U-shaped turning traveling path as shown in FIG. It has a turning pattern and a switchback turning pattern in which the same direction change as the U turning pattern is performed in a narrower area than the U turning pattern with backward traveling. Such turning travel including backward travel is also performed when the grain tank 14 is full and the combine harvester has left the travel route of the work target area CA and is aligned with the transport vehicle CV.

[Management and control related to automated driving]
A configuration for managing and controlling automatic driving will be described below with reference to FIGS. 4 to 6. FIG.

The management and control system of the combine harvester consists of a control unit 5 consisting of a large number of electronic control units called ECUs, and various inputs and outputs that perform signal communication (data communication) with this control unit 5 through a wiring network such as an in-vehicle LAN. Consists of equipment.

The communication unit 66 is used by the management/control system of this combine to exchange data with the communication terminal 2 or with a management computer installed at a remote location. The communication terminal 2 includes a tablet computer operated by a supervisor standing in a field, a driver/supervisor riding in a combine harvester, and a computer installed in a home or a management office. A control unit 5 is a core element of this control system and is shown as a collection of multiple ECUs. A signal from the satellite positioning module 80 is input to the control unit 5 through the in-vehicle LAN. Note that some of the components of the control unit 5 may be arranged in the communication terminal 2 .

The control unit 5 includes an input processing section 90 , a vehicle position calculation section 55 , a vehicle orientation calculation section 56 , an agricultural field management section 83 , a yield management section 70 and a travel route generation section 54 . Further, the control unit 5 can include an output processing section, a traveling control section that controls the group of traveling devices, a work control section that controls the harvesting device, and the like, although not shown. The output processing unit includes a steering device, an engine device, a transmission device, a braking device, a harvesting device H (see FIG. 1), a threshing device 13 (see FIG. 1), a conveying device 16 (see FIG. 1), a grain discharging device 18 ( (See FIG. 1).

The input processing unit 90 is connected with the satellite positioning module 80, the yield output unit 20, the traveling state sensor group 63, the working state sensor group 64, the traveling operation unit (not shown), and the like. The input processing section 90 receives information from these and provides the information to various functional sections within the control unit 5 . The running state sensor group 63 includes an engine speed sensor, an overheat detection sensor, a brake pedal position detection sensor, a shift position detection sensor, a steering position detection sensor, and the like. The working state sensor group 64 includes a harvesting work device (harvesting device H (see FIG. 1)), a threshing device 13 (see FIG. 1), a conveying device 16 (see FIG. 1), and a grain discharging device 18 (see FIG. 1). It includes a sensor that detects the driving state of the stalk, a sensor that detects the state of the culm and grains, and so on.

Based on the positioning data sequentially sent from the satellite positioning module 80, the own vehicle position calculation unit 55 calculates the position of the own vehicle as map coordinates (or field coordinates) of a specific location of the vehicle body 10 (see FIG. 1) set in advance. Calculate the positions and positions of the ends of the crop width. A vehicle azimuth calculation unit 56 obtains a vehicle trajectory in a minute time from the vehicle position sequentially calculated by the vehicle position calculation unit 55, and calculates a vehicle azimuth indicating the orientation of the vehicle 10 (see FIG. 1) in the traveling direction. decide. In addition, the vehicle body orientation calculator 56 can also determine the vehicle orientation based on the orientation data included in the output data from the inertial navigation module 82 .

Based on the vehicle position calculated by the vehicle position calculation unit 55, the farm field management unit 83 calculates the outer shape of the farm field, the outer shape of the work area CA, the area of the farm field, the area of the work area CA, and the like. For example, the agricultural field management unit 83 includes an area calculation unit 84, a shape calculation unit 85, and the like. The shape calculator 85 calculates the outer shape of the field and the outer shape of the work area CA. The area calculation unit 84 calculates the area of the farm field and the area of the work target area CA. In addition, the agricultural field management unit 83 may include a discharge point setting unit 86 that sets a discharge point for discharging the grains to the transport vehicle CV.

The yield management unit 70 manages the yield used for determining the travel route for automatic driving. Therefore, the yield management unit 70 estimates the yield rate, which is the yield of crops harvested per unit area of the field, the total yield that can be harvested in the work target area CA, and the like. In addition, the yield management unit 70 calculates the number of discharge times of the stored grains and the yield of the grains to be discharged, which are the minimum required when harvesting the crops in the work target area CA. Specifically, the yield management unit 70 can include a yield rate calculation unit 71, a total yield calculation unit 72 (corresponding to a total yield estimation unit), a discharge frequency calculation unit 73, a discharge standard yield calculation unit 74, and the like. Note that the yield management unit 70 can include all of these, or can include a combination of some of them.

The yield rate calculator 71 calculates the yield rate, which is the yield per unit area, from the yield of grains harvested in the outer peripheral area SA and the area of the outer peripheral area SA in peripheral cutting. Specifically, the yield rate is obtained by dividing the yield of grains harvested in the peripheral area SA by the area of the peripheral area SA. The yield of grains harvested in the peripheral area SA is obtained from the amount of increase in grains stored in the grain tank 14 from the start to the end of peripheral cutting by manual travel. Note that when the grains are discharged during peripheral mowing, the amount of increase in the grains before and after that is integrated. The yield of grains harvested in the outer peripheral area SA may be calculated by the yield rate calculation unit 71, or may be calculated by other functional units such as other functional units in the yield management unit 70. The area of the outer peripheral area SA is obtained by the area calculator 84 subtracting the area of the work target area CA from the area of the agricultural field.

The total yield calculator 72 estimates the total yield of grains expected to be harvested in the entire work area CA from the area of the work area CA and the yield rate. Specifically, the total yield is obtained by multiplying the area of the work area CA and the yield rate. As a result, it is possible to efficiently generate a travel route for automatic travel in the work target area CA with reference to the total yield and taking grain discharge into consideration.

The discharge frequency calculation unit 73 calculates the minimum amount of grains required for automatic travel in the work area CA based on the discharge yield, which is the amount of grain stored in the grain tank 14 when the grains are discharged, and the total yield of the work area CA. Calculate the number of times of discharge. Specifically, the discharge count is obtained by dividing the total yield by the discharge yield and rounding it up to an integer value. The discharged yield is the full yield of the grain tank 14, a predetermined ratio or a predetermined amount less than the full yield, the discharged yield required from the outside, the yield corresponding to the loading capacity of the transport vehicle, or the yield at the time of discharge in advance. The yield can be defined as Further, when the grains are discharged during peripheral mowing, the yield at the time of discharge may be used as the discharged yield. By calculating the number of discharges in this way, as will be exemplified later, an efficient travel route can be determined in automatic travel in the work target area CA while setting an efficient discharge timing in consideration of the number of discharges. can be generated.

The discharge standard yield calculation unit 74 calculates the discharge standard yield from the total yield of the work target area CA and the number of times of discharge calculated by the discharge frequency calculation unit 73 . The discharge standard yield is the yield of grains stored in the grain tank 14 as a guideline for discharging grains during automatic travel. Specifically, the discharge standard yield is obtained by dividing the total yield by the number of times of discharge. By calculating the emission standard yield in this way, as will be illustrated later, the travel route for automatic driving in the work target area CA can be efficiently generated while setting an efficient emission timing using the emission standard yield as a guide. It becomes possible to

The travel route generation unit 54 generates a travel route for automatic travel in the work area CA based on the outer shape of the field, the outer shape of the work area CA, and the like. The travel route used for automatic travel can be generated by the travel route generation unit 54 by itself using a route calculation algorithm, but it is also possible to use a downloaded one generated by the communication terminal 2 or a remote management computer. It is possible. Note that the travel route calculated by the travel route generator 54 can be used for the purpose of guidance for the combine to travel along the travel route even in manual operation.

In addition, this combine can be driven both in automatic driving for harvesting by automatic driving and in manual driving for harvesting by manual driving. The automatic driving mode is set for automatic driving, and the manual driving mode is set for manual driving. The switching of the driving mode is managed by a driving mode management unit (not shown) or the like.

In addition, when generating a travel route for automatic travel, the travel route generation unit 54 selects any one of the total yield of the work target area CA, the number of times of discharge calculated by the number of times of discharge calculation unit 73, and the standard yield of discharge, or any of these. It is also possible to consider combining them as appropriate. In addition, the travel route generation unit 54 can also generate the travel route in consideration of the discharge points set by the discharge point setting unit 86 .

By generating a travel route for automatically traveling in the work area CA in consideration of the total yield of the work area CA, the travel route including the discharge travel moving to the discharge point can be efficiently generated while referring to the discharge yield. can be generated. It is also possible to calculate the remaining yield from the yield of grains harvested during automatic travel, and change the travel route to an efficient travel route as needed from the remaining yield in the work target area CA as the automatic travel progresses.

In addition, by generating a travel route that automatically travels in the work target area CA in consideration of the number of ejections, automatic travel from the ejection of grains to the next ejection of grains can be performed according to the number of ejections. An optimal travel route can be easily and efficiently generated by, for example, equalizing the harvest travel distance.

In addition, the travel route estimates the timing when the grains need to be discharged, such as when the discharge yield is reached, and considers the route to move to the discharge point, and determines the timing when the discharge yield is reached. It is desirable to generate it so that the CA can be cut off.

For example, as shown in FIG. 5, a combine harvester that is automatically traveling travels so as to traverse the work area CA at a certain position, then turns and traverses the work area CA at another position. Repeat running. A combine harvester (illustrated as a traveling vehicle body 10 in the figure) is set near the transport vehicle CV to discharge the stored grains when the yield of the grains stored in the grain tank 14 reaches the discharge yield. move to the discharge point PO. Assuming that the combine is traveling at a position (for example, position PF1) inside the work area CA when the discharge yield is reached, the combine moves backward along the already harvested traveling route and turns in the outer peripheral area SA. It travels on the discharge travel route LO1 toward the discharge point PO. However, when the travel route is reversed in this way and the vehicle is headed toward the discharge point PO, the discharge travel route LO1 associated with the discharge becomes long, and the efficiency of the automatic travel deteriorates.

On the other hand, by generating a travel route that automatically travels in the work target area CA in consideration of the discharge standard yield, the yield when discharging grains can be varied from the discharge standard yield to a range that does not exceed the full yield. You just have to consider the yield that was given. Therefore, it is possible to easily generate a travel route so that the timing of moving to the discharge point coincides with the timing of clearing the work area CA. For example, as shown in FIG. 5, if the yield reaches a range equal to or greater than the emission standard yield and equal to or less than the full yield at the position PF2 at the end of the work target area CA, the robot moves forward as it is to follow the discharge travel route LO2. through to the discharge point PO. As a result, an efficient travel route can be easily generated.

Furthermore, as shown in FIG. 6, in order to easily generate an efficient travel route, the travel route generator 54 adjusts the length of the work area CA in the direction along the travel route during automatic travel. A preliminary adjustment route LR for performing preliminary adjustment travel may be generated. By performing the preliminary adjustment traveling in this manner, a traveling route is generated so that the emission yield is reached at the timing when the operation target area CA is cleared so that the emission yield does not occur inside the operation target area CA during automatic travel. becomes easier. For example, the travel route can be generated so that the discharge yield is reached at the end of the work area CA during reciprocating travel. As a result, it is possible to always go to the discharge point PO through the discharge travel route LO2 that does not involve retreating, and discharge the appropriate amount of grains. As a result, it is possible to easily generate an efficient travel route that enables efficient discharge of grains and efficient discharge travel. The discharge yield at this time may be the discharge standard yield, or the yield equal to or greater than the discharge standard yield and equal to or less than a predetermined ratio to the full yield or the yield less than the predetermined yield. Further, although the drawing shows an example in which the preliminary adjustment path LR is generated at one side edge of the work area CA, the preliminary adjustment path LR may be generated at two opposite side edges.

Note that the area of the work area CA, the yield rate, the total yield of the work area CA, the number of times of discharge calculated by the number of times of discharge calculating unit 73, and at least a part of the standard discharge yield, which have been checked in advance, are retained. Alternatively, it may be obtained from the outside via the input processing unit 90 . When acquiring from the outside, the input processing unit 90 or the travel route generation unit 54 and other functional units are an area acquisition unit that acquires the area of the work target area CA, a yield rate acquisition unit that acquires the yield rate, and a total yield. It functions as a data acquisition unit such as a total yield acquisition unit, a discharge frequency acquisition unit that acquires the number of discharges, and a discharge standard yield acquisition unit that acquires a discharge standard yield.

Further, the travel route generator 54 preferably generates the preliminary adjustment route so that the harvesting work of the work target area CA is finished on one side facing the entrance from the ridge in the farm field.

A method of managing and controlling automatic driving will be described below with reference to FIGS. 4 to 7. FIG. Note that the method described below may be realized by the apparatus configuration shown in FIG. 4 described above, but may be realized by any other configuration. Also, the method described below can be implemented using a program. For example, the program is stored in the storage device 92 and executed by the control section 91 such as a CPU or an ECU. Moreover, the storage device 92 and the control section 91 may be provided in the control unit 5, or may be provided in another location.

Satellite signals are continuously received from satellites, and positioning data corresponding to the position of the vehicle is calculated (step #1 in FIG. 7).

Also, the yield of grains stored in the grain tank 14 is continuously measured (step #2 in FIG. 7).

While continuously calculating the positioning data and measuring the yield, the combine harvests the peripheral area SA of the field (step #3 in FIG. 7).

After cutting the perimeter, the outer shape of the work area CA (unworked area), which is the uncut land (unworked area) inside the outer peripheral area SA (already worked area), is determined from the continuously calculated positioning data. and the outer shape of the outer peripheral area SA (the outer shape of the farm field) is calculated. In addition, the area of the work target area CA and the area of the peripheral area SA are calculated (step #4 in FIG. 7).

In addition, a yield rate, which is a yield per unit area when peripheral cutting is performed on the peripheral region SA, is calculated from the yield of grains harvested during peripheral cutting and the area of the peripheral region SA. Specifically, the yield rate is obtained by dividing the yield of grain harvested during perimeter mowing by the area of the outer peripheral region SA. It should be noted that the calculated yield rate can be estimated to be applicable to harvesting in the entire field, and can be used for generating a travel route of the work area CA by automatic travel (step #5 in FIG. 7).

Then, the total yield of grains expected to be harvested in the work area CA is calculated from the area of the work area CA and the yield rate. Specifically, the total yield is obtained by multiplying the area of the work area CA and the yield rate. By referring to the total yield, it is possible to efficiently generate a travel route for automatic travel in the work target area CA while taking grain discharge into consideration (step #6 in FIG. 7).

Next, from the discharged yield and the total yield of the work area CA, the minimum required number of grain discharges for automatic travel in the work area CA is calculated. Specifically, the minimum required number of grain discharges is obtained by dividing the total yield by the discharge yield and then rounding up to the nearest whole number. Note that the discharge yield here refers to the full yield of the grain tank 14, the yield that is a predetermined ratio or a predetermined amount less than the full yield, the discharge yield required from the outside, the capacity corresponding to the loading capacity of the transport vehicle, Alternatively, it can be a yield that is defined in advance as the yield at the time of discharge. Further, when the grains are discharged during peripheral mowing, the yield at the time of discharge may be used as the discharged yield (step #7 in FIG. 7).

As described above, when the automatic driving is performed until the discharge yield is reached, when the discharge yield is reached inside the work target area CA, it is necessary to retreat in order to move to the discharge point PO. may not be possible. On the other hand, by obtaining the minimum required number of grain discharges, when generating a travel route for automatic driving, even if the discharge yield is not reached, the number of discharges is taken into account. , it may be possible to generate a travel route that starts traveling to the ejection point PO at a convenient location to travel to the ejection point PO. As a result, it is possible to generate an efficient travel route in automatic travel in the work area CA.

Next, a discharge reference yield is calculated from the total yield of the work area CA and the minimum required number of grain discharges. Specifically, the discharge standard yield is obtained by dividing the total yield of the work target area CA by the minimum required number of grain discharges. The emission standard yield obtained in this way corresponds to the yield when the yield discharged in each automatic driving is equally distributed when the grain is discharged at the minimum required number of times of grain discharge. . Then, the discharge standard yield becomes a yield equal to or less than the discharge yield. Therefore, a yield equal to or greater than the emission standard yield and equal to or less than the emission yield can be used as the yield at the time of discharge that is considered when generating a travel route for automatic driving. In this way, it is possible to give a range to the yield at the time of discharge that is taken into consideration when generating the travel route. Such a travel route can be generated more easily (step #8 in FIG. 7).

Next, when generating the travel route of the work target area CA by automatic travel, first, a preliminary adjustment route is generated. The preliminary adjustment route is a route along which harvest travel is performed in order to shorten the length of the outer shape of the work area CA so that the length of reciprocating travel in the work area CA by automatic travel is shortened. Therefore, the preliminary adjustment route is a route that travels in a direction intersecting the direction of reciprocating travel. By harvesting and traveling on the preliminary adjustment route, the work target area CA becomes the optimum shape for the subsequent reciprocating travel by automatic travel. The optimum shape is, for example, a shape that does not result in a discharge yield in the middle of the travel route in the work area CA (inside the work area CA) in automatic travel. As described above, when the discharge yield is reached in the middle of the travel route, it becomes impossible to efficiently move to the discharge point PO. Therefore, it is preferable to generate the travel route so that the yield is such that the movement to the discharge point PO can be started at the end of the work area CA. The preliminary adjustment route is a route for making the shape of the work target area CA into a shape that facilitates the generation of such a travel route. Such a preliminary adjustment route is generated based on the total yield of the work area CA described above. In addition, it is preferable to consider emission yield. As described above, the discharged yield is the full yield of the grain tank 14, the yield that is a predetermined ratio or a predetermined amount less than the full yield, the discharged yield requested from the outside, the capacity corresponding to the loading capacity of the transport vehicle, or It is possible to obtain a yield that is defined in advance as the yield at the time of discharge (step #9 in FIG. 7).

As the total yield, the total yield obtained in step #6 of FIG. 7 may be used, or the total yield obtained in advance may be used, or may be obtained from the outside when generating the preliminary adjustment route. good.

Further, when generating the preliminary adjustment route, a discharge point for discharging the grains stored in the grain tank 14 may be set in advance, and the preliminary adjustment route may be generated in consideration of the discharge point. Further, the preliminary adjustment route may be generated so that the harvesting work of the work area CA is finished on one side facing the entrance from the ridge in the field among the sides forming the work area CA.

Next, a travel route for automatic travel is generated for the work area CA where harvesting is not performed (step #10 in FIG. 7).

Finally, harvesting is performed by automatic traveling on the work target area CA where harvesting is not performed. The process is terminated when the harvesting runs for all regions are completed (step #11 in FIG. 7).

It should be noted that the generation of the travel route in automatic driving can also be performed in consideration of at least one of the yield rate, the total yield, the number of discharges, and the emission standard yield. Further, when generating the travel route, a discharge point for discharging the grains stored in the grain tank 14 may be set in advance, and the travel route may be generated in consideration of the discharge point.

In the embodiment described above, the following embodiments can be combined for implementation.

[Another embodiment 1]
Yield rate, total yield, number of discharges, and standard discharge yield are calculated based on the information in the perimeter mowing of the field, and in the perimeter mowing, a map of the field is created. When creating a field map, an operation for starting creation of a field map is performed by an agricultural field map creation start switch or the like. Further, the operation of the field map creation start switch may be regulated so that it is possible only when the assist switch is input (assist mode is ON) and the work state is related to automatic travel. Furthermore, surrounding cutting may be started only in the harvesting state and in the state where the field map creation start switch is turned on. By providing the regulations as described above, it is possible to avoid creating a field map at an inappropriate position, and to create an appropriate field map when mowing the surroundings of the field.

The harvesting state is the state where the harvesting device H (see FIG. 1) is at a predetermined height, and may be the state where the threshing device 13 (see FIG. 1) is in operation. Further, when it is determined that the surrounding area is being cut, if the field map creation start switch is not turned on, a warning may be issued. As a result, forgetting to input the field map creation start switch can be suppressed. Whether or not surrounding mowing is being performed can be determined by checking whether an assist switch is turned on at a place where no map is created, or whether the harvesting device H (see FIG. 1) is at a predetermined position, or the like.

Further, when the positioning state of the satellite positioning module 80 (see FIG. 1) deteriorates during surrounding mowing (during field map creation), a warning may be issued and the field map creation or harvesting work may be interrupted. As a result, it is possible to prevent an inaccurate field map from being created.

The above warning can be given to the communication terminal 2 (see FIG. 1) such as a VT (virtual terminal), the operation unit 12 (see FIG. 1), etc. .

[Another embodiment 2]
In addition to the calculated yield rate, total yield, discharge frequency and discharge standard yield, completion of each work, predicted time when the grain tank 14 (see FIG. 1) is full or a predetermined yield, and running stop , Abnormal stoppage, detection of clogging in the harvesting device H (see FIG. 1), etc. may be notified to a terminal such as a smart phone of another person such as a veteran worker or manager. good. As a result, it becomes possible to receive necessary instructions and advice from others, and to prompt the necessary work such as movement of the truck.

[Another embodiment 3]
It is also possible to use two or more different working machines such as combine harvesters to create a farm field map including calculation of the outer shape and area of the farm field and the work area CA, and to automatically travel in the work area CA. As a result, one working machine automatically travels in the work target area CA while the other working machine performs surrounding mowing, thereby efficiently performing harvesting work on many farm fields. In addition, since experience is required for perimeter mowing, more experienced workers can perform perimeter mowing, and inexperienced operators can monitor the automatic driving, making harvesting work more efficient. .

In addition, the work machine that performs the perimeter cutting is not a work machine that can automatically travel, but a work machine that includes a satellite positioning module 80 (see FIG. 1) capable of recording measurement data and a communication device. . In this case, the positioning data may be transmitted to a management server or the like, the management server may create information such as a field map, and the information may be transferred to the work machine that automatically travels. As a result, a field can be harvested by automatic traveling with a simpler configuration. Further, the work machine for mowing the surrounding area may be a work machine that cannot automatically travel, and a satellite positioning module 80 (see FIG. 1) and a communication device are retrofitted.

A recording device for recording positioning data may be provided outside the satellite positioning module 80 (see FIG. 1). If the management server can record the positioning data, the satellite positioning module 80 (see FIG. 1) need not record the positioning data.

[Another embodiment 4]
In the above description using FIG. 6, the preliminary adjustment route LR is a route in a direction intersecting the travel route, and the preliminary adjustment travel is travel in which U turns are repeatedly performed along the preliminary adjustment route LR. However, the configuration is not limited to this, and the preliminary adjustment route LR may be any route that allows adjustment of the length in the direction along the traveling route of the work target area CA, and the preliminary adjustment travel can also be performed by an arbitrary turning method.

For example, as shown in FIG. 8, the preliminary adjustment route LR may be a route along the outer periphery of the work area CA. Specifically, the preliminary adjustment route LR is a route that circulates in parallel with the outer peripheries of the work area CA from the outermost circumference toward the inner circumference of the work area CA. For example, the preliminary adjustment route LR starts near the corner of the work area CA and circles the work area CA along the outer perimeter of the work area CA. It is a path that makes one or more turns along the . In the case of preadjustment traveling on such a preadjustment route LR, it is easy to perform an α turn when turning from a route parallel to a certain outer periphery to a next route parallel to the outer periphery. Yes and preferable.

Even in the case of performing preliminary adjustment traveling along such a preliminary adjustment route LR, the length of the work target area CA in the direction along the traveling route can be adjusted. Therefore, in automatic driving, it becomes easy to generate a travel route so that the discharge yield is reached at the timing when the work target area CA is cleared so that the discharge yield is not reached inside (on the way) of the work target area CA. This makes it possible to always go to the discharge point PO without backtracking and discharge a suitable amount of grain. As a result, it is possible to easily generate an efficient travel route that enables efficient discharge of grains and efficient discharge travel.

Note that the preliminary adjustment route LR is not limited to the route that circulates from the outer periphery to the inner periphery of the work target area CA as described above, and may be a route that circulates from the inner periphery to the outer periphery. . Further, the preliminary adjustment route LR may be a route that circulates in an arbitrary order in a predetermined area extending inward from the outer circumference of the work area CA.

Here, an example method for generating the preliminary adjustment path LR shown in FIGS. 6 and 8 will be described using FIG.
By traveling the preliminary adjustment route LR, the length of the remaining work area RA, which is the unworked area of the work target area CA, in the direction parallel to the travel route becomes the length L. The length L is used to generate the travel route so that the discharge yield is not reached within the work target area CA (remaining work area RA) during automatic travel, and that the discharge yield is reached at the timing when the remaining work area RA is cleared. It is the length that makes it possible.

When generating the preliminary adjustment route LR, first, after the grain is discharged (the grain tank 14 (see FIG. 1) is empty), the travel distance that can be harvested until the discharge standard yield is reached is calculated. is defined as LS. Here, the travel distance LS is, for example, the travel distance necessary for harvesting a unit yield from the travel distance and the yield that can be obtained from the positioning data during perimeter mowing (“travel distance according to the present invention”). and yield”) and multiplying this by the emission standard yield. Then, the preliminary adjustment route LR is generated so that the length L of the remaining work area RA in the direction parallel to the travel route satisfies the relationship of L×n (where n is a positive integer)=LS.

When n is an odd number, the travel distance LS of the travel route S1 in the harvesting travel is an odd multiple of L, and the travel route S1 includes a work area CA (remaining work area RA) where the combine (the traveling vehicle body 10) enters. It becomes a route cut through from the opposite side of the remaining work area RA to the side to be cut. If the discharge point PO is set in the vicinity of the approaching side, and n is an odd number, the discharge travel route LO2 will be long. In this case, the preliminary adjustment route LR may be generated so that the traveling distance LS is an even multiple of L. For example, the preliminary adjustment route LR to generate As a result, like the travel route S2, the route can always be cut off from the side that enters the work target area CA (remaining work area RA). Therefore, it is preferable to generate the preliminary adjustment route LR by selecting whether the travel distance LS is an odd multiple or an even multiple of L according to the position of the discharge point PO.

Further, the travel distance LS includes the U-turn in the reciprocating travel, and if the length L of the remaining work area RA is used as a reference, an error may occur in the travel distance LS. Also, the error may be an error of the yield sensor 19 or the like. If an error occurs, the discharge standard yield may occur in the middle of the remaining work area RA. Therefore, it is preferable to provide a margin for the length L of the remaining work area RA when the preliminary adjustment path LR is generated. Specifically, the preliminary adjustment path LR is generated so as to satisfy the relationship of L′×n (or 2n) (n is a positive integer)=LS, and the length L′ is a predetermined length or Proportionally short length. As a result, it is possible to prevent the discharge standard yield from occurring in the middle of the remaining work area RA.

INDUSTRIAL APPLICABILITY The present invention is suitable for various harvesters such as combines.

14 Grain Tank 15 Cutting Mechanism 16 Conveying Device 17 Reel 18 Grain Discharging Device 19 Yield Sensor 20 Yield Output Section 54 Traveling Route Generation Section 71 Yield Rate Calculation Section 72 Total Yield Calculation Section 73 Discharge Frequency Calculation Section 74 Discharge Standard Yield Calculation Section 80 satellite positioning module 84 area calculation unit 86 discharge point setting unit 90 input processing unit

Claims (14)

A traveling route generation system for generating an automatic traveling route in a harvester for harvesting crops in an unworked land while automatically reciprocating along traveling routes parallel to each other on an unworked land in a field,
Based on the relationship between the travel distance of the harvester and the yield, the shape of the unworked land, and the discharge yield of the harvester, the reciprocating distance is adjusted so that the shape of the unworked land is the optimum shape for the reciprocating travel. A travel route generation unit that generates a preliminary adjustment route for automatic travel prior to travel ,
The optimal shape for the reciprocating travel is a shape such that the discharge yield does not occur in the middle of the travel route,
The travel route generating system , wherein the preliminary adjustment route is a route for shortening the length of the unworked land in the direction along the travel route . 2. The travel route generation system according to claim 1 , wherein the discharge yield is the yield when the grain tank is full. 2. The travel route generation system according to claim 1 , wherein the discharge yield is set to be equal to or greater than a predetermined percentage of the yield when the grain tank is full. A discharge point setting unit that sets a discharge point for discharging the grains stored in the grain tank at one end of the travel route outside the unworked land,
The travel route generator generates the preliminary adjustment route so that the discharge yield is obtained on a side on which one end or the other end of the travel route is located, among the sides forming the outer shape of the unworked land. 4. The travel route generation system according to any one of 1 to 3 . The travel route generation unit generates the above-mentioned travel route on one side facing an entrance from a ridge in the farm field, or on a side opposite to the one side facing the entrance and across the travel route, among the sides constituting the unworked land. The travel route generation system according to any one of claims 1 to 4, wherein the preliminary adjustment route is generated so as to finish the harvesting work on the unworked land. The travel route generation system according to any one of claims 1 to 5 , wherein the preliminary adjustment route is a route along a direction intersecting the travel route. The travel route generation system according to any one of claims 1 to 5 , wherein the preliminary adjustment route is a route along the outer circumference of the unworked land. A travel route generation method for generating an automatic travel route in a combine harvesting crops in an unworked land while automatically traveling reciprocatingly traveling along an unworked land in a field along travel routes parallel to each other,
Based on the relationship between the travel distance and the yield of the combine, the shape of the unworked land, and the discharge yield of the combine, the shape of the unworked land is adjusted to the optimal shape for the reciprocating travel. A step of generating a preliminary adjustment route for automatic traveling in advance ,
The optimal shape for the reciprocating travel is a shape such that the discharge yield does not occur in the middle of the travel route,
The travel route generation method, wherein the preliminary adjustment route is a route for shortening the length of the unworked land in the direction along the travel route . 9. The travel route generation method according to claim 8 , wherein the discharged yield is the yield when the grain tank is full. 9. The travel route generation method according to claim 8 , wherein the discharged yield is set to be equal to or greater than a predetermined percentage of the yield when the grain tank is full. A discharge point for discharging the grains stored in the grain tank is set on one end side of the travel route on the outer side of the unworked land,
11. The preliminary adjustment route is generated so that the discharge yield is on a side on which one end or the other end of the travel route is located, among the sides forming the outer shape of the unworked land. The driving route generation method described in the paragraph. Among the sides constituting the unworked land, the harvesting operation of the unworked land is performed on one side facing the entrance from the ridge in the farm field or on the side opposite to the one side facing the entrance with the traveling route interposed therebetween. A driving route generation method according to any one of claims 8 to 11 , wherein the preconditioning route is generated to finish. The travel route generation method according to any one of claims 8 to 12 , wherein the preliminary adjustment route is a route along a direction intersecting the travel route. The travel route generation method according to any one of claims 8 to 12 , wherein the preliminary adjustment route is a route along the outer circumference of the unworked land.

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