Harvester and method of controlling a harvester

Abstract

The present application aims to improve the function of discharging without cutting the discharged straw in a harvester that performs automatic driving. A control device of the harvester can operate in a cutting mode in which the harvested discharged straw is cut and discharged, and a non-cutting mode in which the discharged straw is discharged without being cut. The control device determines a region inside a travel track when the harvester performs a one-time harvesting travel along the periphery of a crop region in which crops are planted in a field as an automatic driving region, sets a first surrounding path, a second surrounding path, and a U-turn path in the automatic driving region. The U-turn path includes a plurality of straight sections and a plurality of turning sections. The control device operates in the cutting mode in a region in which the first surrounding path and the second surrounding path overlap the U-turn path, and operates in the non-cutting mode in a section of the second surrounding path that does not overlap the U-turn path and at least a part of the plurality of straight sections included in the U-turn path.

Description

Technical Field

[0001] This invention relates to harvesters and methods for controlling harvesters. Background Technology

[0002] Harvesters such as combine harvesters (hereinafter also referred to as "combiner") that can drive autonomously while harvesting crops in fields are being developed. Patent document 1 discloses an example of such a harvester.

[0003] Patent Document 1 discloses a harvester (semi-feeding combine harvester) comprising a threshing device, a straw discharge treatment device for cutting the discharged straw processed by the threshing device, and a switching plate located above the cutting device. When the switching plate is open, the discharged straw is fed into the straw discharge treatment device and falls into the field in a cut state. When the switching plate is closed, the discharged straw is not fed into the straw discharge treatment device and falls into the field uncut. The discharged straw falling into the field uncut is collected and used for feed, fertilizer, or fuel, etc.

[0004] Existing technical documents

[0005] Patent documents

[0006] Japanese Patent Application Publication No. 2021-83385 Summary of the Invention

[0007] The technical problem that the invention aims to solve

[0008] An exemplary embodiment of the present invention provides a harvester capable of appropriately switching between a cutting mode that cuts and discharges the discharged straw of the harvested crop and a non-cutting mode that discharges the crop without cutting the discharged straw, depending on the area within the field.

[0009] Technical solutions for solving technical problems

[0010] This disclosure provides solutions for the following projects.

[0011] [Project 1]

[0012] A harvester capable of automatic driving includes: a harvesting device for harvesting crops with grains; a threshing device for separating the harvested crop into grains and discharged straw; a cutting device for cutting and discharging the discharged straw; a switching device capable of switching between a first state of supplying the discharged straw to the cutting device and a second state of discharging the discharged straw without supplying it to the cutting device; a positioning device for acquiring the position information of the harvester; and a control device configured to operate in a cutting mode and a non-cutting mode, wherein the cutting mode causes the switching device to be in the first state and the harvester to perform harvesting travel, and the non-cutting mode causes the switching device to be in the second state and the harvester to perform harvesting travel. Based on the harvester's travel trajectory when it manually drives around the periphery of a crop-planted area in a field for one revolution, the area inside the travel trajectory is defined as an automatic driving area, and a first loop path, a second loop path connected to the first loop path, and a... The control device is configured to operate in the cutting mode when the harvester travels along the first surrounding path, and in the cutting mode when the harvester travels along the second surrounding path. The first surrounding path is a loop of more than one revolution around the outermost perimeter of the autonomous driving area, and the second surrounding path is a loop of more than one revolution around the inner perimeter of the first surrounding path. The U-shaped turning path includes multiple straight sections for harvesting crops in the area inside the second surrounding path and multiple turning sections connecting the multiple straight sections. At least a portion of the multiple turning sections overlaps with a portion of the area where the second surrounding path is set. The control device is configured to operate in the cutting mode when the harvester travels along the first surrounding path for harvesting, operate in the cutting mode in sections that overlap with the multiple turning sections when the harvester travels along the second surrounding path for harvesting, operate in the non-cutting mode in at least a portion of sections that do not overlap with the multiple turning sections when the harvester travels along the U-shaped turning path for harvesting, operate in the non-cutting mode in at least a portion of the multiple straight sections and operate in the cutting mode in the multiple turning sections when the harvester travels along the U-shaped turning path for harvesting.

[0013] [Project 2]

[0014] According to the harvester of Project 1, the control device is configured to determine, based on input from the user, the section among the plurality of straight sections that operates in the non-cut-off mode.

[0015] [Project 3]

[0016] According to the harvester of Project 2, the control device is configured to operate in the non-cutting mode in the straight-line intervals of the number of columns specified by the user, starting from the right or left end of the plurality of straight-line intervals, and in the cutting mode in the remaining straight-line intervals.

[0017] [Project 4]

[0018] The harvester according to any one of items 1 to 3, wherein the control device is configured to determine, based on input from the user, whether to operate in the non-cut-off mode in a section of the second circumferential path that does not overlap with the plurality of turning sections.

[0019] [Project 5]

[0020] The harvester according to any one of items 2 to 4 further comprises an operating terminal having a graphical user interface (GUI) for accepting input from the user.

[0021] [Project 6]

[0022] According to the harvester of Project 5, the GUI provides the following functions: setting (a) several columns of straight sections starting from either the right or left end of the plurality of straight sections to operate in the non-cut-off mode, and / or (b) sections in the second circumferential path that do not overlap with the plurality of turning sections to operate in the non-cut-off mode.

[0023] [Project 7]

[0024] The harvester according to any one of items 1 to 5, wherein when the control device moves the harvester to a predetermined discharge position in order to discharge the grain, it causes the harvester to move along a path that does not pass through the non-cut area where the discharged straw is discharged without being cut.

[0025] [Project 8]

[0026] A method, executed by a computer controlling an autonomous harvester, wherein the harvester comprises: a harvesting device for harvesting crops with grains; a threshing device for separating the harvested crops into grains and discharged straw; a cutting device for cutting and discharging the discharged straw; a switching device capable of switching between a first state of supplying the discharged straw to the cutting device and a second state of discharging the discharged straw without supplying it to the cutting device; and a positioning device for acquiring the position information of the harvester, the method comprising the following steps: operating in a cutting mode and a non-cutting mode, wherein the cutting mode causes the switching device to be in the first state and the harvester to perform harvesting travel, and the non-cutting mode causes the switching device to be in the second state and the harvester to perform harvesting travel; determining the area inside the driving trajectory as an autonomous driving area based on the harvester's driving trajectory when it has manually driven around the periphery of a crop area planted with the crops in the field for one lap; and setting a first loop path and a second loop path connected to the first loop path within the autonomous driving area. The method further includes the following steps: operating in a cutting mode while the harvester is traveling along the first surrounding path; operating in the cutting mode while the harvester is traveling along the second surrounding path, wherein the first surrounding path is a loop of more than one revolution around the outermost perimeter of the autonomous driving area, and the second surrounding path is a loop of more than one revolution inside the first surrounding path; the U-shaped turning path includes multiple straight sections for harvesting crops within the area inside the second surrounding path, and multiple turning sections connecting the multiple straight sections; at least a portion of the multiple turning sections overlaps with a portion of the area where the second surrounding path is located; and operating in the following steps: operating in the cutting mode while the harvester is traveling along the first surrounding path; operating in the cutting mode while the harvester is traveling along the second surrounding path, operating in the cutting mode in sections that overlap with the multiple turning sections, and operating in the non-cutting mode in at least a portion of sections that do not overlap with the multiple turning sections; and operating in the non-cutting mode while the harvester is traveling along the U-shaped turning path, operating in the cutting mode in at least a portion of the multiple straight sections, and operating in the cutting mode in the multiple turning sections.

[0027] [Project 9]

[0028] A computer program is executed by a computer controlling an autonomous harvester, wherein the harvester comprises: a harvesting device for harvesting crops with grains; a threshing device for separating the harvested crops into grains and discharged straw; a cutting device for cutting and discharging the discharged straw; a switching device capable of switching between a first state of supplying the discharged straw to the cutting device and a second state of discharging the discharged straw without supplying it to the cutting device; and a positioning device for acquiring the position information of the harvester. The computer program causes the computer to perform the following actions: operating in a cutting mode and a non-cutting mode, wherein the cutting mode causes the switching device to be in the first state and the harvester to perform harvesting travel, and the non-cutting mode causes the switching device to be in the second state and the harvester to perform harvesting travel; based on the harvester's travel trajectory when it has manually driven around the periphery of a crop-planted area in a field for one lap, the area inside the travel trajectory is determined as an autonomous driving area; a first loop path is set within the autonomous driving area, and a path connected to the first loop path is defined. The second circumferential path and the U-shaped turning path connected to the second circumferential path, wherein the first circumferential path is a circumferential path of more than one revolution around the outermost periphery of the autonomous driving area, the second circumferential path is a circumferential path of more than one revolution around the inner periphery of the first circumferential path, the U-shaped turning path includes multiple straight sections for straight-line harvesting of crops in the area inside the second circumferential path, and multiple turning sections connecting the multiple straight sections, at least a portion of the multiple turning sections overlaps with a portion of the area where the second circumferential path is set, and the computer program further causes the computer to perform the following actions: when the harvester is driven to harvest along the first circumferential path, it operates in the cutting mode; when the harvester is driven to harvest along the second circumferential path, it operates in the cutting mode in sections that overlap with the multiple turning sections, and operates in the non-cutting mode in at least a portion of sections that do not overlap with the multiple turning sections; when the harvester is driven to harvest along the U-shaped turning path, it operates in the non-cutting mode in at least a portion of the multiple straight sections, and operates in the cutting mode in the multiple turning sections.

[0029] [Project 10]

[0030] A harvester capable of automatic driving includes: a harvesting device for harvesting crops with grains; a threshing device for separating the harvested crop into grains and discharged straw; a cutting device for cutting and discharging the discharged straw; a switching device capable of switching between a first state of supplying the discharged straw to the cutting device and a second state of discharging the discharged straw without supplying it to the cutting device; a positioning device for acquiring the position information of the harvester; and a control device configured to operate in a cutting mode and a non-cutting mode, wherein the cutting mode causes the switching device to be in the first state and the harvester to perform harvesting travel, and the non-cutting mode causes the switching device to be in the second state and the harvester to perform harvesting travel, wherein, based on the position information of the harvester, the harvester is driven automatically along a target path set in the field, and during the harvesting travel based on the automatic driving, the cutting mode and the non-cutting mode are switched according to user input instructions.

[0031] [Project 11]

[0032] A method, executed by a computer controlling an autonomous harvester, wherein the harvester comprises: a harvesting device for harvesting crops with grains; a threshing device for separating the harvested crop into grains and discharged straw; a cutting device for cutting and discharging the discharged straw; a switching device capable of switching between a first state of supplying the discharged straw to the cutting device and a second state of discharging the discharged straw without supplying it to the cutting device; and a positioning device for acquiring the position information of the harvester, the method comprising the following steps: operating in a cutting mode and a non-cutting mode, wherein the cutting mode causes the switching device to be in the first state and the harvester to perform harvesting travel, and the non-cutting mode causes the switching device to be in the second state and the harvester to perform harvesting travel; autonomously driving the harvester along a target path set in the field based on the position information of the harvester; and switching between the cutting mode and the non-cutting mode according to user-input instructions during the autonomous harvesting travel.

[0033] [Project 12]

[0034] A computer program is executed by a computer controlling an automatically driven harvester, wherein the harvester comprises: a harvesting device for harvesting crops with grains; a threshing device for separating the harvested crop into grains and discharged straw; a cutting device for cutting and discharging the discharged straw; a switching device capable of switching between a first state of supplying the discharged straw to the cutting device and a second state of discharging the discharged straw without supplying it to the cutting device; and a positioning device for acquiring the position information of the harvester. The computer program causes the computer to perform the following actions: operating in a cutting mode and a non-cutting mode, wherein the cutting mode causes the switching device to be in the first state and the harvester to perform harvesting travel, and the non-cutting mode causes the switching device to be in the second state and the harvester to perform harvesting travel; automatically driving the harvester along a target path set in the field based on the harvester's position information; and switching between the cutting mode and the non-cutting mode according to user-input instructions during the automatically driven harvesting travel.

[0035] The general or specific aspects of this invention can be implemented by means of apparatus, systems, methods, integrated circuits, computer programs, or computer-readable non-transitory storage media, or any combination thereof. Computer-readable storage media may include volatile storage media or non-volatile storage media. An apparatus may also consist of multiple apparatuses. When an apparatus consists of two or more apparatuses, these two or more apparatuses may be configured within one device or separately within two or more separate devices.

[0036] Invention Effects

[0037] According to an exemplary embodiment of the present invention, it is possible to appropriately switch between a cutting mode that cuts and discharges the stalks of harvested crops and a non-cutting mode that discharges the stalks without cutting them, depending on the area within the field. Attached Figure Description

[0038] Figure 1 This is a side view schematically illustrating an embodiment of the harvester of an example of the present invention.

[0039] Figure 2 This is a block diagram illustrating the structure of a harvester.

[0040] Figure 3 This is a flowchart illustrating an example of a process performed by a control device.

[0041] Figure 4 This diagram schematically illustrates an example of manually operated and automatically operated driving zones set up within a crop area where crops are grown in a field.

[0042] Figure 5 This is a diagram illustrating an example of the driving trajectory of a manually driven harvester initially circling around the machine.

[0043] Figure 6 This is a diagram representing an example of the first surrounding path in the outermost perimeter of the autonomous driving area.

[0044] Figure 7 This is a diagram illustrating an example of a second encircling path.

[0045] Figure 8 This is a diagram illustrating an example of a U-shaped turning path.

[0046] Figure 9A This is a diagram illustrating an example of a graphical user interface (GUI) displayed on an operating terminal.

[0047] Figure 9B This is a diagram showing other examples of the GUI displayed on the operating terminal.

[0048] Figure 9C This is another example of a GUI displayed on an operating terminal.

[0049] Figure 9D This is another example of a GUI displayed on an operating terminal.

[0050] Figure 10 This is a diagram illustrating an example of the path a harvester takes when it automatically moves to a designated discharge position.

[0051] Figure 11 This is another example of the path a harvester takes when it automatically moves to the discharge position. Detailed Implementation

[0052] (Definition of the term)

[0053] "Autonomous driving" refers to the movement of a vehicle (such as a combine harvester) controlled by a control device without relying on manual operation by a driver. In autonomous driving, not only the movement of the vehicle but also the actions of harvesting and other operations can be automatically controlled. Driving a vehicle autonomously is called "autonomous driving." Additionally, driving a harvester while harvesting crops is called "harvesting driving." The control device can control at least one of the following necessary for vehicle movement: steering, speed adjustment, initiation of movement, and stopping. Autonomous driving-based movement includes not only the movement of the vehicle along a predetermined path towards a destination but also movement following a target. Autonomous vehicles can also move partially based on user instructions. Furthermore, in addition to autonomous driving mode, autonomous vehicles can also operate in a manual driving mode, where movement is controlled by the driver. Steering the vehicle without manual intervention, through the operation of the control device, is called "automatic steering." Part or all of the control device can be located outside the vehicle. Communication of control signals, commands, or data is possible between the external control device and the vehicle. Autonomous vehicles can also move autonomously while sensing their surroundings, without human intervention in controlling the vehicle's movement. Autonomous vehicles can travel unattended in or outside fields (e.g., on roads). They can also detect and avoid obstacles while moving autonomously.

[0054] One example of a "controller" in this disclosure is a computing device comprising: at least one processor; and at least one memory for storing a computer program (code) defining a control process executed by the processor. Other examples of a "control device" are computing devices comprising hardware accelerators such as FPGAs (Field-Programmable Gate Arrays), ASSPs (Application Specific Standard Products), or ASICs (Application-Specific Integrated Circuits) configured to execute control processes.

[0055] In this disclosure, "processor" refers to hardware electronic circuits such as CPU (Central Processing Unit), GPU (Graphics Processing Unit), DSP (Digital Signal Processor), ISP (Image Signal Processor), or NPU (Neural Network Processing Unit). "Memory" refers to hardware electronic circuits such as ROM (Read-Only Memory) and RAM (Random Access Memory). A portion of the memory may also be a storage medium connected to the processor via wiring or a network. These hardware electronic circuits can be mounted using more than one integrated circuit (IC) or large-scale integrated circuit (LSI). The functional units or modules within the electronic circuits, as well as associated components, can be manufactured individually as separate integrated circuit chips, or some or all of these functional units or modules can be combined to form a single integrated circuit chip.

[0056] The program that defines the actions of the processor is designed so that the processor executes one or more functions, operations, steps or processes in the embodiments of the present invention.

[0057] The following describes exemplary embodiments of the present invention. However, sometimes unnecessary detailed descriptions are omitted. For example, detailed descriptions of already known matters and repetitive descriptions related to substantially the same structure are sometimes omitted. This is to avoid making the following description unnecessarily lengthy and to facilitate understanding by those skilled in the art. It should be noted that the inventors have provided the drawings and the following description in order to enable those skilled in the art to fully understand the present invention, and do not intend to limit the subject matter of the claims by these. In the following description, the same reference numerals are used to denote constituent elements having the same or similar functions.

[0058] The following embodiments are examples, and the technology disclosed herein is not limited to the following embodiments. For example, the values, shapes, materials, steps, order of steps, and layout of the display screen shown in the following embodiments are merely examples, and various changes can be made as long as they do not create technical contradictions. In addition, one method can be combined with other methods.

[0059] (Implementation Method)

[0060] [1. Structure]

[0061] Figure 1This is a side view schematically illustrating a harvester 100 according to an exemplary embodiment of the present invention. The harvester 100 of this embodiment is a head-feeding combine harvester. The harvester 100 performs tasks such as harvesting crops, threshing the harvested crops, and discharging the threshed harvested material in a field. Crops include, for example, rice or wheat, plants capable of being harvested as grains. Figure 1 The symbols F, B, U, and D shown represent front, back, top, and bottom, respectively.

[0062] The harvester 100 has a body 101 and a traveling device 102. Figure 1 The shown driving device 102 has multiple wheels (track wheels) mounted on an infinite track. A driver's cab 110 is located above the body 101.

[0063] A harvesting device 103 for harvesting crops is located in front of the traveling unit 102. A threshing device 105 and a storage box 106 for storing the harvested materials are located behind the cab 110. The threshing device 105 threshes the harvested crops, separating them into grains and discharged straw. The storage box 106 stores the grains and other harvested materials obtained through threshing. A cutting device (cutter) 108 is located behind the machine body 101. The cutting device 108 finely cuts the stem portion after the grains and other harvested materials have been removed and discharges it to the outside. The cutting device 108 is also referred to as a "straw discharge treatment device." A switching device 109 is located above the cutting device 108. The switching device 109 switches between a first state where discharged straw is supplied to the cutting device 108 and a second state where discharged straw is discharged instead of supplied to the cutting device 108. The switching device 109 includes, for example, a switching plate. When the switching plate is open, discharged straw is fed into the cutting device 108, and the chopped discharged straw is discharged. When the switching plate is in the closed state, the discharged straw is not fed into the straw discharge processing device 16, and the discharged straw is discharged without being cut. The opening and closing of the switching plate is controlled by a control device located on the harvester 100.

[0064] A conveying device 104 for transporting the harvested crop is provided between the harvesting device 103 and the threshing device 105. A discharge device 107 for discharging the harvested crop is provided in the container 106. The harvested crop is discharged to the outside from the discharge port 117 located at the front end of the cylindrical discharge device 107. The discharge device 107 is capable of undulating and rotating, and the position of the discharge port 117 can be changed.

[0065] The harvester 100 in this embodiment can operate in both manual and automatic driving modes. In automatic driving mode, the harvester 100 can harvest crops in the field while operating without human intervention.

[0066] like Figure 1 As shown, the harvester 100 includes a prime mover (engine) 111 and a transmission (gearbox) 112. Inside the cab 110, there is a driver's seat, control levers, control terminals, and a set of switches for operation.

[0067] The harvester 100 also includes a positioning device 120. The positioning device 120 includes a GNSS receiver that acquires positioning data containing the position information of the harvester 100. The GNSS receiver may include: an antenna that receives signals from GNSS satellites; and a processor that calculates the position of the harvester 100 based on the signals received by the antenna. The positioning device 120 receives satellite signals transmitted from multiple GNSS satellites and performs positioning based on these signals. GNSS is a general term for satellite positioning systems such as GPS (Global Positioning System), QZSS (Quasi-Zenith Satellite System, e.g., the Guidance Satellite System), GLONASS, Galileo, and BeiDou. In this embodiment, the positioning device 120 is located above the cab 110, but it can also be located in other positions.

[0068] The positioning device 120 may include an inertial measurement unit (IMU). Signals from the IMU can be used to supplement position data. The IMU can measure the tilt and minute movements of the harvester 100. By supplementing satellite-based position data with data acquired by the IMU, positioning performance can be improved. The IMU may also be located at a different location than the positioning device 120.

[0069] The prime mover 111 can be, for example, a diesel engine. Alternatively, an electric motor can be used instead of a diesel engine. The transmission 112 can change the propulsion and speed of the harvester 100 by changing the speed. The transmission 112 can also switch the harvester 100 between forward and reverse movement.

[0070] In a harvester 100 equipped with a tracked travel device 102, the travel direction of the harvester 100 can be changed by making the rotational speeds of the left and right wheels, which are mounted on infinite tracks, different, or by making the rotation directions of the left and right wheels different. In a harvester 100 equipped with a travel device including wheels with tires, the control device of the harvester 100 can change the travel direction of the harvester 100 by controlling the power steering device to change the angle of the steering wheels.

[0071] The harvester 100 may be equipped with multiple sensing devices for sensing the surrounding environment of the harvester 100. The sensing devices may include, for example, laser sensors, cameras, and / or millimeter-wave radar. These sensors are capable of detecting crops or obstacles located around the harvester 100.

[0072] Figure 1 The harvester 100 shown can be driven by a man, but it can also be driven unmanned. In this case, the components required for human-only operation, such as the cab 110, steering mechanism, and driver's seat, may be omitted from the harvester 100. The unmanned harvester 100 can operate autonomously or remotely by the user.

[0073] Figure 2 This is a block diagram representing a structural example of a harvester 100. Figure 2 The harvester 100 described in the example includes a positioning device 120, a laser sensor 125, a camera 126, a millimeter-wave radar 127, a sensor group 150, an operation terminal 131, an operation switch group 132, a communication device 190, a storage device 170, a control device 160, a drive device 140, a power transmission mechanism 141, a cutting device 108, and a switching device 109. These components can be interconnected communicatively via a bus.

[0074] The positioning device 120 includes a GNSS receiver 121, an RTK receiver 122, an inertial measurement unit (IMU) 123, and a processing circuit 124. The sensor group 150 includes various sensors such as a vehicle speed sensor 151 and a steering angle sensor 152. The control device 160 includes multiple ECUs such as electronic control units (ECUs) 165 and 166. Figure 2 The diagram shows the components that are relatively closely related to the automatic driving actions of the harvester 100, and the diagrams of other components are omitted.

[0075] The GNSS receiver 121 of the positioning device 120 receives satellite signals transmitted from multiple GNSS satellites and generates GNSS data based on the satellite signals. The GNSS data is generated in a format specified, such as NMEA-0183. The GNSS data may include, for example, values ​​indicating the identification number, elevation angle, azimuth angle, and received signal strength of each satellite that received the satellite signal.

[0076] Figure 2The illustrated positioning device 120 is capable of positioning the harvester 100 using RTK (Real-Time Kinematic)-GNSS. In RTK-GNSS-based positioning, in addition to satellite signals transmitted from multiple GNSS satellites, a correction signal transmitted from a base station is also utilized. The base station can be located near the field where the harvester 100 operates (e.g., within 10 km of the harvester 100). Based on the satellite signals received from multiple GNSS satellites, the base station generates a correction signal, for example, in RTCM format, and transmits it to the positioning device 120. The RTK receiver 122 includes an antenna and a modem, and receives the correction signal transmitted from the base station. The processing circuitry 124 of the positioning device 120 corrects the positioning results of the GNSS receiver 121 based on the correction signal. By using RTK-GNSS, positioning can be performed with an accuracy of, for example, a few centimeters. Location data containing latitude, longitude, and altitude information is acquired through high-precision RTK-GNSS-based positioning. The positioning device 120 calculates the position of the harvester 100 at a frequency of approximately once to ten times per second, for example.

[0077] Furthermore, the positioning method is not limited to RTK-GNSS; any positioning method (interferometric positioning or relative positioning, etc.) that can obtain the required accuracy of position data can be used. For example, positioning using VRS (Virtual Reference Station) or DGPS (Differential Global Positioning System) can also be performed. Where the required accuracy of position data can be obtained even without using a correction signal transmitted from a base station, position data can be generated without using a correction signal. In this case, the positioning device 120 may not include an RTK receiver 122.

[0078] The IMU123 can be equipped with a three-axis accelerometer and a three-axis gyroscope. The IMU123 can also be equipped with a three-axis geomagnetic sensor or other orientation sensors. The IMU123 functions as a motion sensor, outputting signals representing various quantities such as the harvester 100's acceleration, velocity, displacement, and attitude. In addition to satellite signals and correction signals, the processing circuit 124 can estimate the harvester 100's position and orientation with higher accuracy based on the signals output from the IMU123. The signals output from the IMU123 can be used to correct or supplement the position calculated based on satellite signals and correction signals. The IMU123 outputs signals at a higher frequency than the GNSS receiver 121. Using this high-frequency signal, the processing circuit 124 can measure the harvester 100's position and orientation at even higher frequencies (e.g., above 10Hz). Alternatively, a three-axis accelerometer and a three-axis gyroscope can be installed separately instead of the IMU123. Furthermore, the IMU123 can be configured as a different device from the positioning device 120. The IMU123 can also function as a tilt sensor to measure the amount of tilt of the harvester 100 relative to a reference posture (e.g., pitch angle, roll angle, yaw angle).

[0079] The laser sensor 125 is a ranging device that measures the distance to a reflecting point by emitting a laser and detecting its reflected light; it is also called a LiDAR sensor. By changing the direction of the laser emission, the laser sensor 125 can obtain information about the distance distribution of objects on the surrounding ground. The laser sensor 125 can be placed at any position, such as the front, side, or rear of the harvester 100. The laser sensor 125 can be configured to generate sensor data such as point group data representing the distance and direction of each measurement point to objects existing in the surrounding environment of the harvester 100, or the three-dimensional or two-dimensional coordinate values ​​of each measurement point. The sensor data output from the laser sensor 125 is processed by the control device 160. The control device 160 can be configured to measure the height or lodging degree of crops existing around the harvester 100 based on the sensor data, and adjust the height of the harvesting device 103 or the vehicle speed according to the height or lodging degree of the crops. The point group data output from the laser sensor 125 can also be used for object detection.

[0080] Camera 126 is a camera device that captures images of the surrounding environment of harvester 100 and generates image data. Camera 126 captures images of the surrounding environment of harvester 100 while harvester 100 is in motion, generating image data (e.g., moving images). Camera 126 can, for example, capture moving images at a frame rate of 3 frames per second (fps) or higher. The images generated by camera 126 can be used for, for example, the detection, positioning, or remote monitoring of obstacles such as people. Multiple cameras 126 can also be installed at different locations on harvester 100.

[0081] The millimeter-wave radar 127 is installed to detect obstacles containing metal, such as vehicles, around the harvester 100. When an object is located closer to the millimeter-wave radar 127 than a predetermined distance away, the millimeter-wave radar 127 outputs a signal indicating the presence of an obstacle. Multiple millimeter-wave radars 127 can also be installed at different locations on the harvester 100. By having multiple millimeter-wave radars 127, blind spots in the monitoring of obstacles around the harvester 100 can be reduced.

[0082] The drive unit 140 includes various devices necessary for driving the harvester 100, such as a prime mover 111 and a transmission device 112. The prime mover 111 can be, for example, an internal combustion engine such as a diesel engine. The drive unit 140 may replace the internal combustion engine or be equipped with an electric motor for traction along with the internal combustion engine.

[0083] The power transmission mechanism 141 transmits the power generated by the prime mover 111 to various devices that perform the harvesting action. These devices include the harvesting device 103, the conveying device 104, the threshing device 105, the discharging device 107, the cutting device 108, and the switching device 109. The harvester 100 may also have a power source (such as an electric motor) that supplies power to at least one of these harvesting devices, separate from the prime mover 111.

[0084] Vehicle speed sensor 151 is a sensor that measures the travel speed of harvester 100. Vehicle speed sensor 151 measures, for example, the rotational speed of the wheels or axles, and calculates the vehicle speed based on the measured value. Steering angle sensor 152 is a sensor that measures the steering angle of the steering wheel.

[0085] Storage device 170 includes, for example, one or more storage media such as flash memory or hard disk. Storage device 170 stores various data generated by positioning device 120, laser sensor 125, camera 126, millimeter-wave radar 127, sensor group 150, and ECUs 165 and 166. The data stored in storage device 170 may include map data of the area containing the fields where the harvester 100 performs agricultural operations, and data on target paths for autonomous driving.

[0086] The ECU165 performs overall control of the harvester 100's movements. The ECU165 controls the harvester 100's movements by controlling the prime mover 111, transmission 112, travel device 102, power transmission mechanism 141, etc., included in the drive unit 140.

[0087] The ECU 166 performs calculations and control for autonomous driving based on data output from the positioning device 120, laser sensor 125, camera 126, millimeter-wave radar 127, and sensor group 150. For example, the ECU 166 determines the position and orientation of the harvester 100 based on data output from the positioning device 120. In autonomous driving, the ECU 166 performs calculations required for the harvester 100 to travel along a predetermined target path based on the position and orientation of the harvester 100. The ECU 166 can also be configured to perform processing to generate a target path from the starting point of the harvester 100's movement to its destination.

[0088] Through the operation of these ECUs, the control unit 160 enables autonomous driving and crop harvesting. In autonomous driving mode, the control unit 160 controls the drive unit 140 based on the measured position and orientation of the harvester 100 and the target path. Thus, the control unit 160 enables the harvester 100 to travel along the target path.

[0089] The multiple ECUs included in the control unit 160 can communicate with each other according to vehicle bus standards such as CAN (Controller Area Network). Alternatively, higher-speed communication methods such as in-vehicle Ethernet (registered trademark) can be used instead of CAN. Figure 2 In this design, ECUs 165 and 166 are represented as separate modules, but their respective functions can be implemented by multiple ECUs. An on-board computer integrating at least some of the functions of ECUs 165 and 166 can also be provided. The control unit 160 can also include ECUs other than ECUs 165 and 166, and any number of ECUs can be configured according to their functions. Each ECU has a processing circuit containing one or more processors.

[0090] The communication device 190 is an apparatus that includes circuitry for communicating with external devices. The communication device 190 includes circuitry for wireless communication. The communication device 190 may include an antenna and communication circuitry for transmitting and receiving signals via a network with, for example, an external terminal device or an external server computer. The network may include, for example, cellular mobile communication networks such as 3G, 4G, or 5G, and the Internet. The communication device 190 may also have the capability to communicate with a portable terminal used by a monitor located near the harvester 100. Communication with such a portable terminal can be performed using any wireless communication standard, such as Wi-Fi (registered trademark), 3G, 4G, or 5G cellular mobile communication, or Bluetooth (registered trademark).

[0091] The operating terminal 131 is a terminal used by a user to perform operations related to the driving and operation of the harvester 100. The operating terminal 131 is also referred to as a "terminal monitor." The operating terminal 131 may have a display such as a touchscreen and / or one or more buttons. The display may be, for example, a liquid crystal display or an organic light-emitting diode (OLED) display. By operating the operating terminal 131, the user can perform various operations, such as switching the automatic driving mode on / off, recording or editing field map data, setting target paths, setting crop types, and setting operation types. At least some of these operations can also be achieved by operating the operating switch group 132. The operating terminal 131 may also be configured to be detachable from the harvester 100. Users located away from the harvester 100 can also operate the detached operating terminal 131 to control the operation of the harvester 100. Users can also operate the harvester 100 using a smartphone or tablet computer with the necessary application software installed, instead of the operating terminal 131.

[0092] The operating switch assembly 132 includes multiple switches for operating the harvester 100. In this specification, "switch" broadly refers to devices used by the driver for operation, such as levers, pedals, and buttons. The operating switch assembly 132 may include, for example, switches for switching between automatic and manual driving modes, switches for switching between forward and reverse, an accelerator pedal, a brake pedal, a lever for switching gears, and switches for switching lights on / off.

[0093] [2. Action]

[0094] Next, the operation of the harvester 100 will be explained.

[0095] The control device 160 of the harvester 100 in this embodiment can switch between a "cutting mode" and a "non-cutting mode." The "cutting mode" is a mode in which the straw discharged from the threshing unit 105 is cut and discharged using the cutting device 108, while the "non-cutting mode" is a mode in which the straw is discharged without being cut. In the cutting mode, the discharged straw is chopped by the cutting device 108 (blade) and discharged into the field. Therefore, the cutting mode is sometimes referred to as the "cutting mode." In the non-cutting mode, the discharged straw is not cut but discharged into the field in a so-called "scattered" form. Therefore, the non-cutting mode is sometimes referred to as the "scattered mode." The discharged straw discharged into the field without being cut (scattered) is subsequently collected and used for feed, fertilizer, or fuel, etc.

[0096] As described above, the switching device 109 can switch between a first state where discharged straw is supplied to the cutting device 108 and a second state where discharged straw is discharged instead of supplied to the cutting device 108. The control device 160 is configured or programmed to operate by switching between a cutting mode (cutting mode) and a non-cutting mode (scattering mode), wherein switching the cutting mode (cutting mode) puts the switching device 109 in the first state and causes the harvester 100 to perform harvesting travel, and the non-cutting mode (scattering mode) puts the switching device 109 in the second state and causes the harvester 100 to perform harvesting travel. Before the harvester 100 begins harvesting crops in the field, the control device 160 sets an automatic driving area within the crop area of ​​the field and sets a target path within the automatic driving area. The control device 160 also determines, for each of the multiple sections included in the target path, which mode to operate in, the cutting mode or the non-cutting mode. Hereinafter, refer to... Figure 3 and Figure 4 Explain the action.

[0097] Figure 3 This is a flowchart illustrating an example of a process performed by the control device 160. Figure 3 The process shown is executed by ECU166 in control unit 160 when harvester 100 begins harvesting crops in the field.

[0098] Figure 4 This is a diagram that schematically illustrates an example of a manually operated driving area 52 and an automatically operated driving area 53, 54, and 55 set up in a crop area 50 where crops are planted in a field. Figure 4 The arrow markers in the diagram schematically represent a portion of the path traveled by harvester 100. Figure 4 In the autonomous driving zones 53, 54, and 55, areas operating in cut-off mode are represented by lighter dot patterns, while areas operating in non-cut-off mode are represented by darker dot patterns. Figure 4 In the example, the crop area 50 in the field is rectangular, but it can also be other shapes.

[0099] like Figure 3As shown, the control device 160 first acquires information about the harvester 100's trajectory as it manually drives a full circle around the outer perimeter (e.g., the outermost perimeter) of the crop area 50 within the field (step S110). During the period when the user manually drives the harvester 100 to harvest crops located around the outer perimeter of the crop area 50, the control device 160 repeatedly acquires position information output from the positioning device 120. The control device 160 determines the harvester 100's trajectory based on this position information. This full circle of manual driving is sometimes referred to as the "initial circle drive." Before the initial circle drive, the control device 160 may also cause the operation terminal 131 to display information (e.g., a message) urging the user to drive the harvester 100 around the outermost perimeter of the crop area 50.

[0100] When information about the manual driving trajectory for one week is obtained, the control device 160 determines the area inside the trajectory as the automatic driving area (step S120). More specifically, based on the trajectory information and the pre-set harvesting width information of the harvester 100, the control device 160 determines the manual driving area 52 on the field map, and determines the area surrounded by the manual driving area 52 as the automatic driving area. In this embodiment, as... Figure 4 As shown, the autonomous driving area is divided into three zones: 53, 54, and 55. The control method of the switching device 109 during autonomous driving differs in these zones.

[0101] The control device 160 sets a first loop path of more than one revolution in the area 53, which is the outermost periphery of the automatic driving area (step S130). When the harvester 100 is driven to harvest along the first loop path, the control device 160 operates in a cutting mode. That is, in the area 53 where the first loop path is set, the discharged straw is finely cut and discharged by the cutting device 108.

[0102] Next, the control device 160 sets a second loop path that extends more than one revolution in the region 54 inside the first loop path (step S140). When the harvester 100 travels along the second loop path, the control device 160 operates in a cutting mode in a portion of the second loop path and in a non-cutting mode in the remaining portion. More specifically, the control device 160 can be configured to operate in a cutting mode in the region 54a that overlaps with the U-shaped turn path described later, and in a non-cutting mode in at least a portion of the region 54b that does not overlap with the U-shaped turn path.

[0103] The control device 160 also sets a U-shaped turning path for harvesting crops in area 55 inside area 54, where a second circumferential path is defined (step S150). The U-shaped turning path is a path that repeatedly performs straight runs and U-shaped turns. The U-shaped turning path includes multiple straight sections 61 for harvesting crops within area 55 and multiple turning sections 62 connecting the multiple straight sections. Figure 4 The example illustrates two straight sections 61 and two turning sections 62. The U-shaped turning path is configured to harvest all crops within area 55 in a relatively short time. When the harvester 100 travels along the U-shaped turning path, the control device 160 operates in a cutting mode within a portion of the U-shaped turning path and in a non-cutting mode within the remaining sections. More specifically, the control device 160 can be configured to operate in a non-cutting mode in at least a portion of the multiple straight sections 61 and in a cutting mode in the multiple turning sections 62. Figure 4 In the example, control device 160 operates in a non-disconnect mode for the entire plurality of straight sections 61, and in a disconnect mode for the entire plurality of turning sections 62. As will be described later, control device 160 may be configured or programmed to determine the sections or areas that operate in disconnect mode and the sections or areas that operate in non-disconnect mode based on information input by the user.

[0104] The following is for reference Figures 5 to 8 Examples of the paths that the harvester 100 travels in the manual driving zone 52 and the automatic driving zones 53, 54, and 55 are described in more detail.

[0105] Figure 5 This diagram illustrates an example of the manually driven trajectory of a harvester 100 during its initial circular drive. During the initial circular drive, the harvester 100 travels in the manually driven area 52 at the outermost periphery of the crop area 50. Figure 5 In the example shown, when the harvester 100 changes direction, it moves along an "α"-shaped trajectory in the sequence of forward → reverse with a turn → forward. This type of turn is sometimes referred to as an "α turn." The method of direction change is not limited to the α turn shown in the illustration; other methods may also be used. During the initial circular drive, the user operates the harvester 100 in a cutting mode, where the cutter 108 finely cuts and discharges the discharged straw produced after harvesting and threshing. This is because, during subsequent autonomous driving, the harvester 100 may pass through a portion of the manual driving area 52. In the manual driving area 52, it is recommended that the user drive the harvester 100 in cutting mode to prevent the scattered discharged straw from being trampled by the harvester 100.

[0106] If the initial loop driving is performed. Figure 3Once the processing shown is complete, autonomous driving can begin. When the control device 160 receives an instruction to begin autonomous driving from the user via the operating terminal 131, it initiates autonomous driving control. Figure 6 , 7 As illustrated by the arrow in section 8, the control device 160 enables the harvester 100 to automatically travel within areas 53, 54, and 55 to harvest crops.

[0107] Figure 6 This is a diagram illustrating an example of the first surrounding path in region 53, representing the outermost perimeter of the autonomous driving area. Figure 6 In the example shown, the first loop path is a two-loop loop path. The first loop path is not limited to two loops; it can also be one loop or three or more loops. Control device 160 causes the harvester 100 to perform harvesting travel along the first loop path. At this time, control device 160 operates in a cutting mode. That is, in area 53, no straw is discharged or scattered. This is to avoid the harvester 100 trampling on the scattered straw as it subsequently passes through a portion of area 53.

[0108] When along Figure 6 When the harvesting journey of the first circumferential path shown is completed, as Figure 7 As shown, the control device 160 causes the harvester 100 to perform harvesting travel along the second circumferential path in region 54.

[0109] Figure 7 This is a diagram illustrating an example of the second encircling path in region 54. Figure 7 In the example shown, the second loop path is a two-lap loop path. The second loop path is not limited to two laps; it can also be one lap or three or more laps. Control device 160 causes the harvester 100 to perform harvesting travel along the second loop path. At this time, control device 160 switches between cutting and non-cutting modes based on which part of region 54 the harvester 100 is traveling in. Figure 7 In the example, the control device 160 operates in a cutting mode in the section (region 54a) of the second circular path that overlaps with multiple turning sections during harvesting travel along the subsequent U-shaped turning path, and operates in a non-cutting mode in the section (region 54b) that does not overlap with the multiple turning sections. That is, during the subsequent harvesting travel along the U-shaped turning path, in region 54a, which the harvester 100 may pass through when turning, the discharged straw is cut and discharged; in other regions 54b, the discharged straw is not cut and scattered. Figure 7In the example, region 54a is a region within region 54 that extends in a direction intersecting (e.g., orthogonal) to the row direction of the crop. Region 54b is a region within region 54 that extends parallel to the row direction. Thus, by setting a non-cutting mode in a portion of region 54b within region 54, the area where scattering occurs can be expanded compared to operating in a cutting mode throughout the entire region 54. The user can also use an input device such as the operation terminal 131 to specify which part of region 54 will be scattered.

[0110] When along Figure 7 When the harvesting journey of the second circumferential path shown is completed, as Figure 8 As shown, the control device 160 causes the harvester 100 to perform harvesting travel along a U-shaped turning path for the crops in the harvesting area 55.

[0111] Figure 8 This is a diagram illustrating an example of a U-shaped turning path in area 55. (See diagram below.) Figure 8 As shown, the U-shaped turning path includes multiple straight sections 61 parallel to the rows and multiple turning sections 62 connecting the multiple straight sections 61. Furthermore, in Figure 8 In the example, turning section 62 includes the direction perpendicular to the row ( Figure 8 The turning section 62 extends longitudinally within a straight section. Thus, each turning section 62 can also be configured to connect two distant straight sections 61. Such a turn is also referred to as a "U-turn" in this specification. Figure 8 In this example, the U-shaped turning path is set so that harvester 100 harvests crops in area 55 in a spiral pattern from the outer column to the inner column. This is just one example. For example, as... Figure 4 As shown, a turning section 62 can also be set to connect two relatively close straight sections 61. In this case, the U-shaped turning path can become the path for the harvester 100 to travel in a zigzag pattern. The control device 160 determines the U-shaped turning path based on the size of the field and the capacity of the harvester 100's bin 106 to harvest in the most efficient manner.

[0112] In this specification, the interval connecting a straight section parallel to the row and a straight section in the opposite direction is referred to as a "turning section". Furthermore, the straight section 61 may not be a perfectly straight line and may include curved portions. In this specification, even when curved portions are included, an interval that extends approximately along the row is interpreted as equivalent to a "straight section".

[0113] Control device 160 directs harvester 100 to perform harvesting travel along a U-shaped turning path. At this time, control device 160 switches between cutting and non-cutting modes based on which part of area 55 the harvester 100 is traveling in. Figure 8In this example, the control device 160 operates in a non-cutting mode in multiple straight sections 61 of the U-shaped turning path and in a cutting mode in multiple turning sections 62. That is, the discharged straw from threshing after harvesting is scattered throughout the entire area of ​​region 55, but not in regions 54a and 53 that overlap with the turning sections 62. Through this operation, the area of ​​the scattered straw can be maximized.

[0114] Furthermore, the control device 160 can operate in non-cut-off mode only in a portion of the straight sections 61 instead of operating in non-cut-off mode in all straight sections 61. For example, the user can also use the operation terminal 131 to set which column to be in non-cut-off mode. The control device 160 can be configured to determine which sections of the multiple straight sections 61 operate in non-cut-off mode based on user input. In this way, the control device 160 is configured to operate in non-cut-off mode in at least a portion of the multiple straight sections 61.

[0115] Figure 9A and Figure 9B This diagram illustrates an example of a graphical user interface (GUI) displayed on the monitor of the operating terminal 131. In this example, the control device 160 causes the operating terminal 131 to display the manual driving area 52 and the automatic driving area (areas 53, 54, 55) included in the crop area 50 of the field. By operating the operating terminal 131, the user can set which area among multiple crop columns (rows) in the area 55 where the U-shaped turning path is set will be scattered. For example, the user can use an input device (such as a touch screen or indicator device) built into or connected to the operating terminal 131 to select the column to be scattered. Figure 9A In the example, seven columns were selected from left to right. On the other hand, in... Figure 9B In the example, 14 columns were selected from the right. After the user selects the columns to be distributed, when the "Confirm" button is pressed, the control device 160 determines the area corresponding to the selected columns as the area to operate in non-cut-off mode. Thus, the control device 160 can be configured or programmed to operate in non-cut-off mode in the straight-line sections of the multiple straight-line sections in the area 55 where the U-shaped turning path is set, starting from the right or left end, and in cut-off mode in the straight-line sections of the number of columns specified by the user, and in the remaining straight-line sections. Here, "right end" or "left end" refers to the direction of travel of the harvester 100 towards a certain reference straight-line section (e.g., the initial straight-line section) being located at the right or left end.

[0116] exist Figure 9A and Figure 9B In the example, the user selects the scattered columns by tapping or clicking. However, the GUI is not limited to this selection method; it can also be configured to allow selection via other methods. For example, ... Figure 9CAs shown, the GUI can be configured to provide the following functionality: It can operate in a non-cut-off mode (scattering mode) within a straight section of several columns starting from either the right or left end. Furthermore, it is not limited to setting column units; the GUI can also be configured such that any area within region 55 can be set as a scattering area (hereinafter also referred to as a "scattering area").

[0117] And, as Figure 9D As shown, the GUI can also be configured to allow for the setting of scattered areas not only in area 55 but also in area 54. Figure 9D In this example, the user can designate one or both of regions 54b, which extend parallel to the crop columns (rows), as scattered areas. In this example, the control device 160 determines, based on user input, whether to operate in a non-cut-off mode in a section of the second loop path within region 54 that does not overlap with the multiple turning sections included in the U-shaped turning path (i.e., the section within region 54b). Figure 9D In the example, region 54b on the left and the 10 columns from the left within region 55 are selected as regions that operate in non-cut-off mode. The GUI is not limited to selecting one or both regions 54b; it can also be configured to set any region within region 54 as a scattered region.

[0118] Figures 9A to 9D The GUI shown is merely an example; you can design any user interface that provides the same functionality.

[0119] In the examples described above, the control device 160 determines the intervals for operation in cut-off mode and non-cut-off mode before the start of automatic harvesting. This determination can also be changed after the start of automatic harvesting according to instructions from the user (e.g., an operator). That is, the control device 160 can also be configured to switch between cut-off and non-cut-off modes according to user input instructions while the harvester 100 is performing automatic harvesting. User instructions can be input to the control device 160, for example, through operation of the operating terminal 131 or other input devices. With this function, the user can flexibly switch the straw discharge state during automatic harvesting. In this case, the control device 160 may not need to... Figure 3 The method shown generates an automated driving path. The control device 160 can also be configured to enable the harvester 100 to drive along a target path set in the field in any way via automated driving, and to switch between cutting and non-cutting modes according to user input instructions during automated driving harvesting.

[0120] Next, an example of the action of discharging the grains stored in box 106 after the harvesting trip in crop area 50 will be described.

[0121] Figure 10 This diagram illustrates an example of the path taken by the harvester 100 as it automatically moves to the designated discharge position 90 after the harvesting journey is completed. The transport vehicle 300 is parked near the discharge position 90. Figure 10 In the example, part of region 55 is the cut region 55a (also called the "cutting region") where the discharged straw is cut, and the remaining part of region 55 is the non-cutting region 55b (also called the "scattering region") where the discharged straw is not cut. Additionally, in region 54, in Figure 10 Only the upper region 54b is a non-cutting area, while the rest are cutting areas. In this example, after harvesting the crop column near the center of region 55, the harvester 100 moves toward the designated discharge position of the transport vehicle 300. The timing of the movement toward the discharge position can be determined, for example, by the control device 160 based on signals from sensors measuring the amount of grain in the bin 106 or by prior prediction.

[0122] exist Figure 10 In the example shown, if the harvester 100 travels along path 82, which connects the harvester 100's position at the end of the harvest journey to the discharge position 90 in the shortest distance or time, the harvester 100 will trample on the discharged straw scattered in the non-cutting area 55b. In this case, the control device 160 determines a path 81 in the non-cutting area 55b that avoids trampling on the discharged straw, and causes the harvester 100 to travel along path 81. The control device 160 can, for example, be configured to determine path 81 as the path that avoids passing through the non-cutting area 55b and can reach the discharge position 90 as early as possible.

[0123] Figure 11 This is another example of the path taken by the harvester 100 as it automatically moves to the discharge position 90. Figure 11 In the example, with Figure 10 Compared to the previous example, the area of ​​the cutting zone 55a is larger. Therefore, even if the harvester 100 travels along path 82, the scattered discharged straw will not be trampled. In this case, the control device 160 moves the harvester 100 to the discharge position 90 along path 82, which connects the harvester 100 to the discharge position 90 with the shortest distance or the shortest time.

[0124] Thus, the control device 160 can be configured to, when the harvester 100 is moved to a predetermined discharge position for discharging grains, cause the harvester 100 to move along a path that does not pass through the non-cutting area where the discharged straw is not cut. Information indicating which area in the field corresponds to the cutting area (cutting zone) and which area corresponds to the non-cutting area (scattering area) is stored in [the relevant storage location]. Figure 2 The storage device 170 shown or the storage device within the control device 160. The control device 160 may be configured to, based on this information, determine the shortest path to the discharge position 90 without passing through the non-cut-off area, and move the harvester 100 along the path to the discharge position 90.

[0125] The computer programs executed by one or more computers included in the control device described above can be manufactured and sold independently of the computing device. The computer programs can be provided, for example, by storing them in a computer-readable, non-transitory storage medium. The computer programs can also be provided by downloading them via an electrical communication line (e.g., the Internet).

[0126] Industrial availability

[0127] The technology disclosed herein can be applied to harvesters such as combine harvesters that can operate in a mode of cutting and discharging discharged straw and in a mode of discharging straw without cutting it.

[0128] Explanation of reference numerals in the attached figures

[0129] 50: Crop Region

[0130] 52: Manual Driving Area

[0131] 53, 54, 55: Autonomous driving area

[0132] 61: Straight Section

[0133] 62: Turning section

[0134] 81, 82: Path

[0135] 90: Discharge location

[0136] 100: Harvester

[0137] 101: Machine Body

[0138] 102: Driving device

[0139] 103: Harvesting device

[0140] 104: Conveying device

[0141] 105: Threshing device

[0142] 106: Box

[0143] 107: Discharge device

[0144] 108: Cut-off device

[0145] 109: Switching device

[0146] 110: Driver's cab

[0147] 111: Prime Motion Machine

[0148] 112: Transmission device

[0149] 117: Discharge outlet

[0150] 120: Positioning device

[0151] 121: GNSS receiver

[0152] 122: RTK receiver

[0153] 123: Inertial Measurement Unit (IMU)

[0154] 124: Processing Circuit

[0155] 125: Laser sensor

[0156] 126: Camera

[0157] 127: Millimeter-wave radar

[0158] 131: Operating Terminal

[0159] 132: Operating switch group

[0160] 140: Drive unit

[0161] 141: Power transmission mechanism

[0162] 150: Sensor group

[0163] 151: Vehicle speed sensor

[0164] 152: Steering angle sensor

[0165] 160: Control device

[0166] 165, 166: ECU

[0167] 170: Storage device

[0168] 190: Communication device

[0169] 300: Transport vehicle

Claims

1. A harvester capable of automatic driving, characterized in that, have: Harvesting device for harvesting crops with grains; A threshing device that separates the harvested crop into grains and discharges straw; A cutting device that cuts and discharges the discharged straw; A switching device capable of switching between a first state in which the discharged straw is supplied to the cutting device and a second state in which the discharged straw is discharged without being supplied to the cutting device; A positioning device that acquires the position information of the harvester; Control device; The control device is configured to operate in a cutting mode and a non-cutting mode. In the cutting mode, the switching device is in the first state, causing the harvester to travel in a harvesting motion. In the non-cutting mode, the switching device is in the second state, causing the harvester to travel in a harvesting motion. Based on the harvester's trajectory during a round of manual harvesting along the outer perimeter of the crop-planted area in the field, the area inside the trajectory is defined as the automatic driving zone. Within the autonomous driving area, a first loop path, a second loop path connected to the first loop path, and a U-shaped turning path connected to the second loop path are established. The first surrounding path is a path that encircles more than one circumference of the outermost perimeter of the autonomous driving area. The second surrounding path is a surrounding path that extends more than one revolution inside the first surrounding path. The U-shaped turning path includes multiple straight sections for harvesting crops within the area inside the second circumferential path, and multiple turning sections connecting the multiple straight sections. At least a portion of the multiple turning sections overlaps with a portion of the area where the second circumferential path is defined. The control device is configured to operate in the cutting mode when the harvester travels along the first circumferential path for harvesting. When the harvester travels along the second circumferential path, it operates in the cutting mode in sections that overlap with the plurality of turning sections, and in the non-cutting mode in at least a portion of sections that do not overlap with the plurality of turning sections. When the harvester travels along the U-shaped turning path, it operates in the non-cutting mode in at least a portion of the multiple straight sections and in the cutting mode in the multiple turning sections.

2. The harvester according to claim 1, characterized in that, The control device is configured to determine, based on input from the user, which of the plurality of straight sections will operate in the non-cut-off mode.

3. The harvester according to claim 2, characterized in that, The control device is configured to operate in the non-cut-off mode in the straight-line intervals with a column number specified by the user, starting from the right or left end of the plurality of straight-line intervals, and in the cut-off mode in the remaining straight-line intervals.

4. The harvester according to any one of claims 1 to 3, characterized in that, The control device is configured to determine, based on input from the user, whether to operate in the non-cut-off mode in a section of the second loop path that does not overlap with the plurality of turning sections.

5. The harvester according to claim 2 or 3, characterized in that, It also includes an operating terminal with a graphical user interface (GUI) that accepts input from the user.

6. The harvester according to claim 5, characterized in that, The GUI provides the following functions: Setting (a) several columns of straight sections, starting from either the right or left end of the plurality of straight sections, to operate in the non-cut-off mode, and / or (b) The sections in the second circumferential path that do not overlap with the plurality of turning sections operate in the non-cut-off mode.

7. The harvester according to any one of claims 1 to 3, characterized in that, When the control device moves the harvester to a designated discharge position in order to discharge the grains, it causes the harvester to move along a path that does not pass through the non-cut area where the discharged straw is discharged without being cut.

8. A method performed by a computer controlling a harvester capable of autonomous driving, characterized in that, The harvester comprises: a harvesting device for harvesting crops containing grains; a threshing device for separating the harvested crop into grains and discharged straw; a cutting device for cutting and discharging the discharged straw; a switching device capable of switching between a first state in which the discharged straw is supplied to the cutting device and a second state in which the discharged straw is discharged without being supplied to the cutting device; and a positioning device for acquiring the position information of the harvester. The method includes the following steps: The harvester operates in both a cutting-off mode and a non-cutting-off mode. In the cutting-off mode, the switching device is in the first state, causing the harvester to travel for harvesting. In the non-cutting-off mode, the switching device is in the second state, causing the harvester to travel for harvesting. Based on the harvester's travel trajectory during a one-week harvesting journey manually driven along the outer perimeter of the crop area in the field, the area inside the travel trajectory is determined as the automatic driving area. Within the autonomous driving area, a first loop path, a second loop path connected to the first loop path, and a U-shaped turning path connected to the second loop path are established. The first surrounding path is a path that encircles more than one circumference of the outermost perimeter of the autonomous driving area. The second surrounding path is a surrounding path that extends more than one revolution inside the first surrounding path. The U-shaped turning path includes multiple straight sections for harvesting crops within the area inside the second circumferential path, and multiple turning sections connecting the multiple straight sections. At least a portion of the multiple turning sections overlaps with a portion of the area where the second circumferential path is defined. The method further includes the following steps: When the harvester travels along the first circumferential path for harvesting, it operates in the cutting mode; When the harvester travels along the second circumferential path for harvesting, it operates in the cutting mode in sections that overlap with the plurality of turning sections, and in the non-cutting mode in at least a portion of sections that do not overlap with the plurality of turning sections. When the harvester travels along the U-shaped turning path, it operates in the non-cutting mode in at least a portion of the multiple straight sections and in the cutting mode in the multiple turning sections.

9. A computer program executed by a computer capable of controlling an autopilot harvester, characterized in that, The harvester comprises: a harvesting device for harvesting crops containing grains; a threshing device for separating the harvested crop into grains and discharged straw; a cutting device for cutting and discharging the discharged straw; a switching device capable of switching between a first state in which the discharged straw is supplied to the cutting device and a second state in which the discharged straw is discharged without being supplied to the cutting device; and a positioning device for acquiring the position information of the harvester. The computer program causes the computer to perform the following actions: The harvester operates in both a cutting-off mode and a non-cutting-off mode. In the cutting-off mode, the switching device is in the first state, causing the harvester to travel for harvesting. In the non-cutting-off mode, the switching device is in the second state, causing the harvester to travel for harvesting. Based on the harvester's travel trajectory during a one-week harvesting journey manually driven along the outer perimeter of the crop area in the field, the area inside the travel trajectory is determined as the automatic driving area. Within the autonomous driving area, a first loop path, a second loop path connected to the first loop path, and a U-shaped turning path connected to the second loop path are established. The first surrounding path is a path that encircles more than one circumference of the outermost perimeter of the autonomous driving area. The second surrounding path is a surrounding path that extends more than one revolution inside the first surrounding path. The U-shaped turning path includes multiple straight sections for harvesting crops within the area inside the second circumferential path, and multiple turning sections connecting the multiple straight sections. At least a portion of the multiple turning sections overlaps with a portion of the area where the second circumferential path is defined. The computer program also causes the computer to perform the following actions: When the harvester travels along the first circumferential path for harvesting, it operates in the cutting mode; When the harvester travels along the second circumferential path for harvesting, it operates in the cutting mode in sections that overlap with the plurality of turning sections, and in the non-cutting mode in at least a portion of sections that do not overlap with the plurality of turning sections. When the harvester travels along the U-shaped turning path, it operates in the non-cutting mode in at least a portion of the multiple straight sections and in the cutting mode in the multiple turning sections.

10. A harvester capable of automatic driving, characterized in that, have: Harvesting device for harvesting crops with grains; A threshing device that separates the harvested crop into grains and discharges straw; A cutting device that cuts and discharges the discharged straw; A switching device capable of switching between a first state in which the discharged straw is supplied to the cutting device and a second state in which the discharged straw is discharged without being supplied to the cutting device; A positioning device that acquires the position information of the harvester; Control device; The control device is configured to operate in a cutting mode and a non-cutting mode. In the cutting mode, the switching device is in the first state, causing the harvester to travel in a harvesting motion. In the non-cutting mode, the switching device is in the second state, causing the harvester to travel in a harvesting motion. Based on the harvester's location information, the harvester is driven automatically to travel along a target path set within the field for harvesting. During the harvesting operation based on the autonomous driving system, the cutting mode and the non-cutting mode are switched according to user input instructions.

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