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WO2020026578A1 - Système de génération d'itinéraire de déplacement, procédé de génération d'itinéraire de déplacement, programme de génération d'itinéraire de déplacement, support de stockage stockant un programme de génération d'itinéraire de déplacement, système de gestion d'opération, procédé de gestion d'opération, programme de gestion d'opération, support de stockage stockant un programme de gestion d'opération, moissonneuse, système de génération de structure des déplacements, programme de génération de structure des déplacements, support de stockage stockant un programme de génération de structure des déplacements, et procédé de génération de structure des déplacements - Google Patents

Système de génération d'itinéraire de déplacement, procédé de génération d'itinéraire de déplacement, programme de génération d'itinéraire de déplacement, support de stockage stockant un programme de génération d'itinéraire de déplacement, système de gestion d'opération, procédé de gestion d'opération, programme de gestion d'opération, support de stockage stockant un programme de gestion d'opération, moissonneuse, système de génération de structure des déplacements, programme de génération de structure des déplacements, support de stockage stockant un programme de génération de structure des déplacements, et procédé de génération de structure des déplacements Download PDF

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Publication number
WO2020026578A1
WO2020026578A1 PCT/JP2019/021600 JP2019021600W WO2020026578A1 WO 2020026578 A1 WO2020026578 A1 WO 2020026578A1 JP 2019021600 W JP2019021600 W JP 2019021600W WO 2020026578 A1 WO2020026578 A1 WO 2020026578A1
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WO
WIPO (PCT)
Prior art keywords
traveling
yield
route
travel
work
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2019/021600
Other languages
English (en)
Japanese (ja)
Inventor
阪口和央
佐野友彦
吉田脩
中林隆志
川畑翔太郎
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Kubota Corp
Original Assignee
Kubota Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from JP2018144479A external-priority patent/JP7136623B2/ja
Priority claimed from JP2018167810A external-priority patent/JP7030662B2/ja
Priority claimed from JP2018214873A external-priority patent/JP7224151B2/ja
Application filed by Kubota Corp filed Critical Kubota Corp
Priority to KR1020217005563A priority Critical patent/KR102820625B1/ko
Priority to CN201980049840.8A priority patent/CN112533474B/zh
Publication of WO2020026578A1 publication Critical patent/WO2020026578A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B69/00—Steering of agricultural machines or implements; Guiding agricultural machines or implements on a desired track
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D41/00—Combines, i.e. harvesters or mowers combined with threshing devices
    • A01D41/12—Details of combines
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01F—PROCESSING OF HARVESTED PRODUCE; HAY OR STRAW PRESSES; DEVICES FOR STORING AGRICULTURAL OR HORTICULTURAL PRODUCE
    • A01F12/00—Parts or details of threshing apparatus
    • A01F12/60—Grain tanks
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/14—Receivers specially adapted for specific applications

Definitions

  • the present invention relates to a technique for managing and controlling the operation of a combine for harvesting crops in a field.
  • the present invention relates to a technique for automatically traveling in a reciprocating traveling pattern of traveling by connecting a plurality of parallel work traveling paths by a turning traveling path.
  • Patent Literature 1 Background technology
  • a combine described in Patent Literature 1 is already known. This combine is capable of harvesting and traveling by harvesting crops in a field by a harvesting device ("a reaper” in Patent Document 1) while traveling by the traveling device.
  • the combine includes a grain tank (“Glen tank” in Patent Literature 1) for storing the harvested product harvested by the harvesting device.
  • the combine is configured to automatically travel based on a signal received from a GPS satellite, and a yield sensor that detects the amount of grains in a grain tank (in Japanese Patent Application Laid-Open No. H11-163873, “grain amount detecting means”). It has. When the value detected by the yield sensor is equal to or greater than a set value, the combine is automatically moved to the vicinity of the transport vehicle (discharge point) in order to discharge grains from the grain tank. .
  • Harvesters such as combine harvesters that harvest crops while traveling in the field, temporarily store the harvest in the harvest tank, and once the harvest tank is full, suspend the harvesting work and temporarily stop the specified discharge. After traveling to the area and discharging the harvest to a transport vehicle or the like parked there, return to the place where the work was interrupted and resume the harvest work.
  • the transport vehicle loaded with the harvest transports the harvest to a facility that performs the next processing, such as a drying facility.
  • the combine according to Patent Literature 2 includes a grain sensor that detects the amount of grains in a grain tank, finds the time required from the start of harvesting to reach full tank, and transmits the required time to a designated mobile phone. Having.
  • Patent Document 3 discloses a harvester that automatically travels along a traveling route selected from a traveling route group calculated to cover a field.
  • a discharge request for discharging the harvest is issued.
  • the harvester temporarily suspends the harvest run, disengages from the previously traveled travel route, and selects the travel route to guide the harvester to the harvest discharge parking position. Use to drive to the harvest discharge parking position.
  • the problems corresponding to the background art [1] are as follows.
  • the automatic traveling including the movement for discharging the kernel may not be efficient depending on the position where the amount of the grain to be discharged is reached. For example, if the amount of grain to be discharged at a position away from the edge of the field is reached, the combine retreats to the swirling area (unworked land) of the already harvested field and moves to the discharge point. It was necessary to perform inefficient automatic driving.
  • An object of the present invention is to perform efficient automatic traveling.
  • the problems corresponding to the background art [2] are as follows.
  • a fullness notification process or a discharge process for interrupting the harvesting operation and emptying the harvest tank is performed.
  • interrupting the harvest travel and performing a discharge process to empty the harvest tank is particularly difficult when automatic travel is adopted.
  • Difficult problems such as searching for a return point and selecting a discharge travel route and a return travel route occur. Such a problem does not occur when the storage amount of the harvest tank becomes an amount requiring discharge (for example, full) at a point where selection of the discharge travel route and the return travel route is easy.
  • An object of the present invention is to provide a harvester that can control a storage amount of a harvest tank to be an amount requiring discharge at a point where a discharge travel route and a return travel route can be easily set. That is.
  • a traveling route generation system includes an automatic traveling route in a combine for harvesting a crop in the unworked land, while reciprocating in an unworked land in a field along an automatically running traveling path along a mutually parallel traveling route.
  • a travel route generation system that generates a yield acquisition unit that acquires a yield rate that is a yield per unit area in the field, an area acquisition unit that acquires the area of the unworked land, and the yield rate From the area, a total yield estimating unit that estimates the total yield of kernels that are expected to be harvested in the unworked land, and based on the shape and the total yield of the unworked land, A traveling route generating unit that generates a preliminary adjustment route for performing automatic traveling prior to the reciprocating traveling so that the shape becomes an optimal shape for the reciprocating traveling.
  • the optimal shape for harvesting is a shape that does not result in an emission yield in the middle of the travel route, and the travel route generation unit generates the preliminary adjustment route in consideration of the emission yield. Is preferred.
  • the travel route may be inefficient, such as the need to move backward to move to the grain discharge point.
  • the un-worked site after traveling on the pre-adjustment route will have a travel route that considers movement to the discharge point. It becomes easy to generate, and an efficient travel route can be easily generated.
  • the discharge yield may be the yield when the grain tank is full.
  • the discharge yield may be set so as to be equal to or more than a predetermined ratio of the yield when the grain tank is full.
  • the capacity of the transport vehicle and the yield to be discharged in response to external requests may be specified.
  • an efficient traveling route can be generated.
  • a discharge point setting unit configured to set a discharge point for discharging the kernel stored in the kernel tank to one end of the travel route on an outer side of the unworked land; It is preferable that the preliminary adjustment path is generated so that the discharge yield is obtained on the side where one end or the other end of the travel path is located, of the sides constituting the outer shape of the unworked land.
  • a more efficient traveling route can be generated by generating a traveling route so as to obtain a discharge yield particularly at a position facing the discharge point and cut through an unworked land.
  • the traveling route generation unit may include, among the sides constituting the unworked land, one side facing the entrance from the ridge in the field or one side facing the entrance and an opposite side across the traveling path.
  • the preliminary adjustment path is generated so as to complete the harvesting work of the unworked land.
  • the traveling route when leaving the field after finishing the harvesting work is also optimized, and a more efficient traveling route can be generated.
  • the preliminary adjustment path is a path for adjusting the length of the traveling path of the reciprocating traveling.
  • the preliminary adjustment route is a route along a direction intersecting with the traveling route.
  • the preliminary adjustment path may be a path along the outer periphery of the unworked land.
  • the traveling route generation method is a combine harvesting device that harvests crops of the unworked land while automatically reciprocating on unworked land in a field along running paths parallel to each other.
  • a traveling route generation method for generating an automatic traveling route wherein a step of acquiring a yield rate that is a yield per unit area in the field, a step of acquiring an area of the unworked land, and the yield rate and the area From the step of estimating the total yield of kernels that are predicted to be harvested in the unworked land, and based on the shape of the unworked land and the total yield, the shape of the unworked land is reciprocated Generating a preliminary adjustment path for performing automatic traveling prior to the reciprocating traveling so as to have an optimal shape for traveling.
  • the optimal shape for harvesting is a shape that does not result in a discharge yield in the middle of the traveling route, and it is preferable to generate the preliminary adjustment route in consideration of the discharge yield.
  • the traveling route may be inefficient, such as the need to move backward to move to the grain discharge point.
  • the un-worked site after traveling on the pre-adjustment route will have a travel route that considers movement to the discharge point. It becomes easy to generate, and an efficient travel route can be easily generated.
  • the discharge yield may be the yield when the grain tank is full.
  • the discharge yield may be set so as to be equal to or more than a predetermined ratio of the yield when the grain tank is full.
  • the capacity of the transport vehicle and the yield to be discharged in response to external requests may be specified.
  • an efficient traveling route can be generated.
  • a discharge point for discharging the grains stored in the grain tank is set at one end of the traveling path on the outer side of the unworked land, and a side of the side constituting the outer shape of the unworked land is set.
  • the preliminary adjustment path is generated such that the discharge yield is obtained on a side where one end or the other end of the travel path is located.
  • the pre-adjustment path is generated so as to complete the work.
  • the traveling route when leaving the field after finishing the harvesting work is also optimized, and a more efficient traveling route can be generated.
  • the preliminary adjustment path is a path for adjusting the length of the traveling path of the reciprocating traveling.
  • the preliminary adjustment route is a route along a direction intersecting with the traveling route.
  • the preliminary adjustment path may be a path along the outer periphery of the unworked land.
  • the traveling route generation program is a combine harvester that harvests crops of the unworked land while automatically reciprocating through the unworked land in the field along the running paths parallel to each other.
  • a travel route generation program that generates an automatic travel route, a function of acquiring a yield rate that is a yield per unit area in the field, a function of acquiring an area of the unworked land, the yield rate and the area From the above, based on the function of estimating the total yield of kernels that are predicted to be harvested in the unworked land, and the shape of the unworked land and the total yield, the shape of the unworked land is reciprocated
  • a function of generating a preliminary adjustment path for performing automatic traveling prior to the reciprocating traveling so as to have an optimal shape for traveling.
  • the recording medium in which the traveling route generation program according to the embodiment of the present invention is recorded while traveling back and forth by automatic traveling along the traveling routes parallel to each other on the unworked land in the field,
  • the work management system includes a grain tank that stores the grains harvested and threshed and a yield sensor that measures the yield of the grains stored in the grain tank.
  • a work management system for a combine that harvests crops in an outer peripheral area in a field by manual traveling, and harvests the crop while automatically traveling on an unworked area inside the already-operated land where the manual traveling has been performed.
  • a satellite antenna provided in the combine and receiving a satellite signal from a satellite, a satellite positioning module provided in the combine and outputting positioning data corresponding to the vehicle position based on the satellite signal, Provided in the combine, a yield output unit that outputs the yield measured by the yield sensor, a data acquisition unit that acquires the positioning data and the yield, and a data acquisition unit that acquires during the manual driving.
  • an area calculation unit that calculates an already-worked area of the already-worked area and an un-worked area of the un-worked area, and the yield and the already-worked area obtained during the manual traveling
  • a yield rate calculation unit that calculates a yield rate that is a yield per unit area in the already-worked area, and a grain that is expected to be harvested in the un-worked area from the unworked area and the yield rate.
  • a total yield estimating unit for estimating the total yield of.
  • the total yield of the unworked land By estimating the total yield of the unworked land in this way, it is possible to easily manage the harvesting work including this field or another field when the surrounding mowing is completed. In addition, when generating a traveling route in the automatic traveling of the unworked land, the total yield harvested in the unworked land can be considered. Therefore, the total yield is one measure, and it is possible to efficiently generate a traveling route for automatic traveling.
  • the decimal number is rounded up, and a discharge frequency calculation unit for calculating a minimum required discharge frequency during the automatic traveling of the unworked land may be provided. preferable.
  • the discharge count calculating unit preferably calculates the discharge count using the yield stored at the time of discharging during the manual running as the discharge yield.
  • An emission-based yield calculation unit configured to calculate an emission-based yield that is equal to or less than the emission yield from the total yield and the number of times of emission, and a travel route generation that generates an automatic travel route based on the emission-based yield. It is preferable to include a part.
  • the yield of the stored kernels be a yield suitable for discharge.
  • the emission standard yield obtained as described above is obtained by calculating the yield that is a reference when discharging from the minimum required number of discharges, and the final number of discharges does not change even if the emission is performed at the emission reference yield. Therefore, when generating a travel route, the yield at the time of discharge can be given a range so as to discharge between the discharge reference yield and the discharge yield.
  • the degree of freedom in generating the traveling route is improved, and when reaching the end of the unworked land, the yield of the stored kernels becomes a suitable yield for discharging. It becomes easier. As a result, efficient generation of a traveling route becomes easier.
  • the apparatus may further include a discharge point setting unit configured to set a discharge point for discharging the kernel stored in the kernel tank, wherein the travel route generation unit generates the automatic travel route in consideration of the discharge point. preferable.
  • a travel route can be generated such that harvesting ends at the end of the unworked land closer to the discharge point, and it becomes easier to efficiently generate a travel route.
  • the work management method includes a kernel tank for storing a grain harvested and threshed, and a yield sensor for measuring the yield of the kernel stored in the kernel tank.
  • a management method a step of receiving a satellite signal from a satellite, calculating positioning data corresponding to the own vehicle position of the combine based on the satellite signal, and obtaining the positioning data and the yield, From the positioning data acquired during the manual traveling, a step of calculating an area of the already-occupied land of the already-occupied land and an unoccupied area of the unoccupied land; From the area A step of calculating a yield rate that is a yield per unit area in the already-worked land; and, based on the unworked-land area and the yield rate, the total yield of kernels that are expected to be harvested in the unworked land Calculating the following.
  • the total yield of the unworked land By estimating the total yield of the unworked land in this way, it is possible to easily manage the harvesting work including this field or another field when the surrounding mowing is completed. In addition, when generating a traveling route in the automatic traveling of the unworked land, the total yield harvested in the unworked land can be considered. Therefore, the total yield is one measure, and it is possible to efficiently generate a traveling route for automatic traveling.
  • the method further comprises a step of dividing the total yield by the discharge yield of the grain tank, and then rounding up decimal places to calculate a minimum required number of discharges during the automatic traveling of the unworked land.
  • the number of discharges is calculated using the yield stored at the time of discharging during the manual driving as the discharge yield.
  • the method further includes a step of calculating an emission reference yield that is equal to or less than the emission yield from the total yield and the number of discharges, and a step of generating an automatic traveling route based on the emission reference yield. .
  • the yield at the time of discharge can be given a range so as to discharge between the discharge reference yield and the discharge yield. Therefore, the degree of freedom in generating the traveling route is improved, and when reaching the end of the unworked land, the yield of the stored grains can be set to a suitable yield for discharging. It will be easier. As a result, efficient generation of a traveling route becomes easier.
  • the method further includes the step of setting a discharge point for discharging the kernel stored in the kernel tank, wherein the automatic traveling route is generated in consideration of the discharge point.
  • a travel route can be generated such that harvesting ends at the end of the unworked land closer to the discharge point, and it becomes easier to efficiently generate a travel route.
  • the work management program includes a kernel tank for storing cropped and threshed kernels and a yield sensor for measuring the yield of kernels stored in the kernel tanks.
  • a kernel tank for storing cropped and threshed kernels
  • a yield sensor for measuring the yield of kernels stored in the kernel tanks.
  • a management program receiving a satellite signal from a satellite, a function of calculating positioning data corresponding to the own vehicle position of the combine based on the satellite signal, and a function of obtaining the positioning data and the yield, From the positioning data acquired at the time of the manual traveling, a function of calculating an already-worked area of the already-worked area and an un-worked area of the un-worked area, and the yield and the already-worked ground acquired at the time of the manual traveling From the function of calculating the yield rate, which is the yield per unit area in the already-worked land, and from the un-worked area and the yield rate, the kernel is expected to be harvested in the un-worked land And a function for calculating the total yield.
  • a recording medium recording a work management program measures a grain tank that stores grains that are harvested and threshed, and a yield of grains stored in the grain tank.
  • a recording medium recording a work management program for monitoring work, a function of receiving a satellite signal from a satellite, and calculating positioning data corresponding to the own vehicle position of the combine based on the satellite signal; and A function of obtaining data and the yield, a function of calculating an area of the already-worked land and an un-worked area of the un-worked land from the positioning data obtained during the manual running, and A function of calculating a yield rate, which is a yield per unit area in the already-worked land, from the obtained yield and the already-worked area, and the un-worked area from the un-worked area and the yield rate.
  • a function for calculating the total yield of the grain expected to be harvested by the computer and a work management program for causing a computer to realize the function.
  • the means for solving the problem [2] is as follows.
  • the harvester according to the present invention which automatically travels in a reciprocating travel pattern in which a plurality of parallel work travel paths are connected by a turning travel path, travels in a reciprocating travel pattern, includes a harvest tank for storing harvested crops, and the work travel path in an unworked area.
  • a traveling route setting unit that sets at predetermined intervals, an automatic traveling control unit that performs automatic traveling along the work traveling route based on the work traveling route and the own vehicle position, and a harvest amount per unit traveling distance.
  • a specific work travel route that is the work travel route in which the discharge timing of the crop tank occurs and a discharge timing prediction unit that predicts a discharge timing occurrence position in the specific work travel route, and a harvest width in the specific work travel route.
  • a travel path adjusting section that gives to the automatic travel control unit instead of the path.
  • the discharge timing of the harvest tank (for example, when the harvest tank is full or the harvest tank reaches an acceptable amount in the secondary processing step) is predicted at a specific position in the work traveling path.
  • the work travel route is regarded as a specific work travel route.
  • the occurrence of the discharge timing is set as the end point of the work travel route. This is made possible by replacing the adjusted travel route with a reduced harvest width (work width) with the specific work travel route. As a result, the harvester reaches the discharge timing when the traveling along the adjusted travel route is completed. Therefore, the harvester leaves the adjusted travel route and goes to the discharge stop location.
  • the actual harvest width in the harvest travel along the adjusted travel path is narrower than the harvest width in the harvest travel along the original work travel path, so an unharvested area occurs in the area where the original harvest is performed. . In order to cover this unharvested area, it is necessary to change the work travel route used for harvest travel performed thereafter. Two methods are proposed as a preferable method of changing the work traveling route.
  • the travel route adjustment unit creates the adjusted travel route by laterally shifting the specific work travel route in a direction in which the harvest width decreases, and performs a lateral shift of the specific work travel route.
  • the work travel route in the unworked area is laterally shifted in order to make the interval of the spread work travel route the predetermined interval.
  • the interval between the non-work area adjacent to the specific work travel route and the adjacent work travel route is widened.
  • the adjacent work travel route is also shifted laterally.
  • the work traveling route in the unworked area whose interval has been widened by this lateral shift is sequentially laterally shifted. If all the work travel routes that need to be shifted laterally are shifted as a result and there is not enough work travel routes to completely cover the unworked area, a new work travel route may be created.
  • the traveling route adjustment unit newly creates a virtual traveling route parallel to the specific work traveling route as the adjusted traveling route.
  • This virtual traveling route is set only with the coordinate position of the starting end at which the work traveling is started and the azimuth (meaning the extending direction, but may be an azimuth in which the extending direction changes like a curved line). Just do it.
  • the harvest traveling with the appropriately narrowed harvest width is performed only by maintaining the set azimuth.
  • the interval between the virtual travel route and the work travel route adjacent to the virtual travel route is smaller than the normal route interval, and the range of the harvest width in the harvest travel along the work travel route is: Many harvested areas are included, resulting in poor work efficiency.
  • the travel route adjustment unit laterally shifts the specific work travel route and the work travel route in the non-work area in a direction away from the virtual travel route.
  • the value of the lateral shift may be a value obtained by subtracting the interval between the specific work travel route and the virtual travel route from the predetermined interval.
  • the traveling route adjustment unit creates an updated traveling route in which the harvest width is equal to an unworked area remaining after traveling on the adjusted traveling route, and The work travel route previously set in the area is replaced with the updated travel route.
  • the updated travel route is created so as to have an evenly distributed harvest width with respect to the unworked area remaining after traveling on the adjusted travel route.
  • the traveling pattern creating system includes a reciprocating traveling pattern in which a harvester having a harvest tank for storing crops automatically travels by connecting a plurality of parallel work traveling paths by a turning traveling path.
  • a travel route setting unit that sets the work travel route at a predetermined interval in an unworked area; and a work route along the work travel route based on the work travel route and the own vehicle position.
  • An automatic travel control unit that performs automatic travel, and a specific work travel path that is the work travel path in which a discharge timing of the crop tank is generated based on a harvest amount per unit travel distance, and a discharge timing generation in the specific work travel path.
  • Create an adjustment travel path for delaying the serial ejection timing includes a travel path adjusting unit to be supplied to the automatic travel control unit instead of the adjustment travel route to the specific working travel route, the.
  • Such a running pattern creation system can also achieve the same effects as the harvester described above.
  • a traveling pattern creation program includes a reciprocating traveling pattern in which a harvester having a harvest tank that stores harvested products automatically travels by connecting a plurality of parallel work traveling paths by a turning traveling path.
  • a travel route setting function for setting the work travel route in a non-work area at a predetermined interval; and a travel route creation function based on the work travel route and the own vehicle position.
  • Driving by setting the discharge timing prediction function to predict the position and the harvest width narrower than the harvest width in the specific work travel route Create an adjustment travel path for delaying the discharge timing to the Ryoten, and a traveling path adjusting function to give to the automatic cruise control functions in place the adjustment travel route to the specific working travel route.
  • the recording medium on which the running pattern creation program according to one embodiment of the present invention is recorded is a machine in which a harvester having a harvest tank for storing harvests connects a plurality of parallel work travel paths by a turning travel path.
  • a recording medium storing a traveling pattern creating program for creating a reciprocating traveling pattern for traveling, a traveling route setting function for setting the working traveling route at a predetermined interval in an unworked area, An automatic travel control function for automatically traveling along the work travel path based on the specified travel path, and a specific work travel path that is the work travel path in which the discharge timing of the crop tank is generated based on the amount of harvest per unit travel distance And a discharge timing prediction function for predicting a discharge timing occurrence position in the specific work travel route; A travel route adjustment that creates an adjusted travel route that delays the discharge timing until the end point of travel by making the harvest width smaller than the harvest width, and gives the adjusted travel route to the automatic travel control function instead of the specific work travel route
  • a running pattern creation program for causing a computer to
  • the traveling pattern creating method is a method in which a harvester having a harvest tank for storing crops automatically travels by connecting a plurality of parallel work traveling paths by a turning traveling path.
  • Create an adjustment travel path for delaying the discharge timing comprising: a traveling path adjusting step of providing the automatic travel control process in place of the adjustment travel route to the specific working travel route, the.
  • FIG. 3 is a diagram illustrating a traveling route in automatic traveling.
  • FIG. 3 is a functional block diagram illustrating a configuration of a combine management / control system. It is a figure explaining discharge of a grain performed during harvesting run. It is a figure explaining a preliminary adjustment course. It is a figure in the management and control method of a combine which shows. It is a figure explaining the preliminary adjustment course in ⁇ cutting. It is a side view of a normal type combine as an example of a harvester. It is explanatory drawing which shows the cutting and running around the combine.
  • FIG. 8 is an explanatory diagram illustrating calculation of a work traveling route in a reciprocating traveling pattern using a normal U-turn. It is explanatory drawing explaining calculation of the work travel route in a spiral running pattern. It is explanatory drawing explaining the flow of the harvesting work by the combine performed using manual driving
  • FIG. 3 is a functional block diagram illustrating a configuration of a combine control system.
  • FIG. 8 is an explanatory diagram illustrating equal allocation of work traveling routes performed based on setting of an adjusted traveling route.
  • 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 transport device 16, a grain discharging device 18, and a satellite positioning module. 80.
  • the traveling device 11 is provided below the traveling vehicle body 10 (hereinafter simply referred to as the vehicle body 10).
  • the combine is configured to be self-propelled by the traveling device 11.
  • the operating unit 12, the threshing device 13, and the grain tank 14 are provided above the traveling device 11.
  • An operator who monitors the operation of the combine can be boarded on the driving unit 12. The observer may be monitoring the combine operation from outside the combine.
  • the grain discharge device 18 is provided above the grain tank 14. Further, the satellite positioning module 80 is mounted on the upper surface of the driving unit 12.
  • the harvesting device H is provided at the front of the combine.
  • the transport device 16 is provided on the rear side of the harvesting device H. Further, the harvesting device H has a cutting mechanism 15 and a reel 17.
  • the cutting mechanism 15 cuts the planted grain culm in the field. Further, the reel 17 scrapes the planted grain stem to be harvested while being driven to rotate. With this configuration, the harvesting device H harvests cereals in the field (hereinafter, also referred to as “crops”). Then, the combine can perform harvesting travel in which the harvesting device H harvests cereals in a field while traveling by the traveling device 11.
  • the combine includes the harvesting device H that harvests cereals in the field and the traveling device 11.
  • the harvested culm cut by the cutting mechanism 15 is transported by the transport device 16 to the threshing device 13.
  • the harvested culm is threshed.
  • the grain obtained by the threshing process is stored in the grain tank 14.
  • the grain tank 14 is provided with a yield sensor 19 that measures the yield of the grains stored in the grain tank 14.
  • the grains stored in the grain tank 14 are discharged out of the machine by a grain discharging device 18 as necessary.
  • the combine is provided with the grain tank 14 that stores the grains harvested by the harvesting device H.
  • the communication terminal 2 is arranged in the driving unit 12.
  • the communication terminal 2 is fixed to a driving unit 12.
  • the present invention is not limited to this, and the communication terminal 2 may be configured to be detachable from the driving unit 12. Further, it may be taken out of the combine machine.
  • the satellite positioning module 80 having a satellite antenna includes a satellite navigation module 81 and an inertial navigation module 82.
  • the satellite navigation module 81 receives a GNSS (global navigation satellite system) signal (including a GPS signal) from the artificial satellite GS via a satellite antenna and outputs positioning data for calculating the position of the own vehicle.
  • the inertial navigation module 82 incorporates a gyro acceleration sensor and a magnetic direction sensor, and outputs a position vector indicating an instantaneous traveling direction.
  • the inertial navigation module 82 is used to supplement the own vehicle position calculation by the satellite navigation module 81.
  • the inertial navigation module 82 may be located at a different location from the satellite navigation module 81.
  • the driver / monitor manually operates the combine, and performs harvesting traveling so as to orbit along the boundary of the field in the outer peripheral portion of the field as shown in FIG. Also referred to as).
  • the area that has been cut (the already worked place) is set as the outer peripheral area SA.
  • the area left uncut (unworked) inside the outer peripheral area SA is set as the work target area CA.
  • FIG. 2 shows an example of the outer peripheral area SA and the work target area CA.
  • the surrounding mowing is performed by manual traveling.In this case, the peripheral mowing may be a traveling in which the driver rides on the combine and steers the combine. May be.
  • the driver runs the combine for two or three turns. In this traveling, every time the combine makes one round, the width of the outer peripheral area SA increases by the working width of the combine. After the first two or three rounds of travel, the width of the outer peripheral area SA becomes about two to three times the working width of the combine. Note that the first round traveling by the driver is not limited to two or three laps, but may be longer (four or more laps) or one lap.
  • the outer peripheral area SA is used as a space for the combine to change directions when performing harvesting traveling by automatic traveling in the work target area CA.
  • the outer peripheral area SA is also used as a space for movement when the harvest travel is once completed and the grain is moved to a grain discharge location, or is moved to a fuel supply location.
  • the transport vehicle CV shown in FIG. 2 can collect and transport the kernels discharged from the combine. In discharging the grains, the combine moves to the vicinity of the transport vehicle CV, and then discharges the grains to the transport vehicle CV by the grain discharging device 18.
  • the traveling route in the work area CA is calculated as shown in FIG.
  • the calculated traveling route is sequentially generated based on the work traveling pattern, and becomes a route along which the combine automatically travels along the generated traveling route.
  • a turning pattern for turning in addition to a U turning pattern in which the direction changes along a U-shaped turning traveling path as shown in FIG. It has a turning pattern and a switchback turning pattern that performs the same direction change as the U turning pattern in an area narrower than the U turning pattern with backward traveling.
  • Such turning movement including backward movement is also performed, for example, when the grain tank 14 is full and the combine that has left the traveling route in the work target area CA is positioned with respect to the transport vehicle CV.
  • the combine management / control system includes a control unit 5 composed of a number of electronic control units called ECUs, and various input / outputs for performing signal communication (data communication) with the control unit 5 through a wiring network such as an in-vehicle LAN. It is composed of equipment.
  • the communication unit 66 is used by the combine management / control system to exchange data with the communication terminal 2 or with a management computer installed in a remote place.
  • the communication terminal 2 includes a tablet computer operated by an observer standing on a field, a driver and an observer riding in a combine, and a computer installed in a home or a management office.
  • the control unit 5 is a core element of the control system, and is shown as an aggregate of a plurality of ECUs. A signal from the satellite positioning module 80 is input to the control unit 5 through the onboard 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 unit 90, a vehicle position calculation unit 55, a vehicle body direction calculation unit 56, a field management unit 83, a yield management unit 70, and a travel route generation unit 54. Further, although not shown, the control unit 5 may include an output processing unit, a traveling control unit that controls a traveling device group, a work control unit that controls a harvesting work device, and the like.
  • the output processing unit includes a steering device, an engine device, a transmission device, a braking device, a harvesting device H (see FIG. 1), a threshing device 13 (see FIG. 1), a transport device 16 (see FIG. 1), and a grain discharging device 18 (see FIG. 1). (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 work state sensor group 64, the traveling operation unit (not shown), and the like.
  • the input processing unit 90 receives the information from these, and provides the information to various functional units in 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 work state sensor group 64 includes a harvesting operation device (harvesting device H (see FIG. 1)), a threshing device 13 (see FIG. 1), a transport device 16 (see FIG. 1), and a grain discharging device 18 (see FIG. 1). And a sensor for detecting the state of the grain culm and the grain.
  • the own vehicle position calculating unit 55 sets the own vehicle as the map coordinates (or the field coordinates) of a specific location of the vehicle body 10 (see FIG. 1) which is set in advance. Calculate the position and the position of both ends of the harvest width.
  • the body direction calculation unit 56 obtains a traveling locus in a short time from the vehicle position sequentially calculated by the vehicle position calculation unit 55, and calculates the vehicle direction indicating the direction of the vehicle body 10 (see FIG. 1) in the traveling direction. decide. Further, the vehicle body azimuth calculating unit 56 can also determine the vehicle azimuth based on the azimuth data included in the output data from the inertial navigation module 82.
  • the field management unit 83 calculates the outer shape of the field, the outer shape of the work target area CA, the area of the field, the area of the work target area CA, and the like based on the own vehicle position calculated by the own vehicle position calculator 55.
  • the 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 target area CA.
  • the area calculation unit 84 calculates the area of the field and the area of the work target area CA.
  • the field management unit 83 may include a discharge point setting unit 86 that sets a discharge point for discharging kernels to the transport vehicle CV.
  • the yield management unit 70 manages the yield used for determining a traveling route for automatic traveling and the like. Therefore, the yield management unit 70 estimates a yield rate, which is the yield of harvesting the crop per unit area of the field, the total yield that can be harvested in the work target area CA, and the like. Further, the yield management unit 70 calculates the minimum number of times of discharging the stored grains and the yield of the grains to be discharged, which are required at the minimum when harvesting the crop 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 count calculation unit 73, a discharge reference yield calculation unit 74, and the like. In addition, the yield management unit 70 can include all of them, or can also include some of them in combination.
  • the yield rate calculation unit 71 calculates the yield rate, which is the yield per unit area, from the yield of the kernel harvested in the outer peripheral area SA and the area of the outer peripheral area SA in the peripheral mowing. Specifically, the yield rate is obtained by dividing the yield of the kernel harvested in the outer peripheral area SA by the area of the outer peripheral area SA. The yield of the grain harvested in the outer peripheral area SA is obtained from the increase amount of the grain stored in the grain tank 14 from the start to the end of the peripheral cutting by manual traveling. When the kernel is discharged during the peripheral cutting, the increment of the kernel before and after that is added up.
  • the yield of the kernel harvested in the outer peripheral area SA may be calculated by the yield rate calculation unit 71, or may be calculated by another function unit such as another function unit 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 field.
  • the total yield calculator 72 estimates the total yield of kernels that are expected to be harvested in the entire work area CA from the area and the yield rate of the work area CA. Specifically, the total yield is obtained by multiplying the area of the work area CA by the yield rate. This makes it possible to efficiently generate a traveling route for automatic traveling in the work target area CA while referring to the total yield and considering the discharge of grains.
  • the discharge number calculation unit 73 determines the minimum required for automatic traveling in the work target area CA from the discharge yield, which is the yield stored in the grain tank 14 when discharging the kernel, and the total yield of the work target area CA. Is calculated. Specifically, the number of discharges is determined by dividing the total yield by the discharge yield and rounding up to an integer value.
  • the discharge yield is a full yield of the grain tank 14 or a yield that is a predetermined ratio or a predetermined amount less than the full yield, a discharge yield required from the outside, a yield corresponding to the loading capacity of a transport vehicle, or a yield at the time of discharge in advance. Can be obtained.
  • the yield at the time of discharging may be used as the discharge yield.
  • the emission-based yield calculation unit 74 calculates the emission-based yield from the total yield of the work target area CA and the number of emissions calculated by the number-of-emissions calculation unit 73.
  • the discharge standard yield is the yield of the grains stored in the grain tank 14 as a measure for discharging the grains during the automatic traveling. Specifically, the emission standard yield is obtained by dividing the total yield by the number of emissions.
  • the traveling route generation unit 54 generates a traveling route for automatic traveling in the work target area CA based on the outer shape of the field, the outer shape of the work target area CA, and the like.
  • the traveling route used in the automatic traveling can be generated by the traveling route generation unit 54 by a route calculation algorithm by itself, but the traveling route generated by the communication terminal 2 or a remote management computer may be used. It is possible. Note that the traveling route calculated by the traveling route generating unit 54 can be used for guidance for the combine to travel along the traveling route even in manual operation.
  • This combine can be run in both automatic operation, in which harvesting is performed automatically, and manual operation, in which harvesting is performed manually.
  • automatic driving the automatic driving mode is set, and for performing manual driving, the manual driving mode is set.
  • the switching of the traveling mode is managed by a traveling mode management unit (not shown) or the like.
  • traveling route generation unit 54 when the traveling route generation unit 54 generates the traveling route of the automatic traveling, one of the total yield of the work target area CA, the number of discharges calculated by the discharge number calculation unit 73, and the discharge reference yield is used. They can be considered in appropriate combinations. Further, the traveling route generation unit 54 can also generate the traveling route in consideration of the discharge points set by the discharge point setting unit 86.
  • the travel route including the discharge travel to the discharge point can be efficiently performed while referring to the emission yield. Can be generated. Further, it is also possible to calculate the remaining yield from the yield of the grains harvested during the automatic traveling, and change the traveling route from time to time to the more efficient traveling route as the automatic traveling progresses.
  • the automatic traveling performed from discharging the kernel to discharging the next kernel is performed.
  • the optimum travel route can be easily and efficiently generated by equalizing the distance of the harvest travel.
  • the traveling route estimates the timing at which it is necessary to discharge the grain such as reaching the discharge yield, and considering the route to the discharge point, the timing at which the discharge yield is reached is determined in the work target area. It is desirable to generate the CA so as to be able to cut through the CA.
  • the combine during automatic traveling travels so as to traverse the work target area CA at a certain position, then turns and traverses the work target area CA at another position.
  • the combine (illustrated as the traveling vehicle body 10 in the figure) is set near the transport vehicle CV to discharge the stored grains.
  • the discharge point PO Assuming that the combine is traveling at a position (for example, position PF1) inside the work target area CA when the discharge yield is reached, the combine retreats along the traveling path that has already been harvested and turns in the outer peripheral area SA.
  • the vehicle travels on the discharge travel route LO1 toward the discharge point PO.
  • the discharge traveling route LO1 associated with the discharge becomes long, and the efficiency of the automatic traveling deteriorates.
  • the traveling route can be easily generated such that the timing of moving to the discharge point is the timing of cutting through the work target area CA. For example, as shown in FIG. 5, assuming that at a position PF2 at the end of the work area CA, a yield having a width equal to or larger than the discharge reference yield and equal to or smaller than the full yield is reached, the vehicle advances forward and moves along the discharge travel route LO2. Through the discharge point PO. As a result, an efficient traveling route can be easily generated.
  • the traveling route generating unit 54 adjusts the length of the work target area CA in the direction along the traveling route in the automatic traveling.
  • the preliminary adjustment route LR for performing the preliminary adjustment traveling may be generated.
  • a traveling route is generated such that the emission yield is reached at the timing of cutting through the work target area CA so that the emission yield does not become inside the work target area CA. It becomes easier.
  • a traveling route can be generated so as to reach the discharge yield at the end of the work target area CA during the reciprocating traveling. Thereby, it is possible to always discharge the grain with a suitable yield to the discharge point PO through the discharge travel path LO2 without retreat.
  • the discharge yield at this time may be a discharge reference yield or a yield equal to or higher than the discharge reference yield and equal to or lower than a predetermined ratio or a predetermined yield lower than the full yield.
  • the preliminary adjustment path LR is generated at one side end of the work target area CA, but the preliminary adjustment path LR may be generated at two opposite ends.
  • the input processing unit 90 or the traveling route generation unit 54 and other functional units acquire an area acquiring unit for acquiring an area of the work target area CA, a yield rate acquiring unit for acquiring a yield rate, and acquire a total yield. It functions as a data acquisition unit such as a total yield acquisition unit that acquires the number of emissions, a discharge count acquisition unit that acquires the number of discharges, and a discharge standard yield acquisition unit that acquires the emission reference yield.
  • the traveling route generating unit 54 generate the preliminary adjustment route so that the harvesting operation of the work target area CA is completed on one side facing the entrance from the ridge in the field.
  • the method described below may be realized by the above-described apparatus configuration shown in FIG. 4, but may be realized by another arbitrary configuration. Further, the method described below can be realized using a program.
  • the program is stored in the storage device 92, and is executed by the control unit 91 including a CPU, an ECU, and the like. Further, the storage device 92 and the control unit 91 may be provided in the control unit 5 or may be provided in another place.
  • the outer shape of the work target area CA (unworked land), which is the uncut land (unworked land) inside the outer peripheral area SA (worked land), based on the positioning data continuously calculated after the surrounding mowing is performed. And the outer shape of the outer peripheral area SA (the outer shape of the field) are calculated. In addition, the area of the work target area CA and the area of the outer peripheral area SA are calculated (Step # 4 in FIG. 7).
  • the yield rate which is the yield per unit area when the outer peripheral area SA is trimmed around, is calculated from the yield of the kernel harvested during the peripheral cutting and the area of the outer peripheral area SA. Specifically, the yield rate is obtained by dividing the yield of the grain harvested at the time of peripheral cutting by the area of the outer peripheral area SA. The obtained yield rate is estimated to be applicable to the harvest in the entire field, and can be used for generating a traveling route of the work target area CA by automatic traveling (step # 5 in FIG. 7).
  • the total yield of kernels that are expected to be harvested in the work target area CA is calculated from the area of the work target area CA and the yield rate. Specifically, the total yield is obtained by multiplying the area of the work target area CA by the yield rate.
  • the minimum number of times of grain discharge required when automatically traveling in the work target area CA is calculated from the discharge yield and the total yield of the work target area CA. Specifically, the minimum required number of times of grain release is obtained by dividing the total yield by the yield and moving up the decimal places.
  • the discharge yield here is the full yield of the grain tank 14, the yield which is smaller than the full yield by a predetermined ratio or a predetermined amount, the discharge yield required from the outside, the capacity corresponding to the loading capacity of the transport vehicle, Alternatively, the yield can be a yield defined in advance as the yield at the time of discharge. Further, when the kernel is discharged during the peripheral cutting, the yield at the time of discharging may be used as the discharge yield (step # 7 in FIG. 7).
  • a discharge standard yield is calculated from the total yield of the work target area CA and the minimum required number of discharges of the grains.
  • the discharge standard yield is obtained by dividing the total yield of the work target area CA by the minimum required number of discharges of kernels.
  • the emission standard yield obtained in this way is equivalent to the yield when the yield discharged in each automatic driving is equally allocated when the kernel is discharged with the minimum required number of discharges of the kernel. .
  • the emission standard yield is equal to or lower than the emission yield. Therefore, as the yield at the time of emission considered when generating the traveling route of the automatic traveling, a yield equal to or higher than the emission reference yield and equal to or lower than the emission yield can be used.
  • the yield at the time of discharge considered when generating the traveling route can be given a range, the movement to the discharge point PO is started at a position convenient for moving to the discharge point PO.
  • Such a traveling route can be generated more easily (step # 8 in FIG. 7).
  • the preliminary adjustment path is a path in which harvesting travel is performed in order to reduce the length of the outer shape of the work target area CA so that the length of reciprocating travel in the work target area CA by automatic travel is reduced. Therefore, the preliminary adjustment route is a route that travels in a direction that intersects the direction in which the vehicle travels back and forth.
  • the work target area CA has an optimal shape for performing reciprocating traveling by automatic traveling thereafter.
  • the optimal shape is, for example, a shape that does not result in a discharge yield in the middle of the traveling route in the work target area CA (inside the work target area CA) in automatic traveling.
  • the preliminary adjustment path is a path for making the shape of the work target area CA into a shape that facilitates generation of such a traveling path. Such a preliminary adjustment path is generated based on the total yield of the work target area CA described above. Further, it is preferable to consider the emission yield.
  • the discharge yield is, as described above, a full yield of the grain tank 14 or a yield that is a predetermined ratio or a predetermined amount less than the full yield, a discharge yield required from the outside, a capacity corresponding to the loading capacity of the transport vehicle, or The yield specified in advance as the yield at the time of discharge can be set (step # 9 in FIG. 7).
  • the total yield may be the total yield determined in step # 6 of FIG. 7, but may be the previously determined total yield, and may be obtained externally when generating the preliminary adjustment route. good.
  • a discharge point for discharging the kernel stored in the kernel tank 14 may be set in advance, and the preliminary adjustment path may be generated in consideration of the discharge point.
  • a preliminary adjustment path may be generated so that the harvesting operation of the work target area CA is completed on one side of the sides constituting the work target area CA, which faces the entrance from the ridge in the field.
  • Step # 10 in FIG. 7 a traveling route for the automatic traveling of the unharvested work target area CA is generated.
  • the generation of the traveling route in the automatic traveling can be performed in consideration of at least one of the yield rate, the total yield, the number of discharges, and the reference discharge yield. Further, at the time of 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.
  • the yield rate, the total yield, the number of discharges, and the discharge standard yield are calculated based on the information on the cutting around the field, and a map of the field is created in the cutting around the field.
  • a field map creation start switch or the like.
  • the operation of the field map creation start switch may be restricted so that it can be performed only when the assist switch is input (assist mode is ON) and the operation state is related to the automatic traveling.
  • the surrounding mowing may be started only in a harvesting state and in a state where the field map creation start switch is input.
  • the harvesting state is a case where the harvesting device H (see FIG. 1) is at a predetermined height, and may be a state where the threshing device 13 (see FIG. 1) is operating.
  • a warning may be issued when the field map creation start switch is not input. Thereby, forgetting to input the field map creation start switch can be suppressed.
  • the determination as to whether or not the surrounding mowing is being made can be made based on whether an assist switch has been input or the harvesting device H (see FIG. 1) is at a predetermined position in a place where no map has been created.
  • the positioning state of the satellite positioning module 80 (see FIG. 1) is reduced while the surroundings are being trimmed (during the creation of the field map), a warning may be issued, and the creation of the field map or the harvesting operation may be interrupted. Thus, it is possible to suppress creation of an incorrect field map.
  • the above warning can be issued to the communication terminal 2 (see FIG. 1) such as a VT (virtual terminal), the driving unit 12 (see FIG. 1), and the like, such as sounding a warning sound and lighting a warning lamp. .
  • the communication terminal 2 such as a VT (virtual terminal), the driving unit 12 (see FIG. 1), and the like, such as sounding a warning sound and lighting a warning lamp. .
  • the creation of the field map including the calculation of the outer shape and the area of the field and the work area CA and the automatic traveling in the work area CA can be performed by two or more different work machines such as combine machines. Thereby, while performing the automatic traveling in the work target area CA with one working machine and performing the surrounding mowing with the other working machine, it is possible to efficiently perform harvesting work in many fields. In addition, since the surrounding mowing requires experience, a more experienced worker performs mowing, and an inexperienced worker monitors the automatic traveling, so that a more efficient harvesting operation can be performed. .
  • the working machine that cuts the surroundings is not a working machine that can perform automatic traveling, but can be a working machine that includes a satellite positioning module 80 (see FIG. 1) capable of recording measurement data and a communication device.
  • the positioning data may be transmitted to a management server or the like, information such as a field map may be created by the management server, and the information may be transferred to a work machine that performs automatic traveling. Thereby, it is possible to harvest the field by automatic traveling with a simpler configuration.
  • the working machine that cuts the surroundings may be a working machine that cannot perform automatic traveling, which is provided with a satellite positioning module 80 (see FIG. 1) and a communication device as a retrofit.
  • the recording device that records the 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) does not need to record the positioning data.
  • the preliminary adjustment route LR is a route in a direction intersecting the traveling route, and the preliminary adjustment traveling is a traveling in which the U-turn is repeatedly performed along the preliminary adjustment route LR.
  • the present invention is not limited to this configuration, and the preliminary adjustment path LR may be any path that can adjust the length of the work target area CA in the direction along the traveling path, and the preliminary adjustment traveling can be performed by an arbitrary turning method.
  • the preliminary adjustment route LR may be a route along the outer periphery of the work target area CA.
  • the preliminary adjustment path LR is a path that goes from the outermost periphery of the work target area CA toward the inner peripheral side in parallel with each outer periphery of the work target area CA.
  • the preliminary adjustment route LR makes a round around the work target area CA along the outer periphery of the work target area CA with the vicinity of the corner of the work target area CA as a starting point, and if necessary, the inside of the path that has made one round.
  • it is easy to perform an ⁇ -turn when turning from a route parallel to one outer periphery to a route parallel to the next outer periphery. Yes and preferred.
  • the length of the work target area CA in the direction along the traveling path can be adjusted. Therefore, in the automatic traveling, it is easy to generate a traveling route so as to reach the discharge yield at the timing of cutting through the work target area CA so that the discharge yield does not become (in the middle of) the work target area CA. As a result, it is possible to always discharge the PO to the discharge point PO without retreat and discharge an appropriate amount of grain. As a result, it is possible to easily generate an efficient travel route that can efficiently discharge grains and perform efficient discharge travel.
  • the preliminary adjustment path LR is not limited to a path that circulates from the outer peripheral side to the inner peripheral side of the work target area CA as described above, and may be a path that circulates from the inner peripheral side to the outer peripheral side. . Further, the preliminary adjustment path LR may be a path that circulates a predetermined area inward from the outer periphery of the work target area CA in an arbitrary order.
  • the length in the direction parallel to the travel route of the remaining work area RA which is the unworked area of the work target area CA, becomes the length L.
  • the length L generates a travel route such that the discharge yield is reached at the timing of cutting through the remaining work area RA so that the discharge yield does not become inside the work target area CA (remaining work area RA) in the automatic traveling. It is a length that makes it possible.
  • the traveling distance that can be harvested until the discharge standard yield is reached.
  • the travel distance LS is obtained, for example, from the travel distance and the yield that can be obtained from the positioning data in the case of cutting the periphery, for example, to obtain the travel distance required to harvest a unit yield.
  • the traveling distance LS of the traveling route S1 in the harvesting traveling is an odd multiple of L, and the combine (the traveling vehicle body 10) enters the traveling target region CA (the remaining work region RA) in the traveling route S1. It is a path that cuts through from the side opposite to the remaining side of the remaining work area RA. If the discharge point PO is set in the vicinity of the entering side, if n is an odd number, the discharge travel route LO2 will be long.
  • the preliminary adjustment route LR may be generated such that the traveling distance LS is an even multiple of L.
  • the path such as the traveling path S2 that 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 properly selecting whether the travel distance LS is an odd multiple of L or an even multiple of L in accordance with the position of the discharge point PO.
  • Each functional unit in the above embodiment can be configured as a traveling route generation program for causing a computer to realize the functional units.
  • the traveling route generation program is configured to generate an automatic traveling route in a combine harvesting crops in the unworked land while reciprocating the unworked land in the field by automatic traveling along the parallel running routes.
  • a route generation program a function of acquiring a yield rate that is a yield per unit area in the field, a function of acquiring an area of the unworked land, and the unworked land based on the yield rate and the area.
  • the shape of the unworked land becomes an optimal shape for the reciprocating travel.
  • the computer it is also possible to configure the computer to realize the function of generating a preliminary adjustment path for performing automatic traveling prior to the reciprocating traveling.
  • traveling route generation program can be configured to be recorded on a recording medium.
  • the functional units in the work management system and the work management method according to the above embodiments may be configured as a work management program for causing a computer to realize the functions.
  • the work management program has a grain tank that stores the grain obtained by harvesting and threshing the crop and a yield sensor that measures the yield of the grain stored in the grain tank.
  • a work management program for manually harvesting crops in an area, and monitoring a combine harvesting operation while automatically traveling on unworked land inside the already-worked land where the manual travel was performed comprising: A function of calculating positioning data corresponding to the own vehicle position of the combine based on the satellite signal, a function of obtaining the positioning data and the yield, and From the positioning data, the function of calculating the already-worked land area of the already-worked land and the un-worked land area of the un-worked land, and the yield and the already-worked land area obtained during the manual traveling, Earth A function of calculating a yield rate, which is the yield per unit area, and a function of calculating the total yield of kernels that are expected to be harvested in the unworked land from the unworked land area and the yield rate.
  • Such a work management program can be configured to be recorded on a recording medium.
  • front means forward in the longitudinal direction of the aircraft (running direction)
  • rear arrow B shown in FIG. 9
  • Direction means backward with respect to the longitudinal direction of the aircraft (running direction).
  • left-right direction or the lateral direction means a cross-machine direction (machine body width direction) orthogonal to the machine body front-rear direction.
  • Up in the direction of arrow U shown in FIG. 9) and “down” (in the direction of arrow D shown in FIG. 9) are positional relationships in the vertical direction (vertical direction) of the airframe 110, and are related to the ground level. Is shown.
  • the combine includes a body 110, a crawler-type traveling device 111, an operating unit 112, a threshing device 113, a grain tank 114 as a harvest tank, a harvesting unit 115, a transport device 116, and a grain discharging device.
  • the apparatus 118 includes a vehicle position detection module 180.
  • the traveling device 111 is provided below the body 110.
  • the combine is configured to be self-propelled by the traveling device 111.
  • the operation unit 112, the threshing device 113, and the grain tank 114 are provided above the traveling device 111 and constitute an upper portion of the body 110.
  • the driver that drives the combine and the monitor that monitors the work of the combine can be boarded on the driving unit 112. The observer may monitor the combine operation from outside the combine.
  • the grain discharge device 118 is connected to a lower rear portion of the grain tank 114.
  • the vehicle position detection module 180 is mounted on the upper surface of the driving unit 112.
  • the harvesting unit 115 is provided at the front of the combine.
  • the transport device 116 is provided behind the harvesting unit 115.
  • the harvesting unit 115 has a cutting mechanism 115a and a reel 115b.
  • the cutting mechanism 115a cuts the planted grain culm in the field.
  • the reel 115b scrapes the planted grain stem to be harvested while being driven to rotate.
  • the harvesting unit 115 harvests cereals (a kind of agricultural crop) in the field.
  • the combine is capable of traveling by the traveling device 111 while harvesting cereals in the field by the harvesting unit 115.
  • the harvested stalks cut by the cutting mechanism 115 a are transported to the threshing device 113 by the transport device 116.
  • the harvested culm is threshed.
  • the grain obtained by the threshing process is stored in the grain tank 114.
  • the grains stored in the grain tank 114 are discharged outside the machine by a grain discharging device 118 as necessary.
  • the grain tank 114 is provided with a yield sensor 119 for measuring the yield of the grain stored in the grain tank 114.
  • the yield per unit traveling distance (yield per unit area) of the combine can be calculated from the measurement signal from the yield sensor 119, the vehicle speed, and the harvest width of the harvester 115. .
  • the general-purpose terminal 104 is arranged in the driving unit 112. In the present embodiment, the general-purpose terminal 104 is fixed to the driving unit 112. However, the general-purpose terminal 104 may be configured to be detachable from the driving unit 112, or the general-purpose terminal 104 may be able to be taken out of the combine machine.
  • the vehicle position detection module 180 includes a satellite positioning unit 181 and an inertial navigation unit 182.
  • the satellite positioning unit 181 receives a GNSS (global navigation satellite system) signal (including a GPS signal), which is position information transmitted from the artificial satellite 100GS, and outputs positioning data for calculating the own vehicle position.
  • the inertial navigation unit 182 incorporates a gyro acceleration sensor and a magnetic azimuth sensor, and outputs a signal indicating an instantaneous change in the attitude of the body 110.
  • the inertial navigation unit 182 is used to supplement the own vehicle position calculation by the satellite positioning unit 181.
  • the inertial navigation unit 182 may be located at a different location from the satellite positioning unit 181.
  • the driver / monitor manually operates the combine, and harvests the outer peripheral portion of the field along the boundary of the field while cutting and running, as shown in FIG.
  • the area that has been cut by the surrounding mowing travel is set as the outer peripheral area (worked area) SA.
  • the internal area left as uncut land (unworked land) inside the outer peripheral area SA is set as the unworked area 100CA.
  • the surrounding mowing travel is performed so that the unworked area 100CA becomes a square.
  • a triangular or pentagonal or larger polygonal unworked area 100CA may be employed.
  • the driver runs the combine for two or three turns.
  • the width of the outer peripheral area SA is increased by the harvest width (working width) of the combine.
  • the width of the outer peripheral area SA is about two to three times the harvest width of the combine. Note that the first round traveling by the driver is not limited to two or three laps, but may be longer (four or more laps) or one lap.
  • the outer peripheral area SA is used as a space for the combine to change directions when performing harvesting traveling in the unworked area 100CA.
  • the outer peripheral area SA is also used as a space for movement when the harvest travel is once completed and the grain is moved to a grain discharge location, or is moved to a fuel supply location.
  • the 2 can collect and transport the grains discharged from the grain discharge device 118 by the combine. At the time of discharging the grains, the combine moves to the vicinity of the transport vehicle 100CV, and then discharges the grains to the transport vehicle 100CV by the grain discharging device 118.
  • the traveling route for the turning transition traveling is referred to as a turning transition route.
  • the traveling pattern used in the harvest traveling includes a reciprocating traveling pattern (shown in FIG. 11) in which a plurality of parallel work traveling paths are connected by a U-turn path and a spiral pattern along the outer edge of the unworked area 100CA. 12 is a spiral running pattern (shown in FIG. 12).
  • the harvesting unit 115 on the adjacent work travel route is used so that uncut cropping of the culm (harvest omission) does not occur.
  • Harvest widths are slightly overlapped. This overlap is called overlap. However, in the description of this embodiment, the overlap is ignored.
  • the combine travels such that a work traveling path parallel to one side of the unworked area 100CA is connected by a U-turn that is a turning traveling.
  • the U-turn includes a normal U-turn that skips one or more work travel paths and travels to the next work travel path, and a switchback turn that travels so as to connect adjacent work travel paths.
  • the normal U-turn is, for example, a 180-degree turn including two forward 90-degree turns and straight-ahead traveling, and the straight-ahead traveling may be omitted.
  • the switchback turn is, for example, a 180-degree turning using a 90-degree forward turn, a reverse, and a 90-degree forward turn.
  • the term “straight” is used as a phrase that includes advancing along a straight line, advancing along a gentle curved line, and advancing while slightly swinging left and right.
  • the orbital running performed while connecting the working running route similar to the outer shape of the unworked area 100CA with the turning running route is performed so as to form a spiral toward the center.
  • a turning called an alpha turn that turns by repeating forward and backward several times is used for the turning at the corner in each round traveling. It is also possible to change from the spiral running pattern to the reciprocating running pattern or from the reciprocating running pattern to the spiral running pattern during the work.
  • the work travel route used for automatically traveling the unworked area 100CA using the reciprocating travel pattern is calculated as follows based on the inside map data. As shown in FIGS. 13 and 14, a quadrangular unworked area 100CA including a first side 100S1, a second side 100S2, a third side 100S3, and a fourth side 100S4 is defined from the inside map data.
  • the first side 100S1 which is the long side of the unworked area 100CA, is selected as the reference side 100S1.
  • a line parallel to the reference side 100S1 and passing inside the reference side 100S1 by half of the harvest width (cutting width) is calculated as the initial reference line 100L1. This initial reference line 100L1 corresponds to the work traveling route that travels first.
  • the initial reference line 100L1 is parallel to the reference side 100S1 and further away from the reference side 100S1 (half of the harvest width + A line passing through (an integral multiple of the harvest width) is calculated as the initial reference line 100L1.
  • a U-turn path is formed from the initial reference line 100L1.
  • the reference lines 100L2, 100L3,... are connected in parallel with the initial reference line 100L1 and at intervals of the harvest width.
  • the next reference line 100L2 connected from the initial reference line 100L1 via the U-turn path is the initial reference line. It is calculated at intervals of a plurality of times (three times in FIG. 14) the harvest width in parallel to the line 100L1. As shown in FIG. 14, the next reference line 100L3 is calculated in a similar manner. In this manner, the reference lines are sequentially calculated in consideration of the space required for the normal U-turn. These reference lines 100L1, 100L2, 100L3,... Correspond to work traveling routes for straight traveling.
  • the shape of the unworked area 100CA is a quadrangle. However, even if the unworked area 100CA is another polygon such as a triangle or a pentagon, if the reference side 100S1 is selected, the work is sequentially performed in the same manner. A traveling route can be calculated.
  • the work traveling route used for automatic traveling is calculated as follows based on the inside map data.
  • the first side 100S1 which is the long side of the unworked area 100CA (or the short side in the spiral running pattern)
  • the reference side 100S1 is selected as the reference side 100S1.
  • a line that is parallel to the reference side 100S1 and passes inside the reference side 100S1 by half the harvest width is calculated as the reference line 100L1.
  • This reference line 100L1 is an initial reference line that is the first work traveling route of the automatic traveling.
  • next reference line 100L2 a line parallel to the second side 100S2 adjacent to the reference side 100S1 in the traveling direction of the combine and passing inside the second side 100S2 by half of the harvest width is calculated as the next reference line 100L2, and the first work travel route Is the next work travel route that is the target of the next automatic travel.
  • the first work travel route and the next work travel route are connected by an alpha turn that implements an aircraft turning at an angle formed by the reference side 100S1 and the second side 100S2.
  • the next reference line 100L3 is also sequentially calculated.
  • a reciprocating traveling pattern and a spiral traveling pattern are often mixed.
  • the surrounding mowing is manually performed to form an outer peripheral area SA, which is an already worked area, on the outermost peripheral side of the field (#b).
  • the spiral traveling pattern is set for the unworked area 100CA, and the spiral traveling is performed (#c). In this spiral running, automatic running is possible at least straight ahead.
  • the spiral running is performed until the unworked area 100CA becomes large enough to enable the turning transition running (normal U-turn, switchback turn) in the reciprocating running pattern (#d).
  • a work travel route that covers the unworked area 100CA in a reciprocating travel pattern is set for the unworked area 100CA (#e).
  • the field harvesting work is completed (#f).
  • FIG. 17 shows a combine control system.
  • the control system of the combine is composed of a control device 105 composed of a number of electronic control units called ECUs connected via an in-vehicle LAN, and various input / output devices for performing signal communication and data communication with the control device 105. I have.
  • the control device 105 includes an output processing unit 158 and an input processing unit 157 as input / output interfaces.
  • the output processing unit 158 is connected to various operation devices 170 via the device driver 165.
  • the operating devices 170 include a traveling device group 171 that is a traveling-related device and a working device group 172 that is a working-related device.
  • the traveling equipment group 171 includes, for example, engine equipment, transmission equipment, braking equipment, steering equipment, and the like.
  • the working equipment group 172 includes control equipment in a harvesting work device (the harvesting unit 115, the threshing device 113, the transport device 116, the grain discharging device 118, and the like illustrated in FIG. 9).
  • the input processing unit 157 is connected with a yield sensor 119, a traveling state sensor group 163, a work state sensor group 164, a traveling operation unit 190, and the like.
  • the traveling state sensor group 163 includes a vehicle speed sensor, an engine speed sensor, a parking brake detection sensor, a shift position detection sensor, a steering position detection sensor, and the like.
  • the working state sensor group 164 includes a sensor that detects a driving state and a posture of the harvesting work device, and a sensor that detects a state of a grain culm or a grain.
  • the traveling operation unit 190 is a general term for operating tools that are manually operated by a driver and whose operation signals are input to the control device 105.
  • the travel operation unit 190 includes a main shift lever 191 as a shift lever, a steering lever 192, a mode operation tool configured as a mode switch 193, an automatic travel operation tool 194, and the like.
  • the mode changeover switch 193 gives a command to the control device 105 for switching between automatic operation and manual operation.
  • the automatic traveling operation tool 194 gives an automatic traveling transition request to the control device 105.
  • the notifying device 162 is a device for notifying a driver or the like of a warning regarding a working state or a running state, and includes a buzzer, a lamp, a display panel such as a liquid crystal panel, and the like.
  • the general-purpose terminal 104 also functions as a device that notifies a driver or the like of a work state, a traveling state, and various information through display on the touch panel 140.
  • This control device 105 is also connected to the general-purpose terminal 104 via the in-vehicle LAN.
  • the general-purpose terminal 104 is a tablet computer having a touch panel 140.
  • the general-purpose terminal 104 includes an input / output control unit 141, a work traveling management unit 142, a traveling route calculation unit 143, and a traveling route adjustment unit 144.
  • the input / output control unit 141 has a function of constructing a graphic interface using the touch panel 140 and a function of exchanging data with a remote computer via a wireless line or the Internet.
  • the work traveling management unit 142 includes a traveling locus calculation unit 1421, a work area determination unit 1422, and a discharge position setting unit 1423.
  • the travel locus calculation unit 1421 calculates a travel locus based on the own vehicle position given from the control device 105. For example, as shown in FIG. 10, the traveling locus calculation unit 1421 calculates the traveling locus when the combine cuts around the outer peripheral area SA.
  • the work area determination unit 1422 divides the field into the outer area SA and the unworked area 100CA based on the traveling locus in the outer area SA.
  • the outermost line of the outer peripheral area SA is used to calculate the boundary line with the ridge of the field, and the innermost line of the outer peripheral area SA is used to calculate the unworked area (the shape of the unworked area 100CA) in which automatic traveling is performed.
  • the discharge position setting unit 1423 sets the discharge stop position of the combine when the kernel of the kernel tank 114 is discharged to the transport vehicle 100CV by the kernel discharge device 118 when the kernel tank 114 is full.
  • the travel route calculation unit 143 calculates a work travel route for automatic traveling with respect to the unworked area determined by the work area determination unit 1422.
  • a traveling pattern (reciprocating traveling pattern or spiral traveling pattern) for automatically traveling in the non-work area is input through the touch panel 140.
  • the route calculation in the selected traveling pattern is automatically performed.
  • the travel route calculation unit 143 determines the interval between adjacent work travel routes (route interval) based on the harvest width of the harvesting unit 115, and calculates the work travel route. Note that, when the work traveling route is adjusted so that the grain culm entering the harvest width is reduced, that is, the actual harvest width is narrowed, the yield (yield) per unit travel decreases.
  • the travel route adjustment unit 144 performs such adjustment of the work travel route. For example, when the travel route adjustment unit 144 performs an adjustment to reduce the interval (route interval) between the work travel route that has already been harvested and the work travel route that is to be run from now on, the harvest width is reduced, and the work travel route is reduced. Yield per unit run on the road is reduced.
  • the control device 105 includes a vehicle position calculation unit 150, a travel control unit 151, a work control unit 152, a grain storage information generation unit 153, and a discharge timing prediction unit 154.
  • the host vehicle position calculation unit 150 calculates the host vehicle position in the form of map coordinates (or field coordinates) based on the positioning data sequentially transmitted from the satellite positioning unit 181.
  • the host vehicle position calculating unit 150 can also calculate the host vehicle position using the attitude change of the body 110 based on a signal from the inertial navigation unit 182 and the travel distance of the body 110.
  • the own vehicle position calculating unit 150 can also calculate the own vehicle position by combining signals from the satellite positioning unit 181 and the inertial navigation unit 182.
  • the notification unit 156 generates notification data based on a command or the like from each functional unit of the control device 105, and provides the notification data to the notification device 162.
  • the traveling control unit 151 has an engine control function, a steering control function, a vehicle speed control function, and the like, and provides a traveling control signal to the traveling equipment group 171.
  • the work control unit 152 provides a work control signal to the work equipment group 172 to control the movement of the harvesting work device.
  • the traveling control unit 151 includes a manual traveling control unit 1511, an automatic traveling control unit 1512, a traveling route setting unit 1513, and an automatic traveling management unit 1514.
  • the automatic traveling control unit 1512 controls the traveling equipment group 171.
  • the travel route setting unit 1513 receives, from the general-purpose terminal 104, the adjusted travel route that is the work travel route calculated by the travel route calculation unit 143 or the work travel route adjusted by the travel route adjustment unit 144, and automatically performs timely operation. It is set as a work travel route that is a steering target.
  • the automatic traveling control unit 1512 performs azimuth and positional deviation between the work traveling route set by the traveling route setting unit 1513 and the own vehicle position calculated by the own vehicle position calculating unit 150 in order to perform automatic steering. , A steering control signal is generated. Further, the automatic traveling control unit 1512 generates a control signal related to vehicle speed change based on a vehicle speed value set in advance.
  • the work travel route set by the travel route setting unit 1513 can be used even in a manual operation, and can be used, for example, for guidance for the combine to travel along the work travel route.
  • the automatic traveling management unit 1514 determines whether to permit the automatic traveling based on the preset automatic traveling permission condition, and determines whether the automatic traveling is permitted. In the case of, an automatic traveling start command is given to the automatic traveling control unit 1512.
  • the kernel storage information generation unit 153 calculates the kernel storage amount (yield) in the kernel tank 114 based on the measurement signal from the yield sensor 119, and further calculates the unit travel from the storage increase amount per unit time and the vehicle speed. Calculate the storage amount per distance.
  • the storage amount per unit travel distance is normalized by the harvest width, an increase amount of kernels in the kernel tank 114 at a unit harvest width and a unit travel distance, that is, a so-called unit kernel increase amount is obtained.
  • By multiplying the unit grain increase amount by an arbitrary harvest width and an arbitrary travel distance an increase amount of the kernel in the kernel tank 114 when the vehicle travels an arbitrary travel distance with an arbitrary harvest width is obtained. .
  • Such information such as the amount of stored grain in the grain tank 114 and the amount of increase in unit grain is generated by the grain storage information generation unit 153 as grain storage information, and the discharge timing prediction unit 154 and the traveling route adjustment unit 144.
  • the travel route calculation unit 143 calculates a work travel route in the unworked area 100CA.
  • the kernel storage state in the kernel tank 114 at an arbitrary position on the calculated work travel route can be calculated by simulation by the discharge timing prediction unit 154. This simulation is performed before the work traveling on the unworked area 100CA, but may be performed during the work traveling on the unworked area 100CA.
  • the discharge timing prediction unit 154 determines that a work traveling route (referred to as a specific work traveling route) in which the grain tank 114 is full when the harvest traveling is continued with the current harvest width in the current grain storage amount in the grain tank 114. ), And a full occurrence position at which the grain tank 114 becomes full in this work traveling route is predicted.
  • the kernel storage amount when the kernel tank 114 is full is set in advance.
  • the combine When the grain tank 114 is full, the combine must move to the discharge stop and discharge the grain from the grain tank 114. Therefore, the full occurrence timing is the discharge timing, and the full occurrence position is the discharge timing occurrence position.
  • the “fullness of the grain tank 114” described here indicates a storage amount that requires the discharge of the grain from the grain tank 114, and the grain tank 114 is not necessarily 100% of the grain. It does not mean that it is satisfied.
  • a work travel route having a narrower harvest width than the current harvest width is used, so that the position at which the discharge timing occurs is set to the work travel route.
  • a method of delaying until the end point (traveling end point) of the route is adopted. Such a method is realized by the traveling route adjustment unit 144. If the point at which the route leaves is the end point of the work travel route, the route leaving travel and the route return travel for discharging the grain are facilitated.
  • the travel route adjustment unit 144 adjusts the adjusted travel route extending in parallel with the specific work travel route at a position closer to the existing work area than the specific work travel route so that the harvest width is smaller than the harvest width when traveling on the specific work travel route. create.
  • the harvest width when traveling on the adjusted travel route is determined such that the discharge timing is reached when the combine has finished traveling on the adjusted travel route at the harvest width.
  • FIG. 18 shows the principle of creating the adjusted travel route.
  • the set work traveling routes are indicated by 100L1, 100L2, 100L3, 100L4, and 100L5.
  • the basic harvest width which is the harvest width used when calculating the work travel route, is indicated by Wo.
  • FIG. 18 shows a simulation result that a discharge timing occurs during traveling on the 100L3 work traveling route.
  • the discharge timing point at which the discharge timing occurs is indicated by P
  • the work traveling route of 100L3 is a specific work traveling route (indicated by 100SL in FIG. 18).
  • the adjusted travel route is a work travel route that delays the discharge timing point to the end point of the work travel route by narrowing the harvest width, and is an extremely thick line indicated by AL in FIG.
  • each work travel route D
  • the travel distance to the discharge timing occurrence position in the specific work travel route Dp
  • the harvest width in the specific work travel route Wo
  • the adjustment travel route Using the harvest width of Wx
  • the traveling route adjustment unit 144 creates an adjusted traveling route based on the calculated coordinate position for the adjusted traveling route, and provides the adjusted traveling route to the traveling route setting unit 1513.
  • three creation examples of the adjusted travel route by the travel route adjustment unit 144 will be described with reference to FIGS. 19, 20, and 21. 19, 20, and 21, work traveling routes from 100L1 to 100L6 are shown, and 100L4 is predicted to be a specific working traveling route: 100SL.
  • the adjusted travel route is indicated by AL.
  • the travel route adjustment unit 144 laterally shifts the work travel route: 100L4, which has become the specific work travel route: 100SL, to the already-worked area side by a distance corresponding to the above-described shift amount: d1.
  • Adjusted travel route: AL is created. Since the discharge timing occurs at the end of the travel of the adjusted travel route: AL, the combine leaves the work travel route and heads to the discharge stop location after completing the travel of the adjusted travel route: AL. Since the work travel route: 100L4 is shifted laterally, the route interval between the work travel route: 100L4 and the work travel route: 100L5 adjacent on the non-work area side is widened, so that the route interval becomes the original predetermined interval.
  • Work traveling route: 100L5 is also shifted laterally. Further, the gap between the work travel route 100L5 and the work travel route 100L6 is also widened by the lateral shift, so that the work travel route 100L6 is laterally shifted to the original predetermined interval. Such a lateral shift is performed for all the work traveling routes that have not traveled yet.
  • an additional work travel route: 100Lx indicated by a dotted line in FIG. 19 is created.
  • the creation of the additional work travel route: 100Lx for example, if there is an appropriate work travel route used in forming the outer peripheral area SA, the work travel route is laterally shifted and used as the additional work travel route: 100Lx. You may.
  • the example of FIG. 20 does not laterally shift the work travel route: 100L4 that has become the specific work travel route: 100SL, but shifts the work travel route: 100L4 from the work travel route: 100L4 to the existing work area by a shift amount: d1.
  • Work travel route: A new virtual travel route parallel to 100L4 is created and used as the adjusted travel route: AL.
  • This virtual traveling route may be a route in which only the starting map coordinate position and the extending direction (direction) are defined.
  • the route interval between the adjusted travel route: AL and the work travel route: 100L4 is narrower than the basic harvest width: Wo, the route interval becomes the original predetermined interval.
  • Work travel route All of the work travel routes set in the unworked area after 100L4 (work travel route: 100L4 to 100L6 in FIG. 20) are laterally shifted. In this example, there is an advantage that the inconvenience that the number of work traveling routes calculated first becomes insufficient is not generated.
  • the harvest width is equal to the unworked area remaining after traveling along the adjusted travel route: AL. Is updated and a new updated traveling route is newly set.
  • the uniform harvest width which is a new harvest width equally divided in such a manner, is indicated by We, and the updated travel route changed using the uniform harvest width: We is represented by La, Lb, and Lc. Indicated by
  • the discharge timing is configured to occur when the grain tank 114 is full, but a configuration is employed in which the discharge timing occurs when the grain tank 114 is in the grain storage state. May be.
  • the timing at which the amount of grains that can be loaded on the transport vehicle 100CV is stored in the grain tank 114 may be used as the discharge timing.
  • the timing at which an acceptable amount of grains is stored in the grain tank 114 in a secondary processing step such as a drying step in a drying facility may be used as the discharge timing.
  • the yield per unit mileage is calculated based on the measurement signal from the yield sensor 119, but other measurement methods can be adopted. For example, it is also possible to temporarily store the grains sent from the threshing device 113 to the grain tank 114 and calculate the yield per unit traveling distance from the stored amount per hour. Furthermore, it is also possible to provide a contact sensor or a non-contact sensor in the grain tank 114, detect the grains stored in the grain tank 114, and calculate the storage amount from the detection result. Moreover, you may combine those measuring methods.
  • each functional unit shown in FIG. 17 is divided mainly for the purpose of explanation. In practice, each functional unit may be integrated with another functional unit, or may be divided into a plurality of functional units. For example, some or all of the functional units built in the general-purpose terminal 104 may be incorporated in the control device 105.
  • the surrounding mowing traveling is performed by manual traveling.
  • automatic traveling may be partially used, particularly for linear traveling. .
  • the harvester has been described.
  • Each functional unit in the above embodiment can be configured as a running pattern creation system.
  • the traveling pattern creating system includes a traveling pattern creating system that creates a reciprocating traveling pattern in which a harvester having a harvest tank that stores harvested products automatically connects a plurality of parallel work traveling paths by a turning traveling path to travel.
  • a travel route setting unit that sets the work travel route in a non-work area at predetermined intervals; and automatic travel control that performs automatic travel along the work travel route based on the work travel route and the position of the own vehicle.
  • a discharge timing prediction for predicting a specific work travel route that is the work travel route in which the discharge timing of the harvest tank is generated based on a harvest amount per unit travel distance and a discharge timing occurrence position in the specific work travel route. And the harvest timing narrower than the harvest width in the specific work travel route, thereby delaying the discharge timing until the travel end point.
  • the traveling pattern creating program is a traveling pattern creating program that creates a reciprocating traveling pattern in which a harvester having a harvest tank that stores harvested products automatically connects a plurality of parallel work traveling paths by a turning traveling path.
  • a travel route setting function for setting the work travel route in a non-work area at predetermined intervals; and automatic travel control for performing automatic travel along the work travel route based on the work travel route and the position of the own vehicle.
  • a discharge timing prediction for predicting a function and a specific work travel path that is the work travel path in which the discharge timing of the harvest tank is generated based on a harvest amount per unit travel distance and a discharge timing occurrence position in the specific work travel path.
  • the discharge tie It is possible to configure the computer to realize an adjustment traveling route that delays the running, and to realize a traveling route adjustment function that gives the automatic traveling control function to the automatic traveling control function in place of the adjustment traveling route in place of the specific work traveling route. is there.
  • Such a running pattern creation program can be configured to be recorded on a recording medium.
  • the harvester includes A travel route setting step of setting a work travel path at a predetermined interval; an automatic travel control step of performing automatic travel along the work travel path based on the work travel path and the position of the vehicle; and harvesting per unit travel distance A discharge timing prediction step of predicting a specific work travel path that is the work travel path in which the discharge timing of the crop tank is generated based on the amount and a discharge timing occurrence position in the specific work travel path; Create an adjusted travel route that delays the discharge timing until the travel end point by making the harvest width narrower than the harvest width of It is also possible to configure to include a traveling path adjusting step of providing the automatic travel control process in place of the adjustment travel route to the specific working travel route, the.
  • the present invention is suitable for various harvesting vehicles and harvesters such as combine harvesters.
  • the present invention can be used not only for a normal combine but also for a self-contained combine. Further, the present invention can be used for various harvesters such as a corn harvester, a carrot harvester, and a sugarcane harvester.

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Abstract

Le système de génération d'itinéraire de déplacement de l'invention génère un itinéraire de déplacement autonome permettant à une moissonneuse-batteuse de récolter des cultures dans une zone non travaillée (CA) d'un cham en même temps qu'elle effectue des va-et-vient de façon autonome le long d'itinéraires de déplacement parallèles les uns aux autres dans la zone non travaillée (CA). Le système de génération d'itinéraire de déplacement comprend : une unité d'acquisition de rendement pour acquérir un rapport de rendement représentant le rendement par unité de surface du champ; une unité d'acquisition de surface pour acquérir la surface de la zone non travaillée (CA); une unité d'estimation de rendement total pour estimer le rendement total de la récolte de grains prévue dans la zone non travaillée (CA) à partir du rapport de rendement et de la surface; et une unité de paramétrage d'itinéraire de déplacement pour générer, en fonction de la forme de la zone non travaillée (CA) et du rendement total, un itinéraire de réglage préliminaire (LR) pour un déplacement autonome avant un déplacement en va-et-vient, de sorte que la zone non travaillée présente une forme optimale pour un déplacement en va-et-vient.
PCT/JP2019/021600 2018-07-31 2019-05-30 Système de génération d'itinéraire de déplacement, procédé de génération d'itinéraire de déplacement, programme de génération d'itinéraire de déplacement, support de stockage stockant un programme de génération d'itinéraire de déplacement, système de gestion d'opération, procédé de gestion d'opération, programme de gestion d'opération, support de stockage stockant un programme de gestion d'opération, moissonneuse, système de génération de structure des déplacements, programme de génération de structure des déplacements, support de stockage stockant un programme de génération de structure des déplacements, et procédé de génération de structure des déplacements Ceased WO2020026578A1 (fr)

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KR1020217005563A KR102820625B1 (ko) 2018-07-31 2019-05-30 주행 경로 생성 시스템, 주행 경로 생성 방법, 주행 경로 생성 프로그램, 및 주행 경로 생성 프로그램이 기록되어 있는 기록 매체와, 작업 관리 시스템, 작업 관리 방법, 작업 관리 프로그램, 및 작업 관리 프로그램이 기록되어 있는 기록 매체와, 수확기, 주행 패턴 작성 시스템, 주행 패턴 작성 프로그램, 주행 패턴 작성 프로그램이 기록되어 있는 기록 매체, 그리고 주행 패턴 작성 방법
CN201980049840.8A CN112533474B (zh) 2018-07-31 2019-05-30 行驶路径生成系统、方法及记录介质

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JP2018144479A JP7136623B2 (ja) 2018-07-31 2018-07-31 作業管理システム及び作業管理方法
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JP2018-144479 2018-07-31
JP2018-167810 2018-09-07
JP2018167810A JP7030662B2 (ja) 2018-09-07 2018-09-07 収穫機
JP2018-214873 2018-11-15
JP2018214873A JP7224151B2 (ja) 2018-07-31 2018-11-15 走行経路生成システム及び走行経路生成方法

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