Automatic driving control system, combine harvester, method and program product

Abstract

The automatic travel control system includes a harvest rate acquisition unit (85a) that acquires a harvest rate of grain per unit area in an unworked field, a calculation unit (85b) that calculates a total amount of grain, i.e., a predicted storage amount, stored in a grain storage unit of the combine harvester, based on the harvest rate, assuming that the combine harvester completes travel on a next travel path, a setting unit (85c) that sets a discharge movement target amount based on a human operation, and a determination unit (85d) that compares the predicted storage amount with the discharge movement target amount and determines whether to perform automatic travel to a discharge parking position, i.e., discharge movement travel.

Description

Technical Field

[0001] This invention relates to an automatic driving control system, a combine harvester, a method, and a procedure. Background Technology

[0002] Patent Document 1 discloses a combine harvester that operates autonomously. This combine harvester includes a grain quantity detection unit that detects the amount of grains in the grain collection bin. The harvesting mechanism is configured such that if the grain quantity detection unit detects a value exceeding a preset threshold, the harvesting operation is interrupted and the harvester automatically moves toward a truck.

[0003] Existing technical documents

[0004] Patent documents

[0005] Patent Document 1: Japanese Patent Application Publication No. 2001-69836 Summary of the Invention

[0006] The problem that the invention aims to solve

[0007] like Figure 7 As shown, the combine harvester in Patent Document 1 automatically moves towards the truck even midway through the harvesting operation if the grain weight detection unit detects a value exceeding a set threshold. In the example shown, at point A, midway along the long side of the unharvested stalk area, the grain weight detection unit detects a value exceeding the set threshold. Moving forward from point A would crush the unharvested stalks, causing the combine harvester to reverse from point A to point B and then move forward towards point C. That is, in the technology of Patent Document 1, there is a possibility that operating efficiency may decrease due to reversing.

[0008] The purpose of this invention is to improve the efficiency of crop harvesting operations performed by the automatic movement of combine harvesters.

[0009] Methods for solving problems

[0010] As a means to solve the above-mentioned problems, the automatic driving control system of the present invention controls the automatic driving of a combine harvester harvesting crops in uncultivated areas. The automatic driving control system is characterized by comprising: a driving path generation unit that generates a driving path for the combine harvester in the uncultivated areas; a driving path selection unit that selects the next driving path from the driving path generated by the driving path generation unit; a harvest rate acquisition unit that acquires the harvest amount of grain per unit area in the uncultivated areas, i.e., the harvest rate; a calculation unit that calculates, based on the harvest rate, the total amount of grain stored in the grain storage unit of the combine harvester, i.e., the expected storage amount, when the combine harvester completes its journey on the next driving path; a setting unit that sets a discharge movement target amount based on human operation; and a decision unit that compares the expected storage amount with the discharge movement target amount and decides whether to perform automatic driving to the discharge parking position, i.e., discharge movement driving.

[0011] According to this structure, the expected storage volume is compared with the target discharge movement volume to determine whether to perform discharge movement. That is, the decision to perform discharge movement is made before proceeding on the next travel path, thus avoiding the grain storage unit from filling up during travel on the path and improving the efficiency of harvesting operations based on automated travel.

[0012] Furthermore, by setting the discharge target amount manually, the discharge target amount can be appropriately adjusted, further improving the efficiency of harvesting operations based on automated travel. For example, if the actual amount of grain stored in the grain storage compartment is less than expected when a discharge travel is performed according to the decision of the decision unit, the discharge target amount can be increased. In this case, more grain can be stored in the grain storage compartment during subsequent automated travels, reducing the number of discharge travels and improving work efficiency. Conversely, if the grain storage compartment becomes full during travel along the path, the discharge target amount can be decreased. In this case, it can be decided to perform the discharge travel at an earlier time in subsequent automated travels, appropriately avoiding the grain storage compartment becoming full during travel along the path.

[0013] In this invention, preferably, when the expected storage amount is greater than the discharge movement target amount, the decision unit decides to perform the discharge movement, the driving path generation unit generates a discharge movement driving path from the current position of the combine harvester to the discharge parking position based on the decision unit's decision to perform the discharge movement, and the driving path selection unit selects the discharge movement driving path as the next driving path.

[0014] According to this structure, discharge movement is performed when the expected storage volume is greater than the discharge movement target volume, thus appropriately preventing the grain storage unit from becoming full during the movement along the path. Furthermore, if it is decided to perform discharge movement, a discharge movement path is generated and selected as the next movement path, thus enabling the appropriate discharge of grain from the grain storage unit.

[0015] In this invention, it is preferable that the setting unit sets the value of the full storage volume multiplied by the ratio input by human operation as the target discharge movement volume.

[0016] According to this structure, the input ratio is multiplied by the value after the storage is full and set as the discharge target amount. Therefore, the discharge target amount can be set easily and intuitively, which is preferred.

[0017] In this invention, it is preferable to include a change unit that changes the full storage capacity based on the output of a flow sensor that measures the flow rate of grains supplied to the grain storage unit of the combine harvester.

[0018] The accumulation pattern of grains in the grain storage section varies depending on the flow rate of grains supplied. For example, under high flow rates, a large amount of grains accumulates in a location far from the supply inlet. Under low flow rates, a large amount of grains accumulates in a location close to the supply inlet. If the sensor for detecting fullness in the grain storage section is positioned where grains accumulate in large quantities, the sensor detects grains earlier, resulting in a smaller amount of grains actually stored in the storage section at the time of sensor detection. If the sensor is positioned far from the location where grains accumulate in large quantities, the sensor detects grains later, resulting in a larger amount of grains actually stored in the storage section at the time of sensor detection. According to this structure, the full storage level is adjusted based on the output of the flow sensor, thus enabling appropriate decisions regarding the discharge movement.

[0019] In this invention, preferably, the modification unit changes the full storage capacity so that the larger the output of the flow sensor, the larger the full storage capacity.

[0020] This structure is suitable for situations where the grain supply inlet in the grain storage section is close to the sensor detecting fullness. When the flow rate of grain supplied to the grain storage section is high, a large amount of grain accumulates in a location far from the supply inlet and the sensor. Therefore, the sensor detects the grains later, resulting in a larger storage capacity, which is preferable. According to this structure, the decision to execute the discharge movement can be made more appropriately.

[0021] As a means to solve the above-mentioned problems, the combine harvester of the present invention harvests crops in uncultivated areas by automatic driving. The combine harvester includes: a grain storage unit; a driving path generation unit that generates a driving path in the uncultivated area; a driving path selection unit that selects the next driving path from the driving path generated by the driving path generation unit; a harvest rate acquisition unit that acquires the harvest amount of grain per unit area in the uncultivated area, i.e., the harvest rate; a calculation unit that calculates the total amount of grain stored in the grain storage unit of the combine harvester after completing driving on the next driving path, i.e., the expected storage amount, based on the harvest rate; a setting unit that sets a discharge movement target amount based on human operation; and a decision unit that compares the expected storage amount with the discharge movement target amount and decides whether to perform automatic driving to the discharge parking position, i.e., discharge movement driving.

[0022] As a means to solve the above-mentioned problems, the method of the present invention is a computer-executed method for controlling the automatic movement of a combine harvester equipped with a grain storage section and harvesting crops in uncultivated areas. The method includes the following steps: generating a travel path of the combine harvester in the uncultivated area; selecting a next travel path from the travel path; obtaining the harvest yield per unit area of ​​grain in the uncultivated area, i.e., the harvest yield rate; calculating, based on the harvest yield rate, the total amount of grain stored in the grain storage section of the combine harvester, i.e., the expected storage amount, if the combine harvester completes its journey on the next travel path; setting a discharge movement target amount based on human operation; and comparing the expected storage amount with the discharge movement target amount to determine whether to perform automatic movement to the discharge parking position, i.e., discharge movement.

[0023] As a means of solving the above-mentioned problems, the program of the present invention is used to control the automatic movement of a combine harvester equipped with a grain storage section and harvesting crops in uncultivated areas. By executing the program by a computer, the computer performs the following steps: generating a travel path for the combine harvester in the uncultivated area; selecting the next travel path from the travel path; obtaining the harvest yield per unit area of ​​grain in the uncultivated area, i.e., the harvest yield rate; calculating, based on the harvest yield rate, the total amount of grain stored in the grain storage section of the combine harvester, i.e., the expected storage amount, if the combine harvester completes its journey on the next travel path; setting a discharge movement target amount based on human operation; and comparing the expected storage amount with the discharge movement target amount to determine whether to perform automatic movement to the discharge parking position, i.e., discharge movement.

[0024] As a means of solving the above-mentioned problems, the recording medium of the present invention records a program for controlling the automatic movement of a combine harvester equipped with a grain storage section and harvesting crops in uncultivated areas. By executing the program by a computer, the computer performs the following steps: generating a travel path for the combine harvester in the uncultivated area; selecting a next travel path from the travel path; obtaining the harvest yield per unit area of ​​grain in the uncultivated area, i.e., the harvest yield rate; calculating, based on the harvest yield rate, the total amount of grain stored in the grain storage section of the combine harvester, i.e., the expected storage amount, if the combine harvester completes its journey on the next travel path; setting a discharge movement target amount based on human operation; and comparing the expected storage amount with the discharge movement target amount to determine whether to perform automatic movement to the discharge parking position, i.e., discharge movement.

[0025] Based on these structures, the expected storage volume is compared with the target discharge movement volume to determine whether to perform discharge movement. That is, the decision to perform discharge movement is made before proceeding on the next travel path, thus preventing the grain storage unit from filling up during travel and improving the efficiency of harvesting operations based on automated travel. Attached Figure Description

[0026] Figure 1 This is a diagram illustrating the general operation of an automatic driving control system.

[0027] Figure 2 This is a right-side view of a combine harvester.

[0028] Figure 3 This is a diagram showing the initial circling drive in the farmland.

[0029] Figure 4 This is a diagram illustrating automated driving based on an α-shaped turn-around driving mode.

[0030] Figure 5 This diagram illustrates automatic driving based on a U-shaped turn and surrounding driving mode, as well as the exit of moving vehicles.

[0031] Figure 6 This is a control block diagram showing the control-related structures.

[0032] Figure 7 This is a flowchart illustrating the processes performed by the control unit of the combine harvester. Detailed Implementation

[0033] Hereinafter, embodiments of the automatic driving control system according to the present invention will be described based on the accompanying drawings. Furthermore, the present invention is not limited to the following embodiments, and various modifications can be made without departing from its spirit.

[0034] Figure 1 This diagram illustrates the operation of the automatic driving control system. This system controls the automatic driving of a combine harvester harvesting crops in uncultivated areas. In this system, the anticipated storage volume and the target discharge movement volume are compared, and the decision unit 85d determines whether to cause the combine harvester to move towards the discharge stop position PP. Figure 5 The automatic driving of the vehicle is the discharge movement driving. If the expected storage amount is greater than the discharge movement target amount, the decision unit 85d decides to perform the discharge movement driving.

[0035] The anticipated storage amount is calculated by the calculation unit 85b. The anticipated storage amount is the total amount of grain stored in the combine harvester's grain bin 7 (an example of a grain storage unit) after the combine harvester has completed its journey on the next travel path. The next travel path is determined by the travel control unit 84 (an example of a travel path selection unit, see reference 85b). Figure 6 The selected path for the combine harvester to travel next. Figure 1 , Figure 5 In the example, the next driving path is harvesting driving path L07.

[0036] The projected storage capacity is calculated based on the harvest rate. In detail, the projected storage capacity is the sum of the current harvest and the projected increase calculated based on the harvest rate.

[0037] The current harvest amount is the amount of grain stored in the grain bin 7 at the current time point (before the start of the next travel route). The current harvest amount is calculated based on the output of the load sensor 10 that bears the load from the grain bin 7. In this embodiment, the current harvest amount is calculated based on the output of the load sensor 10 and the flow rate of grain supplied to the grain bin 7 as measured by the flow sensor 50.

[0038] The anticipated increase is the expected increase in the storage capacity of grain bin 7 resulting from travel on the next travel path (harvesting travel path L07). The anticipated increase is calculated by multiplying the area of ​​farmland harvested by travel on the next travel path by the harvest rate. The harvest rate is the amount of grain harvested per unit area in unharvested land. The harvest rate is calculated during the initial circumnavigation, as described later.

[0039] The discharge target amount is the value that determines whether to perform a discharge movement. The discharge target amount is set manually via the setting unit 85c. Specifically, the discharge target amount is set by multiplying the ratio input manually by the full storage capacity. The ratio is input manually via the management terminal 60. The ratio can be varied within the range of 50% to 150%.

[0040] The full storage capacity is the weight of the grains stored in the grain bin 7 when it is full. The full storage capacity is also the weight of the grains stored in the grain bin 7 when the topmost rice sensor 11a of the rice sensors 11 installed in the grain bin 7 detects grains. In this embodiment, the full storage capacity is changed by the change unit 85e based on the output of the flow sensor 50, which measures the flow rate of grains supplied to the grain bin 7. Specifically, the full storage capacity is changed based on the flow rate of grains supplied to the grain bin 7 as measured by the flow sensor 50.

[0041] The reason for changing the storage capacity is explained as being based on the flow rate of grains supplied to the grain bin 7. In this embodiment, as... Figure 1 , Figure 2 As shown, the grain release device 13, which diffuses and releases grains into the grain bin 7, is disposed at the upper part of the front end of the grain bin 7. The rice sensor 11 is disposed at a forward position inside the grain bin 7.

[0042] When the flow rate of grains released from the grain release device 13 is relatively small, such as Figure 1 As shown in the upper left diagram, the grains fall towards the front of the grain bin 7. Thus, as... Figure 1 As shown by the double-dotted line in the upper left diagram, grains are accumulated in the front part of the grain bin 7. When the uppermost rice sensor 11a detects a grain, the upper surface of the accumulated grains becomes the shape indicated by the thick solid line. In this state, although there is a remaining amount of stored grains in the rear of the grain bin 7, the rice sensor 11a detects grains, thus determining that the grain bin 7 is full. In other words, when the flow rate of grains released from the grain release device 13 is relatively small, the storage capacity is relatively small.

[0043] When the flow rate of grains released from the grain release device 13 is relatively high, the grains fall towards the rear of the grain bin 7. Thus, grains accumulate at the rear of the grain bin 7. Unlike the above situation, when the uppermost rice sensor 11a detects grains, there is no remaining (or very little) grain in the rear of the grain bin 7. The rice sensor 11a detects grains and therefore determines that the grain bin 7 is full. In this case, the amount of grains stored in the grain bin 7 is greater than when the flow rate of grains released from the grain release device 13 is low. In other words, when the flow rate of grains released from the grain release device 13 is relatively high, the full storage capacity is relatively large. For the above reasons, in this embodiment, the modification unit 85e changes the full storage capacity so that the larger the output of the flow sensor 50, the larger the full storage capacity.

[0044] [The overall structure of a combine harvester]

[0045] Figure 2This diagram shows a standard type of combine harvester equipped with an automatic driving control system. The combine harvester has a traveling body 2 that moves autonomously via a pair of tracked traveling devices 1 on the left and right sides, and a harvesting device 3 for harvesting upright rice stalks. The harvesting device 3 is located at the front of the traveling body 2.

[0046] The driver's section 5, which is covered by the cabin 4, is located on the front right side of the vehicle body 2.

[0047] A threshing device 6 for threshing the stalks harvested by the harvesting device 3 and a grain bin 7 for storing the threshed grains are arranged laterally behind the driving unit 5. The grain bin 7 is located on the right side of the machine body, and the threshing device 6 is located on the left side of the machine body. That is, the driving unit 5 is located in front of the grain bin 7.

[0048] At the rear of the traveling body 2 and behind the grain bin 7, there is a grain discharge device 9 for discharging the grains stored in the grain bin 7 to the outside of the machine. The threshed grains are conveyed from the threshing device 6 to the inside of the grain bin 7 via the grain conveying mechanism 16. At the front end of the inside of the grain bin 7, there is a grain release device 13 for diffusing and releasing the grains conveyed by the grain conveying mechanism 16 into the inside of the grain bin 7.

[0049] A load sensor 10 for measuring load is installed below the grain bin 7. The load sensor 10 detects the load borne by the grain bin 7 and outputs the result. Based on the output of the load sensor 10, the mass of the grain stored in the grain bin 7 (current harvest amount) is calculated.

[0050] The combine harvester is equipped with a flow sensor 50 that measures the flow rate of grains supplied to the grain bin 7. In this embodiment, the flow sensor 50 includes a temporary storage section 51 and a measurement section 52, and also serves as a quality measuring device for measuring the quality of the grains.

[0051] The temporary storage unit 51 receives and stores a portion of the grains released from the grain release device 13 as grains for measurement. The measurement unit 52 irradiates light onto the grains stored in the temporary storage unit 51 and analyzes the transmitted light to measure the quality of the grains (moisture content, etc.).

[0052] Temporary storage unit 51 stores a certain amount of grain. By measuring the time until a certain amount of grain is stored in temporary storage unit 51, the flow rate of grain supplied to grain bin 7 (the amount supplied per unit time) is calculated. Flow sensor 50 outputs the calculated grain flow rate to control device 80 (described later).

[0053] A management terminal 60 is installed in the driver's unit 5. The management terminal 60 is a device capable of accepting human operation and displaying information. In this embodiment, the management terminal 60 is fixed to the driver's unit 5. The management terminal 60 can be configured to be mounted and detached from the driver's unit 5, or it can be located outside the combine harvester.

[0054] The satellite positioning module 70 is mounted above the driver's unit 5. The satellite positioning module 70 receives GNSS (Global Navigation Satellite System) signals from artificial satellites, generates positioning data representing the combine harvester's position based on the received signals, and sends the positioning data to the vehicle's position calculation unit 81. GNSS systems such as GPS, QZSS, Galileo, GLONASS, and BeiDou can be used.

[0055] Harvesting operations based on combine harvesters

[0056] Reference Figure 3 , Figure 4 , Figure 5 The harvesting operation in farmland performed by a combine harvester is described. In this embodiment, as... Figure 2 The image shows an example of a rectangular field.

[0057] In the example diagram, the long side of the farmland is parallel to the east-west direction, and the short side is in the north-south direction. A transport vehicle CV, which moves grains discharged from the combine harvester, is parked on the north side of the farmland. A discharge parking position PP is set near the transport vehicle CV within the farmland.

[0058] Firstly, initially, as Figure 3 As shown, harvesting is carried out in a circumferential manner along the boundary line of the farmland in the area on the outer perimeter (initial circumferential drive). The area that becomes the work area through this initial circumferential drive is designated as the outer perimeter area SA (see reference). Figure 4 The unworked area inside the outer perimeter area SA is designated as the work target area CA (see reference). Figure 4 ).

[0059] When harvesting the planted stalks in the work area CA using automated driving, the outer perimeter area SA is used as space for the combine harvester to change direction (turning, as described later). Furthermore, the outer perimeter area SA is also used as space for movement to the discharge parking position PP and to the refueling location.

[0060] To ensure the outer perimeter area SA is relatively wide, the initial circumference travel is performed approximately 2 to 4 times. This initial circumference travel can be conducted manually or automatically. The initial circumference travel is performed with one side (preferably opposite sides) of the work area CA parallel to the direction of the strip.

[0061] Following the initial circular drive, the planted rice stalks in the target area CA are harvested via automated driving. During this automated driving, automated harvesting and turning drives are repeatedly performed. The automated harvesting drive harvests the planted rice stalks while automatically traveling along a harvesting path L (an example of a driving path) set in the target area CA. The turning drive occurs between one automated harvesting drive and the next. The turning drive is an automated drive on a turning path T that connects two harvesting paths L.

[0062] The aforementioned automatic harvesting and turning operations proceed according to the prescribed driving modes. An example of a driving mode is shown below. Figure 4 The α-shaped turning and driving mode shown Figure 5 The U-shaped turn driving mode shown.

[0063] α-shaped turn driving mode ( Figure 4 The following is the driving mode: The combine harvester travels sequentially along the four sides of the rectangular work area CA, following an α-shaped turning pattern. The α-shaped turning is performed by advancing along the extension direction of the previous harvesting path L, reversing (including turning), and advancing along the extension direction of the next harvesting path L. The automatic driving based on the α-shaped turning loop mode is a spiral motion. In the example diagram, the combine harvester travels sequentially along harvesting paths L01, L02, L03, L04, and turning paths T01, T02, T03, T04.

[0064] If the outer perimeter area SA is narrow, making it difficult to perform automated driving based on the U-shaped turn and loop driving mode, then automated driving based on the α-shaped turn and loop driving mode will be performed before the U-shaped turn and loop driving mode. If the outer perimeter area SA is wide enough to perform automated driving based on the U-shaped turn and loop driving mode, then automated driving based on the α-shaped turn and loop driving mode may not be performed.

[0065] U-shaped turn driving mode ( Figure 5The driving mode is as follows: It alternately travels from the outside on two parallel harvesting paths L opposite the rectangular area, and performs U-shaped turns. The U-shaped turns are performed only by forward travel that includes the turning motion. The automatic driving based on the U-shaped turn loop mode is also a spiral-shaped driving mode, similar to the α-shaped turn loop mode.

[0066] In the example diagram, the combine harvester is in the following states: harvesting on the end of harvesting path L05, U-turning on turning path T05, and harvesting on harvesting path L06 while traveling on turning path T06.

[0067] In the case of long, narrow strips of farmland, it is preferable to set the harvesting path L, which uses a U-shaped turning and circling driving mode, as a path parallel to both sides of the long strip direction that is parallel to the work target area CA. That is, in the automatic driving based on the U-shaped turning and circling driving mode, automatic harvesting is preferably carried out only on paths parallel to the long strip direction.

[0068] In this embodiment, after the harvesting journey of one harvesting route L ends and before the harvesting journey of the next harvesting route L begins, it is determined whether to perform a discharge movement. That is, whenever the harvesting journey of a harvesting route L ends, it is determined whether to perform a discharge movement.

[0069] exist Figure 5 In the example, the combine harvester is in a state before finishing harvesting on harvesting path L06 and starting harvesting on harvesting path L07. After the combine harvester completes its journey on harvesting path L07, which is the next path, the calculation unit 85b calculates the total amount of grain stored in the grain bin 7 of the combine harvester, i.e., the expected storage amount, based on the harvest yield. The decision unit 85d compares the expected storage amount with the discharge movement target amount and decides whether to cause the combine harvester to perform automatic movement to the discharge parking position PP, i.e., discharge movement.

[0070] If the anticipated storage volume is greater than the target discharge volume, it is decided to proceed with the discharge movement. The reason is that if the anticipated storage volume is greater than the target discharge volume, there is a high probability that the grain bin 7 will be full (the rice sensor 11a detects grains) during the harvesting journey on the next travel path L07, when the harvesting journey is underway.

[0071] If the decision is made to perform a discharge movement, a discharge movement path LU is generated, and the combine harvester automatically moves along the discharge movement path LU towards the discharge parking position PP. If the expected storage amount is below the discharge movement target amount, it is decided not to perform a discharge movement. In this case, the combine harvester travels on the turning path T06 and performs harvesting travel on the harvesting path L07.

[0072] [Structures related to control]

[0073] The combine harvester includes a control device 80. The control device 80 is a so-called ECU, which includes a memory (HDD, non-volatile RAM, etc. - not shown) storing programs corresponding to the functional units described later, and a CPU (not shown) executing those programs. The functions of each functional unit are realized by the CPU executing the program. That is, the control device 80 has a non-transitory recording medium storing the program.

[0074] The control device 80 includes a vehicle position calculation unit 81, a region calculation unit 82, a route calculation unit 83, a driving control unit 84, and an exhaust control unit 85 as functional units.

[0075] The vehicle's position calculation unit 81 calculates the combine harvester's position coordinates based on the positioning data generated by the satellite positioning module 70.

[0076] The area calculation unit 82 calculates the outer perimeter area SA and the work target area CA based on the position coordinates of the combine harvester over time calculated by the vehicle position calculation unit 81. Specifically, the area calculation unit 82 calculates the trajectory of the combine harvester during its circumnavigation (initial circumnavigation) around the outer perimeter of the farmland based on the position coordinates of the combine harvester over time calculated by the vehicle position calculation unit 81.

[0077] Furthermore, based on the calculated travel trajectory of the combine harvester, the area around the perimeter of the farmland where the combine harvester is harvesting upright rice stalks is designated as the outer perimeter area SA. Additionally, the area around the perimeter area SA, which is closer to the inside of the farmland, is designated as the target area CA.

[0078] For example, in Figure 3 In the diagram, arrows indicate the path manually traversed by the combine harvester during its initial circumference drive around the outer perimeter of the farmland. In the example, the combine harvester performs three circumference drives. Once this initial circumference drive is complete, the farmland becomes... Figure 4 The state shown.

[0079] like Figure 4As shown, the area calculation unit 82 calculates the area on the outer perimeter of the farmland where the combine harvester is manually moving while harvesting the standing rice stalks as the outer perimeter area SA, and calculates the area that is closer to the inner side of the farmland than the calculated outer perimeter area SA as the work target area CA.

[0080] Based on the calculation results of the area calculation unit 82, the path calculation unit 83 calculates the harvesting travel path L for automatic harvesting within the work target area CA. That is, the path calculation unit 83 functions as a travel path generation unit that generates the travel path of the combine harvester in the unworked area.

[0081] In this embodiment, the harvesting travel path L is a plurality of grid lines extending parallel to the four sides of the work target area CA. In addition, the path calculation unit 83 calculates a turning travel path T for turning (α-shaped turning, U-shaped turning) that connects the two harvesting travel paths L.

[0082] Furthermore, the path calculation unit 83 calculates the discharge movement path LU based on the decision of the decision unit 85d for the case of performing discharge movement. The discharge movement path LU is the movement path from the current position of the combine harvester to the discharge parking position PP. The discharge movement path LU can be a path that smoothly connects to the turning movement path T, or it can be a movement path from the end of the harvesting movement path L to the discharge parking position PP.

[0083] The driving control unit 84 is configured to control both the driving device 1 and the harvesting device 3. The driving control unit 84 sets the next driving path from the driving paths (harvesting driving path L, turning driving path T, discharge moving driving path LU, etc.) calculated by the path calculation unit 83. In other words, the driving control unit 84 functions as a driving path selection unit, selecting the next driving path from the driving paths generated by the path calculation unit 83.

[0084] The driving control unit 84 sets the driving path based on the driving modes (α-shaped turn driving mode, U-shaped turn driving mode) and the decision made by the decision unit 85d of the discharge control unit 85. Then, the driving control unit 84 controls the automatic driving of the combine harvester based on the position coordinates of the combine harvester calculated by the vehicle position calculation unit 81 and the set driving path. Specifically, the driving control unit 84 controls the combine harvester's driving device 1 to make the combine harvester travel along the set driving path. Then, the driving control unit 84 activates the harvesting device 3 when the combine harvester is traveling on the harvesting driving path L.

[0085] The travel control unit 84, based on the decision unit 85d's determination that a discharge movement is to be performed, selects the discharge movement path LU calculated by the path calculation unit 83 as the next travel path. Then, the travel control unit 84 enables the combine harvester to travel automatically on the discharge movement path LU.

[0086] The discharge control unit 85 includes a harvest rate acquisition unit 85a, a calculation unit 85b, a setting unit 85c, a decision unit 85d, and a modification unit 85e.

[0087] The harvest rate acquisition unit 85a acquires the harvest rate, which is the amount of grain harvested per unit area in the unharvested area (the target area CA). Specifically, the harvest rate acquisition unit 85a calculates the area of ​​the unharvested area being harvested based on the time-varying changes in the combine harvester's position coordinates calculated by the vehicle position calculation unit 81, and calculates the amount of grain obtained from the unharvested area based on the time-varying changes in the grain storage amount in the grain bin 7 detected by the load sensor 10. Then, the harvest rate acquisition unit 85a divides the amount of grain obtained from the unharvested area by the area of ​​the unharvested area to calculate the harvest rate.

[0088] In this embodiment, the harvest rate acquisition unit 85a calculates the harvest rate based on the area covered by the initial circumnavigation and the amount of grain obtained through the initial circumnavigation. The calculation of the harvest rate based on the harvest rate acquisition unit 85a can be performed either each time a harvesting circumnavigation of a specified area (or distance) is performed, or it can be performed on the entire specified area.

[0089] The calculation unit 85b calculates the total amount of grain stored in the grain storage compartment of the combine harvester, i.e., the expected storage amount, based on the harvest rate, assuming the combine harvester completes its journey on the next travel path. Specifically, the calculation unit 85b calculates the sum of the current harvest amount and the expected increase amount as the expected storage amount.

[0090] The calculation unit 85b calculates the current harvest amount based on the output of the load sensor 10 and the flow rate of grains supplied to the grain bin 7 as measured by the flow sensor 50. A table (or function) showing the relationship between the output of the load sensor 10, the output of the flow sensor 50, and the current harvest amount is pre-stored in the memory of the control device 80. The calculation unit 85b refers to the table stored in the memory of the control device 80 to calculate the current harvest amount.

[0091] The calculation unit 85b calculates the expected increase by multiplying the harvest rate obtained by the harvest rate acquisition unit 85a by the area of ​​farmland harvested during the next travel path. Additionally, the calculation unit 85b calculates the area of ​​farmland harvested during the next travel path by multiplying the length of the next travel path by the harvesting width of the harvesting device 3.

[0092] The setting unit 85c sets the discharge target amount based on manual operation. Specifically, the setting unit 85c sets the discharge target amount to the value obtained by multiplying the ratio input manually by the full storage capacity. The setting unit 85c displays a screen urging the operator to input the ratio on the display device of the management terminal 60, and receives the ratio input from the operator. The setting unit 85c sets the discharge target amount to the value obtained by multiplying the full storage capacity changed by the modification unit 85e by the input ratio.

[0093] The decision unit 85d compares the expected storage amount calculated by the calculation unit 85b with the discharge movement target amount set by the setting unit 85c, and decides whether to perform automatic driving to the discharge parking position PP, i.e., discharge movement driving. If the expected storage amount is greater than the discharge movement target amount, the decision unit 85d decides to perform discharge movement driving; if the expected storage amount is less than the discharge movement target amount, the decision unit 85d decides not to perform discharge movement driving.

[0094] The modification unit 85e adjusts the filling capacity based on the output of the flow sensor 50, which measures the flow rate of grains supplied to the grain bin 7 of the combine harvester. The modification unit 85e adjusts the filling capacity according to the output of the flow sensor 50; a larger output indicates a larger filling capacity. A table (or function) showing the relationship between the output of the flow sensor 50 and the filling capacity is pre-stored in the memory of the control device 80. The modification unit 85e refers to the table stored in the memory of the control device 80 to adjust the filling capacity.

[0095] [Processing performed by the combine harvester's control unit]

[0096] Reference Figure 7 The processing performed by the control device 80 of the combine harvester will be explained.

[0097] The setting unit 85c sets the target displacement amount based on manual operation (step S01).

[0098] Perform an initial circumnavigation based on manual driving. That is, the combine harvester travels in the area on the outer perimeter of the farmland through manual operation by the operator (step S02).

[0099] The area calculation unit 82 calculates the outer perimeter area SA and the work object area CA (step S03).

[0100] The path calculation unit 83 calculates the harvesting travel path L (step S04).

[0101] The driving control unit 84 sets the driving path for the next trip (step S05).

[0102] The travel control unit 84 controls the travel device 1 of the combine harvester so that the combine harvester travels automatically along the set travel path (step S06).

[0103] Harvest rate acquisition section 85a acquires the harvest rate (step S07).

[0104] The calculation unit 85b calculates the expected storage amount based on the harvest rate (step S08).

[0105] The decision unit 85d decides whether to perform the discharge movement (step S09).

[0106] If the decision unit 85d decides not to perform the discharge movement (step S09: No), then step S05 is executed. That is, the driving control unit 84 selects and sets the next driving path from the harvest driving path L (step S05).

[0107] If the decision unit 85d decides to execute the discharge movement (step S09: Yes), the path calculation unit 83 calculates the discharge movement path LU (step S10).

[0108] The driving control unit 84 sets the exited moving driving path LU as the driving path for the next trip (step S11).

[0109] The travel control unit 84 controls the travel device 1 of the combine harvester to make the combine harvester travel automatically along the discharge travel path LU (step S12). Then the process ends.

[0110] Repeat the above process until the entire operation (harvesting operation) of the target area CA is completed.

[0111] The order of the steps in the above process can be changed, or some steps can be omitted. For example, step S01 (setting the target displacement amount) can be performed after step S02 (initial circumferential driving), or it can be performed according to the human operation.

[0112] In this embodiment, the following method is performed.

[0113] A computer-executed method for controlling the automatic movement of a combine harvester equipped with a grain bin 7 and harvesting operation area CA of crops, the method comprising the following steps:

[0114] Generate the travel path of the combine harvester in the work object area CA;

[0115] Select the next driving path from the driving path;

[0116] The harvest rate is the amount of grains harvested per unit area in the target area CA.

[0117] Based on the harvest rate, calculate the total amount of grain stored in the grain bin 7 of the combine harvester, i.e., the expected storage amount, after the combine harvester completes its journey on the next travel path;

[0118] The target displacement amount is set based on manual operation; and

[0119] The expected storage amount is compared with the discharge movement target amount to determine whether to perform automatic driving to the discharge parking position PP, i.e., discharge movement driving.

[0120] In this embodiment, the program described below is recorded in the memory (recording medium) of the control device 80 and executed.

[0121] A program for controlling the automatic movement of a combine harvester equipped with a grain bin 7 and harvesting area CA of crops, wherein the program is executed by a computer, causing the computer to perform the following steps:

[0122] Generate the travel path of the combine harvester in the work object area CA;

[0123] Select the next driving path from the driving path;

[0124] The harvest rate is the amount of grains harvested per unit area in the target area CA.

[0125] Based on the harvest rate, calculate the total amount of grain stored in the grain bin 7 of the combine harvester, i.e., the expected storage amount, after the combine harvester completes its journey on the next travel path;

[0126] The target displacement amount is set based on manual operation; and

[0127] The expected storage amount is compared with the discharge movement target amount to determine whether to perform automatic driving to the discharge parking position PP, i.e., discharge movement driving.

[0128] [Variation Example]

[0129] (1) The harvest rate acquisition unit 85a may also acquire the harvest rate by other methods. For example, the harvest rate acquisition unit 85a may also acquire the harvest rate from other combine harvesters or external agricultural management systems.

[0130] (2) The change unit 85e can also be configured such that the full storage capacity is changed to a smaller full storage capacity when the output of the flow sensor 50 is larger. This structure is suitable for situations where the distance between the rice sensor 11a and the grain release device 13 is relatively large, such as when the rice sensor 11a is located at the rear of the grain box 7.

[0131] (3) The full storage capacity can also be a fixed value that is not changed. That is, it can also be that the control device 80 does not have a change unit 85e.

[0132] (4) The displacement target amount can also be a fixed value that is not changed. That is, the control device 80 can also be in a way that does not have a setting unit 85c.

[0133] (5) The flow sensor 50 is not limited to the examples described above. For example, the flow sensor 50 may also be a sensor that detects the force on the grains released from the grain release device 13 and outputs the flow rate.

[0134] (6) The discharge control unit 85 may also be configured to determine to perform discharge movement based on the rice sensor 11a detecting rice grains. Even if the combine harvester is in the middle of the harvesting movement of the harvesting movement L, when the rice sensor 11a detects rice grains, the harvesting movement is interrupted and the discharge movement is performed.

[0135] Industrial applicability

[0136] This invention relates to an automatic driving control system for controlling the automatic movement of combine harvesters harvesting crops in uncultivated fields. The combine harvester can be either a conventional type or a self-tapping type. Furthermore, this invention can be applied to combine harvesters, methods, programs, and recording media.

[0137] Explanation of reference numerals in the attached figures

[0138] 7: Grain bin (grain storage section)

[0139] 50: Flow sensor

[0140] 83: Route Calculation Department (Driving Route Generation Department)

[0141] 84: Driving Control Unit (Driving Route Selection Unit)

[0142] 85a: Harvest Rate Acquisition Department

[0143] 85b: Computing Department

[0144] 85c: Setting Department

[0145] 85d: Decision Department

[0146] 85e: Change Department

[0147] CA: Work Area (Unworked Area)

[0148] LU: Draws out the movement path

[0149] PP: Exit parking position.

Claims

1. An automatic driving control system for controlling the automatic driving of a combine harvester harvesting crops in unoperated fields, the automatic driving control system comprising: The travel path generation unit generates the travel path of the combine harvester in the unoperated area; The driving route selection unit selects the next driving route from the driving routes generated by the driving route generation unit. The harvest rate acquisition unit obtains the harvest rate of grains per unit area in the uncultivated land. The calculation unit calculates the total amount of grain stored in the grain storage section of the combine harvester, i.e., the expected storage amount, based on the harvest rate, when the combine harvester completes its journey on the next travel path. One or more rice sensors detect that, as the crop is harvested, the standard of the rice stored in the grain storage section of the combine harvester reaches or exceeds a preset height; A flow sensor measures the flow rate of grains supplied to the grain storage section of the combine harvester as the crop is harvested; The change unit dynamically changes the storage amount of rice grains detected by the topmost rice sensor, i.e., the full storage amount, based on the output of the flow sensor. The setting unit sets the value obtained by multiplying the filled storage amount after modification by the modification unit by the ratio input by human operation as the discharge movement target amount; as well as The decision unit compares the expected storage amount with the discharge movement target amount and decides whether to perform automatic driving to the discharge parking position, i.e., discharge movement driving.

2. The automatic driving control system as described in claim 1, wherein, If the anticipated storage amount is greater than the target discharge movement amount, the decision unit decides to execute the discharge movement. The travel path generation unit generates a discharge travel path from the current position of the combine harvester to the discharge parking position based on the decision made by the decision unit for performing the discharge travel. The driving path selection unit selects the discharged moving driving path as the next driving path.

3. The automatic driving control system as described in claim 1 or 2, wherein, When the rice sensor is positioned in front of the grain storage unit, the change unit adjusts the filling capacity so that the larger the output of the flow sensor, the larger the filling capacity. When the rice sensor is positioned in the rear of the grain storage unit, the change unit adjusts the filling capacity so that the larger the output of the flow sensor, the smaller the filling capacity.

4. A combine harvester for harvesting crops in uncultivated fields by autonomous driving, said combine harvester comprising: Grain storage department; The driving path generation unit generates driving paths in the unworked areas; The driving route selection unit selects the next driving route from the driving routes generated by the driving route generation unit. The harvest rate acquisition unit obtains the harvest rate of grains per unit area in the uncultivated land. The calculation unit calculates the total amount of grain stored in the grain storage section of the combine harvester, i.e., the expected storage amount, based on the harvest rate, after completing the journey on the next travel path; One or more rice sensors detect that, as the crop is harvested, the standard of the rice grains stored in the grain storage section reaches or exceeds a preset height; A flow sensor measures the flow rate of the grains supplied to the grain storage section as the crop is harvested; The change unit dynamically changes the storage amount of rice grains detected by the topmost rice sensor, i.e., the full storage amount, based on the output of the flow sensor. The setting unit sets the value obtained by multiplying the filled storage amount after modification by the modification unit by the ratio input by human operation as the discharge movement target amount; as well as The decision unit compares the expected storage amount with the discharge movement target amount and decides whether to perform automatic driving to the discharge parking position, i.e., discharge movement driving.

5. A computer-executed method for controlling the automatic movement of a combine harvester equipped with a grain storage section and harvesting crops in unoperated fields, the method comprising the following steps: Generate the travel path of the combine harvester in the unoperated area; Select the next driving path from the driving path; The harvest rate is the amount of grains harvested per unit area in the uncultivated land. Based on the harvest rate, calculate the total amount of grain stored in the grain storage section of the combine harvester, i.e., the expected storage amount, after the combine harvester completes its journey on the next travel path; Using one or more rice sensors, it is detected that as the crop is harvested, the standard of the rice grains stored in the grain storage section reaches or exceeds a predetermined height. The flow rate of the grains supplied to the grain storage section as the crop is harvested is measured using a flow sensor. Based on the output of the flow sensor, the storage amount of the rice grains detected by the topmost rice sensor is dynamically changed, i.e., the storage amount when the grains are full. The value obtained by multiplying the dynamically changed full storage volume by the ratio input by human operation is set as the discharge target volume; as well as The expected storage amount is compared with the discharge movement target amount to determine whether to perform automatic driving to the discharge parking position, i.e., discharge movement.

6. A program product storing a program for controlling the automatic movement of a combine harvester equipped with a grain storage section and harvesting crops in unoperated fields, wherein the program is executed by a computer to cause the computer to perform the following steps: Generate the travel path of the combine harvester in the unoperated area; Select the next driving path from the driving path; The harvest rate is the amount of grains harvested per unit area in the uncultivated land. Based on the harvest rate, calculate the total amount of grain stored in the grain storage section of the combine harvester, i.e., the expected storage amount, after the combine harvester completes its journey on the next travel path; Using one or more rice sensors, it is detected that as the crop is harvested, the standard of the rice grains stored in the grain storage section reaches or exceeds a predetermined height. The flow rate of the grains supplied to the grain storage section as the crop is harvested is measured using a flow sensor. Based on the output of the flow sensor, the storage amount of the rice grains detected by the topmost rice sensor is dynamically changed, i.e., the storage amount when the grains are full. The value obtained by multiplying the dynamically changed full storage volume by the ratio input by human operation is set as the discharge target volume; as well as The expected storage amount is compared with the discharge movement target amount to determine whether to perform automatic driving to the discharge parking position, i.e., discharge movement.

7. A recording medium containing a program for controlling the automatic movement of a combine harvester equipped with a grain storage section and harvesting crops in uncultivated fields, wherein the program is executed by a computer to perform the following steps: Generate the travel path of the combine harvester in the unoperated area; Select the next driving path from the driving path; The harvest rate is the amount of grains harvested per unit area in the uncultivated land. Based on the harvest rate, calculate the total amount of grain stored in the grain storage section of the combine harvester, i.e., the expected storage amount, after the combine harvester completes its journey on the next travel path; Using one or more rice sensors, it is detected that as the crop is harvested, the standard of the rice grains stored in the grain storage section reaches or exceeds a predetermined height. The flow rate of the grains supplied to the grain storage section as the crop is harvested is measured using a flow sensor. Based on the output of the flow sensor, the storage amount of the rice grains detected by the topmost rice sensor is dynamically changed, i.e., the storage amount when the grains are full. The value obtained by multiplying the dynamically changed full storage volume by the ratio input by human operation is set as the discharge target volume; as well as The expected storage amount is compared with the discharge movement target amount to determine whether to perform automatic driving to the discharge parking position, i.e., discharge movement.

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