Computer program, harvesting machine control apparatus, and harvesting machine control method

Abstract

To provide a computer program, a control device of a harvester, and a control method of the harvester capable of controlling a discharge position of rice straw.SOLUTION: The computer program causes a computer to execute a process of acquiring an area where discharge of rice straws is permitted or prohibited, the area being set in a field where a harvester travels, acquiring a position of the harvester, and determining discharge or storage of reaped rice straws based on the acquired position of the harvester and the area where discharge is permitted or prohibited.SELECTED DRAWING: Figure 9

Description

[Technical Field]

[0001] The present technology relates to a computer program for controlling the discharge of rice straw, a harvester control device, and a harvester control method. [Background technology]

[0002] There is a molding machine that takes grass from a farm field into a roll baler, and then uses the roll baler to shape the grass into rolls, thereby forming a molded material. The molded material is then discharged from the molding machine into the farm field. By setting up prohibited areas in the farm field where discharge is prohibited, it is possible to prohibit the discharge of molded material into the prohibited areas (see Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2019-004730 Summary of the Invention [Problem to be solved by the invention]

[0004] In recent years, the use of rice straw has been promoted, for example as mulch and as animal feed. However, when rice straw is discharged into the field after threshing, the quality of the rice straw can deteriorate depending on the field conditions.

[0005] The present disclosure has been made in consideration of the above circumstances, and aims to provide a computer program, a harvester control device, and a harvester control method that can control the discharge position of rice straw. [Means for solving the problem]

[0006] A computer program according to one embodiment of the present disclosure causes a computer to execute a process of acquiring areas where rice straw discharge is permitted or prohibited, which are set in a field in which a harvester is traveling, acquiring the position of the harvester, and determining whether to discharge or store the harvested rice straw based on the acquired position of the harvester and the areas where discharge is permitted or prohibited.

[0007] A harvester control device according to one embodiment of the present disclosure acquires rice straw discharge permitted or prohibited areas set in a field in which the harvester is traveling, acquires the position of the harvester, and performs a process to determine whether to discharge or store the harvested rice straw based on the acquired position of the harvester and the discharge permitted or prohibited area.

[0008] A harvester control method according to one embodiment of the present disclosure acquires areas where rice straw discharge is permitted or prohibited, which are set in a field in which the harvester is traveling, acquires the position of the harvester, and determines whether to discharge or store the harvested rice straw based on the acquired position of the harvester and the areas where discharge is permitted or prohibited. [Effects of the Invention]

[0009] A computer program, a harvester control device, and a harvester according to an embodiment of the present disclosure can control the discharge position of rice straw. [Brief explanation of the drawings]

[0010] [Figure 1] FIG. 1 is a left side view of a combine harvester according to a first embodiment. [Figure 2] FIG. 10 is a diagram showing the positional relationship between a passing reference position and a stripe direction path. [Figure 3] FIG. 10 is a diagram showing spiral travel along a reaping travel path. [Figure 4] FIG. 10 is a diagram showing a round trip along a reaping travel route. [Figure 5] FIG. 2 is a block diagram showing a configuration related to a control unit. [Figure 6] FIG. [Figure 7] FIG. 10 is a diagram showing a state before the position of the row direction path in the north area is recalculated by the shift calculation unit. [Figure 8] FIG. 10 is a diagram illustrating a state after the position of the row direction path in the north area is calculated again by the shift calculation unit. [Figure 9] 10 is a flowchart illustrating a discharge process performed by a control unit. [Figure 10] 10 is a flowchart illustrating a stop discharge process performed by a control unit. [Figure 11] FIG. 10 is an explanatory plan view illustrating a discharge process. [Figure 12] FIG. 10 is an explanatory plan view illustrating a discharge process. [Figure 13] FIG. 10 is an explanatory plan view illustrating a discharge process. [Figure 14] FIG. 10 is an explanatory plan view illustrating a discharge process. [Figure 15] FIG. 10 is an explanatory plan view illustrating a discharge process. [Figure 16] FIG. 10 is an explanatory plan view illustrating a discharge process. [Figure 17] FIG. 10 is an explanatory plan view illustrating a discharge process. [Figure 18] FIG. 10 is an explanatory plan view illustrating a discharge process. [Figure 19] FIG. 10 is a schematic front view of a touch panel showing a no-eject area. [Figure 20] 10 is a flowchart illustrating a discharge process performed by a control unit according to the second embodiment. [Figure 21] 10 is a flowchart illustrating a prohibited area discharge process. [Figure 22] FIG. 1 is a conceptual diagram showing a map of a farm field. [Figure 23] FIG. 2 is a schematic front view of a touch panel showing a map. [Figure 24] FIG. 10 is a conceptual diagram of a rice straw amount map showing the amount of rice straw discharged. [Figure 25] 10 is a flowchart showing a modified portion of the stop discharge process. DETAILED DESCRIPTION OF THE INVENTION

[0011] (Embodiment 1) The present invention will be described below with reference to the drawings showing a first embodiment. Fig. 1 is a left side view of a combine harvester, Fig. 2 is a diagram showing the positional relationship between the passing reference position and the row direction path, Fig. 3 is a diagram showing spiral travel along the reaping travel path, Fig. 4 is a diagram showing reciprocating travel along the reaping travel path, Fig. 5 is a block diagram showing the configuration related to the control unit, Fig. 6 is a diagram showing intermediate travel, Fig. 7 is a diagram showing the state before the position of the row direction path in the north area is recalculated by the shift calculation unit, and Fig. 8 is a diagram showing the state after the position of the row direction path in the north area is recalculated by the shift calculation unit.

[0012] In the following description, unless otherwise specified, the forward and backward directions are described as follows: That is, the forward traveling direction of the machine when traveling for work is "forward," and the backward traveling direction is "rear." Furthermore, the direction corresponding to the right side of the forward posture in the forward and backward directions is "right," and the direction corresponding to the left side is "left."

[0013] In addition, in the description of FIG. 1, the direction of arrow F is the "front" direction, and the direction of arrow B is the "rear" direction.

[0014] 2 to 4 and 6 to 8, the direction of arrow N is defined as "north," the direction of arrow S is defined as "south," the direction of arrow E is defined as "east," and the direction of arrow W is defined as "west."

[0015] [Overall configuration of the combine] As shown in Figure 1, the head-feeding combine 1 (harvester) is equipped with multiple dividers 5, a crawler-type running device 11, a driving unit 12, a threshing device 13, a grain tank 14, a reaping unit H, a straw discharge device 17, a grain discharge device 18, and a satellite positioning module 80.

[0016] The traveling device 11 is provided at the bottom of the combine harvester 1. The traveling device 11 is driven by power from an engine (not shown). The combine harvester 1 can be self-propelled by the traveling device 11.

[0017] The driving section 12, threshing device 13, and grain tank 14 are provided above the traveling device 11. An operator can ride in the driving section 12 to monitor the operation of the combine harvester 1. The operator may also monitor the operation of the combine harvester 1 from outside the combine harvester 1.

[0018] The grain discharge device 18 is connected to the grain tank 14. A satellite positioning module 80 is mounted on the top surface of the driver section 12.

[0019] A plurality of dividers 5 are provided at the front end of the combine 1.

[0020] As shown in Figure 2, the combine harvester 1 includes a first divider 51, a second divider 52, a third divider 53, a fourth divider 54, a fifth divider 55, a sixth divider 56, and a seventh divider 57. The first divider 51, the second divider 52, the third divider 53, the fourth divider 54, the fifth divider 55, the sixth divider 56, and the seventh divider 57 are all dividers 5.

[0021] These dividers 5 are arranged in the following order from the left side of the aircraft: first divider 51, second divider 52, third divider 53, fourth divider 54, fifth divider 55, sixth divider 56, and seventh divider 57.

[0022] These dividers 5 then separate the planted stalks in the field.

[0023] That is, the combine harvester 1 has a plurality of dividers 5 that separate the planted stalks in the field.

[0024] As shown in Fig. 1, the reaping unit H is provided at the front of the combine 1. The reaping unit H has a clipper-type cutting device 15 and a transport device 16.

[0025] The cutting device 15 cuts the base of the planted culms that have been combed by the multiple dividers 5. Then, the conveying device 16 conveys the culms cut by the cutting device 15 to the rear side.

[0026] With this configuration, the reaping unit H reaps the planted stalks in the field. The combine harvester 1 is capable of reaping travel, traveling by the traveling device 11 while the reaping unit H reaps the planted stalks in the field.

[0027] That is, the combine harvester 1 has a reaping section H that reaps planted stalks in a field.

[0028] The stalks transported by the transport device 16 are threshed in the threshing device 13. The grains obtained by the threshing process are stored in the grain tank 14. The grains stored in the grain tank 14 are discharged outside the machine by the grain discharge device 18 as needed.

[0029] The straw discharge device 17 is also provided at the rear end of the combine 1. The discharge device 17 has a tank (not shown). The straw discharge device 17 stores rice straw from which grains have been separated by threshing in the tank while the combine is reaping. The straw discharge device 17 can discharge the straw from the tank to the rear, right, or left of the machine body as needed.

[0030] In this embodiment, the straw discharge device 17 can discharge the rice straw after shredding it with a cutter (not shown).The straw discharge device 17 can also discharge the rice straw without shredding it.

[0031] A communication terminal 4 (see FIG. 5 ) is also provided in the driving unit 12. The communication terminal 4 is configured to be able to display various information. In this embodiment, the communication terminal 4 is fixed to the driving unit 12. However, the present invention is not limited to this. The communication terminal 4 may be configured to be detachable from the driving unit 12, or the communication terminal 4 may be located outside the combine harvester 1.

[0032] Here, the combine harvester 1 is configured to harvest grain in the field by making circular movements while harvesting grain in the outer area of ​​the field as shown in Figure 2, and then making cutting movements in the inner area of ​​the field as shown in Figures 3 and 4.

[0033] In this embodiment, the circular travel shown in Fig. 2 is performed by manual travel, and the mowing travel in the inner area shown in Fig. 3 and Fig. 4 is performed by automatic travel.

[0034] However, the present invention is not limited to this, and the circular travel shown in Fig. 2 may be performed automatically. Also, the mowing travel in the inner area shown in Figs. 3 and 4 may be performed manually.

[0035] The operator can change the rotation speed of the engine by operating the communication terminal 4.

[0036] The appropriate working speed varies depending on the condition of the crop. If the operator operates the communication terminal 4 to set the engine rotation speed to an appropriate rotation speed, work can be performed at a working speed appropriate for the condition of the crop.

[0037] During harvesting work in a farm field, the combine harvester 1 is controlled by an automatic driving system A (see FIG. 5). That is, the automatic driving system A manages the automatic driving of the combine harvester 1. The configuration of the automatic driving system A will be described below.

[0038] [Configuration of the Autonomous Driving System] 5, the automatic driving system A includes a control unit 20 and a satellite positioning module 80. The control unit 20 is provided in the combine harvester 1. As described above, the satellite positioning module 80 is also provided in the combine harvester 1.

[0039] The control unit 20 includes a control device, a main memory device, an auxiliary memory device, a communication device, etc. The control device includes, for example, a processor or a logic circuit. The processor includes, for example, a CPU, an MPU, or a GPU. The logic circuit includes, for example, an FPGA or an ASIC. The main memory device 5 includes, for example, a RAM. The auxiliary memory device includes a rewritable memory device, for example, an EEPROM, a flash ROM, or a hard disk. The communication device is an interface connected to a network.

[0040] The auxiliary storage device stores the control program. The main storage device reads the control program from the auxiliary storage device into the main storage device and executes it. The main storage device stores data generated by the execution of the control program in the auxiliary storage device. The main storage device transmits data to the management server 6 or the communication terminal 4 via the communication device as necessary. The main storage device receives data from the management server 6 or the communication terminal 4 via the communication device. The control program may be stored in a storage medium 30, such as an optical disk, flash memory, or hard disk, and downloaded from the storage medium 30 to the auxiliary storage device of the control unit 20. It may also be downloaded to the auxiliary storage device from an external server, such as the management server 6, via a network. Processing by the control program, such as the reaping travel processing and discharge processing described below, may be performed by the management server 6 or the communication terminal 4, or may be performed by distributed processing between the management server 6 and a device other than the management server 6 (for example, the communication terminal 4 or an external server), or may be performed by a quantum computer.

[0041] The control unit 20 has a vehicle position calculation unit 21, an area calculation unit 22, a route calculation unit 23, a travel control unit 24, a passing reference position calculation unit 25, a model information storage unit 26, a row-spacing acquisition unit 27, and a row number calculation unit 28. The vehicle position calculation unit 21, the area calculation unit 22, the route calculation unit 23, and the travel control unit 24, the passing reference position calculation unit 25, the model information storage unit 26, the row-spacing acquisition unit 27, and the row number calculation unit 28 are each composed of a control device, a main storage device, an auxiliary storage device, a communication device, etc. The vehicle position calculation unit 21, the area calculation unit 22, the route calculation unit 23, and the travel control unit 24, the passing reference position calculation unit 25, the model information storage unit 26, the row-spacing acquisition unit 27, and the row number calculation unit 28, execute a process for the combine harvester 1 to travel for reaping, i.e., a reaping travel process. The reaping travel process will be described below.

[0042] The satellite positioning module 80 receives GPS signals from satellites used in the GPS (Global Positioning System). Then, as shown in Fig. 5, the satellite positioning module 80 sends positioning data indicating the vehicle position of the combine harvester 1 to the vehicle position calculation unit 21 based on the received GPS signals.

[0043] The vehicle position calculation unit 21 calculates the position coordinates of the combine harvester 1 over time based on the positioning data output by the satellite positioning module 80. The calculated position coordinates of the combine harvester 1 over time are sent to the area calculation unit 22 and the travel control unit 24.

[0044] The area calculation unit 22 calculates the outer periphery area SA and the work area CA as shown in Fig. 3 based on the time-varying position coordinates of the combine harvester 1 acquired from the vehicle position calculation unit 21. That is, the area calculation unit 22 creates a map of the farm field including the outer periphery area SA and the work area CA, and stores it in the auxiliary storage device.

[0045] More specifically, the area calculation unit 22 calculates the travel path of the combine harvester 1 during circular travel on the outer periphery of the field based on the time-varying position coordinates of the combine harvester 1 acquired from the vehicle position calculation unit 21. Then, based on the calculated travel path of the combine harvester 1, the area on the outer periphery of the field where the combine harvester 1 has traveled circularly while harvesting grain is calculated as an outer periphery area SA. The area calculation unit 22 also calculates the area of ​​the field inside the calculated outer periphery area SA as a work area CA.

[0046] For example, in the upper part of Fig. 2, the travel path of the combine harvester 1 for traveling around the periphery of the field is indicated by arrows. In the example shown in Fig. 2, the combine harvester 1 travels around three times. When the combine harvester 1 has completed the reaping along this travel path, the field will be in the state shown in Fig. 3.

[0047] 3, the area calculation unit 22 calculates the outer peripheral area SA of the field through which the combine harvester 1 has traveled while harvesting grain. The area calculation unit 22 also calculates the area of ​​the field that is more inward than the calculated outer peripheral area SA as the work area CA.

[0048] Then, as shown in FIG. 5, the calculation result by the area calculation unit 22 is sent to the path calculation unit 23.

[0049] Based on the calculation results obtained from the area calculation unit 22, the path calculation unit 23 calculates a mowing travel path LN, which is a travel path for mowing travel in the work target area CA, as shown in Fig. 3. As shown in Fig. 3, in this embodiment, the mowing travel path LN is a plurality of mesh lines extending vertically and horizontally. Furthermore, the plurality of mesh lines do not have to be straight lines, and may be curved.

[0050] As shown in FIG. 5, the reaping travel route LN calculated by the route calculation unit 23 is sent to the travel control unit 24.

[0051] The travel control unit 24 is configured to be able to control the travel device 11. The travel control unit 24 controls the automatic travel of the combine harvester 1 based on the position coordinates of the combine harvester 1 acquired from the vehicle position calculation unit 21 and the reaping travel route LN acquired from the route calculation unit 23. More specifically, the travel control unit 24 controls the travel of the combine harvester 1 so that reaping travel is performed by automatic travel along the reaping travel route LN, as shown in Figures 3 and 4 .

[0052] That is, the combine 1 is capable of automatic running.

[0053] [Flow of harvesting using a combine] In the following, as an example of harvesting work by the combine harvester 1, a flow of the case where the combine harvester 1 performs harvesting work in the farm field shown in FIG. 2 will be described.

[0054] In this embodiment, the combine harvester 1 is configured to harvest grains from a field by a first harvesting run and a second harvesting run. The first harvesting run is a harvesting run performed manually in the outer peripheral area SA of the field. The second harvesting run is a harvesting run performed automatically in an area of ​​the field further inward than the outer peripheral area SA after the first harvesting run.

[0055] First, the operator manually operates the combine harvester 1 to perform reaping travel in a circular motion along the boundary line BD of the field in the outer periphery of the field, as shown in Figure 2. In the example shown in Figure 2, the combine harvester 1 performs three circular travels. When this circular travel is completed, the field will be in the state shown in Figure 3.

[0056] The area calculation unit 22 calculates the travel path of the combine harvester 1 during circular travel shown in Fig. 2 based on the time-varying position coordinates of the combine harvester 1 acquired from the vehicle position calculation unit 21. Then, as shown in Fig. 3, the area calculation unit 22 calculates, based on the calculated travel path of the combine harvester 1, an area on the outer periphery of the field where the combine harvester 1 has traveled circularly while harvesting planted stalks, as an outer periphery area SA. The area calculation unit 22 also calculates, as a work area CA, an area inside the field that is further inside the calculated outer periphery area SA.

[0057] Next, the path calculation unit 23 calculates a reaping travel path LN in the work target area CA, as shown in FIG.

[0058] Then, when the operator presses an automatic travel start button (not shown), automatic travel along the reaping travel path LN is started as shown in Fig. 3. At this time, the travel control unit 24 controls the travel of the combine harvester 1 so that reaping travel is performed by automatic travel along the reaping travel path LN.

[0059] When automatic travel in the work area CA is started, the combine harvester 1 first performs mowing travel in a circular motion along the outer contour of the work area CA in the outer periphery of the work area CA, as shown in Figure 3. At this time, the combine harvester 1 repeatedly travels along the mowing travel path LN and changes direction by making an α turn. As a result, the combine harvester 1 performs mowing travel in a spiral pattern in the outer periphery of the unmowed area of ​​the work area CA.

[0060] In the following, this spiral mowing movement will be referred to as "spiral movement."

[0061] Although only three α-turn direction changes are performed in Fig. 3, α-turn direction changes may be performed four or more times. That is, spiral travel may be performed over a longer travel distance than in the case shown in Fig. 3. For example, spiral travel may be performed until the combine 1 completes two revolutions.

[0062] Once the spiral travel is completed, the combine 1 performs mowing travel by repeatedly moving forward along the mowing travel path LN and changing direction by making a U-turn, thereby performing mowing travel to cover the entire unmowed area of ​​the work area CA.

[0063] In the following description, the mowing travel while moving forward and the travel that involves repeated U-turns will be referred to as "reciprocating travel."

[0064] That is, the travel control unit 24 controls the travel of the combine 1 so that the combine 1 transitions from spiral travel to reciprocating travel.

[0065] In this way, the automatic driving system A is equipped with a driving control unit 24 that controls the driving of the combine 1 so that it can perform spiral driving, which cuts the outer periphery of the uncut area in a spiral shape, and forward driving, which cuts while moving forward, and round trip driving, which repeatedly changes direction by making U-turns.

[0066] The automatic traveling system A also includes a route calculation unit 23 that calculates the mowing travel route LN for spiral traveling and round trip traveling.

[0067] Furthermore, the spiral travel and the round trip travel are included in the second harvesting travel described above. That is, the automatic traveling system A includes a route calculation unit 23 that calculates the reaping travel route LN for the second harvesting travel.

[0068] While the combine harvester 1 is traveling to reap, as described above, the reaped stalks cut by the cutting device 15 are transported to the threshing device 13 by the transporting device 16. Then, in the threshing device 13, the reaped stalks are threshed.

[0069] The straw discharge device 17 takes in rice straw from which grains have been separated by the threshing process into a tank while the combine harvester 1 is reaping. The control unit 20 calculates the reaping distance of the combine harvester 1 based on the position of the combine harvester 1 calculated over time by the vehicle position calculation unit 21, and measures the weight of the rice straw taken into the tank based on the calculated reaping distance. For example, if the combine harvester 1 has reaped 10 meters and has not discharged rice straw from the tank during reaping, the control unit 20 determines that 10 meters of rice straw has been taken into the tank. In other words, the control unit 20 estimates the amount of rice straw stored in the tank based on the travel distance of the combine harvester 1.

[0070] The amount of rice straw discharged from the tank per unit time is preset. The control unit 20 is equipped with a timer. The amount of rice straw discharged is associated with, for example, the discharge time of the straw discharge device 17. For example, a function or table showing the correspondence between the amount of rice straw discharged [kg] and the discharge time [s] is stored in advance in the auxiliary memory device of the control unit 20, and the discharge amount is calculated by applying the rice straw discharge time to the function or table. The control unit 20 measures the amount of rice straw stored in the tank over time based on the amount of rice straw taken in by the harvesting trip and the amount of rice straw discharged.

[0071] [Configuration for calculating the trajectory path] As shown in Figures 3 and 4, the reaping travel path LN includes a plurality of row-direction paths LA (corresponding to the "target travel path" according to the present invention) and a plurality of lateral paths LB. Each row-direction path LA is a reaping travel path LN in the row direction for the second harvesting travel described above. Also, each lateral path LB is a reaping travel path LN in a direction intersecting the row direction for the second harvesting travel.

[0072] That is, the route calculation unit 23 calculates a plurality of stripe direction routes LA for automatic travel along the stripe direction. The route calculation unit 23 also calculates a plurality of lateral direction routes LB for automatic travel in a direction intersecting the stripe direction.

[0073] That is, the automatic driving system A includes a route calculation unit 23 that calculates a strip direction route LA for automatic driving along the strip direction.

[0074] The lateral path LB may or may not be perpendicular to the strip path LA.

[0075] 5, the control unit 20 has a passing reference position calculation unit 25. The satellite positioning module 80 sends positioning data indicating the position of the combine 1 to the passing reference position calculation unit 25 based on the received GPS signal.

[0076] The passing reference position calculation unit 25 calculates the passing reference position based on the positioning data output by the satellite positioning module 80. The passing reference position is the position where a predetermined part of the combine 1 passed during the harvesting run in the row direction in the first harvesting run described above.

[0077] In this embodiment, the predetermined portion is the first divider 51. Therefore, in this embodiment, the passing reference position calculation unit 25 calculates, based on the positioning data output by the satellite positioning module 80, the position where the first divider 51 passed during the harvesting run in the row direction during the first harvesting run described above.

[0078] However, the present invention is not limited to this, and the predetermined portion may be the seventh divider 57.

[0079] That is, the predetermined portion is the divider 5 located at the left end or the right end of the multiple dividers 5.

[0080] For example, the lower part of Figure 2 shows the combine harvester 1 making its first harvest run in the row direction. Here, the combine harvester 1 is traveling in the northern part of the field, completing its final lap of the first harvest run. In the field shown in Figure 2, the row direction is east-west.

[0081] 2 shows a passing line P. The passing line P is the passing position of the first divider 51. That is, in this example, the position of the passing line P is the passing reference position calculated by the passing reference position calculation unit 25.

[0082] As shown in FIG. 5, the passing reference position calculated by the passing reference position calculation unit 25 is sent to the path calculation unit 23.

[0083] The path calculation unit 23 calculates the streak direction path LA based on the passing reference position calculated by the passing reference position calculation unit 25.

[0084] More specifically, the path calculation unit 23 determines the position of the northernmost line direction path LA in the work area CA to be a position that is the first distance DF away from the passing reference position, as shown in Fig. 2. That is, of the multiple line direction paths LA, the northernmost line direction path LA is located at a position that is the first distance DF away from the passing line P to the south.

[0085] Then, the path calculation unit 23 calculates a plurality of parallel line direction paths LA such that the distance between the line direction paths LA is a predetermined first distance D1, as shown in Fig. 3. That is, the path calculation unit 23 is configured to calculate a plurality of parallel line direction paths LA arranged at the predetermined first distance D1.

[0086] The first distance DF and the first interval D1 will be described in detail below. As shown in Fig. 5, the control unit 20 has a model information storage unit 26 and a row-to-row spacing acquisition unit 27. In addition, the path calculation unit 23 has a distance calculation unit 23a.

[0087] The model information storage unit 26 stores various information related to the specifications of the combine harvester 1. The information stored in the model information storage unit 26 includes the number of reaping rows of the combine harvester 1. The path calculation unit 23 then acquires the number of reaping rows of the combine harvester 1 from the model information storage unit 26. In this embodiment, the number of reaping rows of the combine harvester 1 is six.

[0088] The row-spacing acquisition unit 27 acquires row-spacing information from a management server 6 provided outside the combine harvester 1. The row-spacing information is information indicating the row-spacing in the field. The row-spacing in the field shown in Figures 2 to 4 is G1, as shown in the lower part of Figure 2. That is, in this field, multiple rows are lined up in the north-south direction with an interval of G1 between them.

[0089] That is, the automatic driving system A includes a row-spacing acquisition unit 27 that acquires row-spacing information, which is information indicating the row-spacing in the field.

[0090] As shown in FIG. 5, the row-to-row spacing acquisition unit 27 sends the acquired row-to-row spacing information to the path calculation unit 23.

[0091] Then, the distance calculation unit 23a calculates an appropriate first distance DF based on the number of reaping rows of the combine 1 acquired from the model information storage unit 26 and the row-spacing information acquired from the row-spacing acquisition unit 27. In this way, the path calculation unit 23 determines the first distance DF.

[0092] That is, the path calculation unit 23 determines the distance between the passing reference position and the row direction path LA based on the number of reaping rows of the combine 1. In addition, the path calculation unit 23 determines the distance between the passing reference position and the row direction path LA based on row spacing information.

[0093] The distance calculation unit 23a calculates the first distance DF so that the greater the number of reaping rows of the combine 1, the longer the first distance DF. The distance calculation unit 23a also calculates the first distance DF so that the wider the row spacing indicated by the row spacing information, the longer the first distance DF.

[0094] 5, the control unit 20 has a first interval calculation unit 23b. The first interval calculation unit 23b calculates an appropriate first interval D1 based on the number of reaping rows of the combine 1 acquired from the model information storage unit 26 and row-spacing information acquired from the row-spacing acquisition unit 27. As a result, the path calculation unit 23 determines the first interval D1.

[0095] That is, the path calculation unit 23 determines the first interval D1 based on the number of reaping rows of the combine 1. Furthermore, the path calculation unit 23 determines the first interval D1 based on row-to-row information.

[0096] The first interval calculation unit 23b calculates the first interval D1 so that the greater the number of reaping rows of the combine 1, the wider the first interval D1. The first interval calculation unit 23b also calculates the first interval D1 so that the wider the row spacing indicated by the row spacing information, the wider the first interval D1.

[0097] [Configuration for calculating lateral path] The path calculation unit 23 calculates a plurality of lateral paths LB arranged in parallel so that the intervals between the lateral paths LB are a predetermined second interval D2, as shown in Fig. 3. That is, the path calculation unit 23 is configured to calculate a plurality of lateral paths LB arranged in parallel at the predetermined second intervals D2.

[0098] The second interval D2 will be described in detail below. As shown in Fig. 5, the path calculation unit 23 has a second interval calculation unit 23c.

[0099] The information stored in the model information storage unit 26 also includes the mowing width of the combine harvester 1. The path calculation unit 23 then acquires the mowing width of the combine harvester 1 from the model information storage unit 26. In this embodiment, the mowing width of the combine harvester 1 is the distance between the first divider 51 and the seventh divider 57 in the width direction of the machine body.

[0100] The second interval calculation unit 23c calculates an appropriate second interval D2 based on the mowing width of the combine harvester 1 acquired from the model information storage unit 26. As a result, the path calculation unit 23 determines the second interval D2.

[0101] That is, the path calculation unit 23 determines the second interval D2 based on the mowing width of the combine 1.

[0102] The second interval calculation unit 23c calculates the second interval D2 so that the wider the mowing width of the combine 1, the wider the second interval D2.

[0103] [Configuration for shifting the row direction path] 5, the path calculation unit 23 has a shift calculation unit 23d. The function of the shift calculation unit 23d will be described below.

[0104] As shown in Fig. 5, the control unit 20 has a row number calculation unit 28. The row number calculation unit 28 is configured to calculate the number of rows in an uncut area in a farm field.

[0105] The row number calculation unit 28 will now be described in detail. While the combine harvester 1 is manually or automatically traveling to reap, the vehicle position calculation unit 21 calculates the position coordinates of the combine harvester 1 over time based on the positioning data output by the satellite positioning module 80. The calculated position coordinates of the combine harvester 1 over time are sent to the row number calculation unit 28.

[0106] Furthermore, the row-to-row spacing acquisition unit 27 sends the row-to-row spacing information acquired from the management server 6 to the row number calculation unit 28.

[0107] The row number calculation unit 28 then calculates the range of the uncut area in the field over time based on the time-varying position coordinates of the combine harvester 1 acquired from the vehicle position calculation unit 21. Furthermore, the row number calculation unit 28 calculates the number of rows in the uncut area over time based on the calculated range of the uncut area and the row-spacing information acquired from the row-spacing acquisition unit 27.

[0108] That is, the automatic driving system A includes a row number calculation unit 28 that calculates the number of rows in the unmowed area.

[0109] The calculation result by the row number calculation unit 28 is sent to the shift calculation unit 23d. Then, the shift calculation unit 23d calculates the row direction path LA based on the calculation result acquired from the row number calculation unit 28 and the number of reaping rows of the combine harvester 1 acquired from the model information storage unit 26.

[0110] That is, the path calculation unit 23 calculates the row direction path LA based on the calculation result of the row number calculation unit 28 and the number of reaping rows of the combine 1.

[0111] At this time, the shift calculation unit 23d calculates the row direction path LA so that a predetermined condition is satisfied when the combine harvester 1 travels along the row direction path LA.

[0112] The specified condition is that "among the multiple dividers 5, the divider 5 that is a specified number from the left end is located to the right of the row that is located at the left end of the unmowed area, and the divider 5 that is a specified number from the right end of the multiple dividers 5 is located to the left of the row that is located at the right end of the unmowed area."

[0113] In this embodiment, the predetermined number is 3. That is, in this embodiment, the predetermined condition is that "the third divider 53 is located to the right of the row located at the left end of the unmowed area, and the fifth divider 55 is located to the left of the row located at the right end of the unmowed area."

[0114] More specifically, after the plurality of row direction paths LA arranged in parallel at the first interval D1 are calculated as described above, the shift calculation unit 23d determines whether a predetermined condition is always satisfied when the combine harvester 1 travels along the row direction paths LA. This determination is made based on the calculation result of the row number calculation unit 28 and the number of reaping rows of the combine harvester 1. This determination is made immediately after the plurality of row direction paths LA arranged in parallel at the first interval D1 are calculated, and when the combine harvester 1 is traveling along the row direction paths LA.

[0115] If it is determined that the predetermined condition is not always satisfied when the combine harvester 1 travels along the row direction path LA, the shift calculation unit 23d recalculates the positions of one or more of the row direction paths LA among the multiple row direction paths LA. At this time, the shift calculation unit 23d recalculates the positions of the row direction paths LA so that the predetermined condition is always satisfied when the combine harvester 1 travels along the row direction path LA. As a result, the positions of one or more of the row direction paths LA among the multiple row direction paths LA are shifted.

[0116] In this way, the path calculation unit 23 is configured to calculate the row direction path LA so that predetermined conditions are satisfied when the combine 1 travels along the row direction path LA.

[0117] In the following, as an example in which the position of the row direction path LA is recalculated by the shift calculation unit 23d, a flow in which the combine harvester 1 performs harvesting work in the field shown in FIG. 6 will be described.

[0118] In the field shown in Figure 6, the row direction is east-west. In this example, the combine harvester 1 has completed spiral travel in the work area CA and is about to transition to round-trip travel. At this time, as shown in Figure 6, the combine harvester 1 passes from west to east while mowing the middle part of the unmowed area in the north-south direction. This mowing travel is what is known as middle-division travel. As a result, the unmowed area is divided into two unmowed areas: a northern area CA1 and a southern area CA2.

[0119] At this time, as shown in Figure 7, three line direction routes LA corresponding to the northern area CA1 have already been calculated: line 1 direction route LA1, line 2 direction route LA2, and line 3 direction route LA3.

[0120] In addition, from the north side, the first directional route LA1, the second directional route LA2, and the third directional route LA3 are lined up in this order. Furthermore, these three directional routes LA are lined up with a first distance D1 between them.

[0121] As shown in Fig. 7, the number of rows in the north area CA1 is 16. At this time, the number of rows in the north area CA1 is calculated by the row number calculation unit 28 and sent to the shift calculation unit 23d. At this time, the path calculation unit 23 has already acquired the number of reaping rows of the combine harvester 1 from the model information storage unit 26.

[0122] Here, the shift calculation unit 23d determines whether a predetermined condition is always satisfied when the combine harvester 1 travels along the row direction path LA in the north area CA1. More specifically, as shown in Fig. 7, the shift calculation unit 23d determines whether a predetermined condition is always satisfied when the combine harvester 1 travels to reap along the first row direction path LA1, the third row direction path LA3, and the second row direction path LA2 in this order.

[0123] In this embodiment, the travel control unit 24 is configured to control the travel of the combine 1 when traveling back and forth so that the combine travels for mowing along the row direction path LA corresponding to the rightmost part of the unmowed area.

[0124] As shown in Figure 7, if the combine harvester 1 were to perform reaping travel along the first row direction route LA1, the third row direction route LA3, and the second row direction route LA2 in that order, the combine harvester 1 would first perform reaping travel along the first row direction route LA1. As a result, as shown in Figure 7, the unmowed area in the north area CA1 becomes the first unmowed area CA11. The first unmowed area CA11 has 10 rows.

[0125] Next, the combine harvester 1 performs reaping travel along the third row direction route LA3. As a result, the unmown area in the north area CA1 becomes the second unmown area CA12, as shown in Figure 7. The number of rows in the second unmown area CA12 is six.

[0126] Finally, the combine harvester 1 performs mowing travel along the second row direction route LA2, thereby turning the entire north area CA1 into a mowed area.

[0127] When the combine harvester 1 performs mowing travel along the first row direction path LA1, the row located at the right end of the unmowed area is located at a first position Q1 shown in Fig. 7. At this time, the row located at the left end of the unmowed area is located at a second position Q2 shown in Fig. 7.

[0128] At this time, the third divider 53 is located to the right of the second position Q2, and the fifth divider 55 is located to the left of the first position Q1. Therefore, while the combine harvester 1 is traveling to reap along the first row-direction path LA1, the above-described predetermined conditions are satisfied.

[0129] Next, when the combine harvester 1 performs mowing travel along the third row direction path LA3, the row located at the right end of the unmowed area is located at the second position Q2 shown in Figure 7. Also, at this time, the row located at the left end of the unmowed area is located at the third position Q3 shown in Figure 7.

[0130] At this time, the third divider 53 is located to the right of the third position Q3. However, the fifth divider 55 is located to the right of the second position Q2. Therefore, while the combine harvester 1 is traveling to reap along the third row-direction path LA3, the above-described predetermined condition is not satisfied.

[0131] Therefore, when the combine harvester 1 travels to reap along the first row direction route LA1, the third row direction route LA3, and the second row direction route LA2 in this order, the shift calculation unit 23d determines that the predetermined condition is not always satisfied. Note that this determination is made before the combine harvester 1 starts traveling along the first row direction route LA1.

[0132] As a result, the shift calculation unit 23d recalculates the position of the Article 3 direction route LA3 as shown in Fig. 8. In this example, the position of the Article 3 direction route LA3 is shifted to the north. As a result, the interval between the Article 2 direction route LA2 and the Article 3 direction route LA3 becomes the first shift interval DS1.

[0133] The first shift interval DS1 is narrower than the first interval D1.

[0134] In this example, the position of the third row direction route LA3 is shifted northward, so that the predetermined condition is always satisfied when the combine harvester 1 travels along the row direction route LA.

[0135] More specifically, as shown in Fig. 8, when the combine harvester 1 performs mowing travel along the first row direction path LA1, the row located at the right end of the unmowed area is located at a first position Q1 shown in Fig. 8. At this time, the row located at the left end of the unmowed area is located at a second position Q2 shown in Fig. 8.

[0136] At this time, the third divider 53 is located to the right of the second position Q2, and the fifth divider 55 is located to the left of the first position Q1. Therefore, while the combine harvester 1 is traveling to reap along the first row-direction path LA1, the above-described predetermined conditions are satisfied.

[0137] Next, when the combine harvester 1 performs mowing travel along the third row direction path LA3, the row located at the right end of the unmowed area is located at the second position Q2 shown in Fig. 8. Also, at this time, the row located at the left end of the unmowed area is located at the third position Q3 shown in Fig. 8.

[0138] At this time, the third divider 53 is located to the right of the third position Q3, and the fifth divider 55 is located to the left of the second position Q2. Therefore, while the combine harvester 1 is traveling to reap along the third row-direction path LA3, the above-described predetermined conditions are satisfied.

[0139] Finally, when the combine harvester 1 performs mowing travel along the second row direction path LA2, the row located at the right end of the unmowed area is located at the third position Q3 shown in Figure 8. Also, at this time, the row located at the left end of the unmowed area is located at the fourth position Q4 shown in Figure 8.

[0140] At this time, the third divider 53 is located to the right of the fourth position Q4. The fifth divider 55 is located to the left of the third position Q3. Therefore, while the combine harvester 1 is traveling for reaping along the second row-direction path LA2, the above-described predetermined conditions are satisfied.

[0141] In this way, in the example shown in FIG. 8, the predetermined condition is always satisfied when the combine harvester 1 travels along the row direction path LA.

[0142] After completing the reaping travel in the northern area CA1, the combine harvester 1 starts reaping travel in the southern area CA2. In the southern area CA2, the combine harvester 1 also performs reaping travel similar to that in the northern area CA1.

[0143] In the field, a prohibited discharge area where discharge of rice straw is prohibited and a permitted discharge area 100 where discharge of rice straw is permitted are set. The permitted discharge area 100 is an area in the field other than the prohibited discharge area. In other words, the permitted discharge area 100 is set in an area where no prohibited discharge area is set. The control unit 20 executes a discharge process to discharge rice straw from the straw discharge device 17 during reaping travel. The control unit 20 controls the combine 1 so that rice straw is discharged into the permitted discharge area 100 and not discharged into the prohibited discharge area.

[0144] As shown in Figures 3 and 4, the no-discharge areas include, for example, an unharvested area 101 (i.e., the work area CA), an α-turn area 102 where an α-turn is performed, a high-water area 103 where the moisture content is higher than the standard amount, a U-turn area 104 where a U-turn is performed, and a change area 105.

[0145] The unharvested area 101 is the same as the work target area CA, and when the area calculation unit 22 calculates the work target area CA, the unharvested area 101 in the field is stored in the auxiliary storage device of the control unit 20. In other words, the unharvested area 101 (discharge prohibited area) is set. If rice straw is discharged into the unharvested area 101, there is a risk that the rice straw will be stored in the grain tank 14 together with the grains.

[0146] When calculating the reaping travel path LN, the path calculation unit 23 also calculates a travel path for making an α turn. The calculated travel path for making an α turn and its surrounding area, i.e., the α turn area 102, are stored in the auxiliary storage device of the control unit 20. In other words, the α turn area 102 (discharge prohibited area) is set. If rice straw is discharged into the α turn area 102, the combine harvester 1 may pass over the discharged rice straw, which may result in a deterioration in the quality of the rice straw.

[0147] For example, moisture sensors that detect moisture are installed at multiple locations in the field. If the moisture sensor detects a moisture content greater than a reference value, the installation location of the moisture sensor and the surrounding area, i.e., the high-moisture area 103, is stored in the auxiliary storage device of the control unit 20. In other words, the high-moisture area 103 (discharge prohibited area) is set. Note that instead of using moisture sensors, the field may be imaged by a drone camera before the harvesting trip, and the control unit 20 may acquire image data of the imaged field, process the acquired image data, identify the high-moisture area 103, and store the identified high-moisture area 103 in the auxiliary storage device.

[0148] When the spiral travel is completed and round trip travel is performed, as shown in FIG. 4, there is no longer a travel route that makes an α-turn, so the setting of the α-turn area 102 is canceled. When calculating the reaping travel route LN, the route calculation unit 23 also calculates a travel route that makes a U-turn. As shown in FIG. 4, the calculated travel route that makes the U-turn and its surrounding area, i.e., the U-turn area 104, are stored in the auxiliary storage device of the control unit 20. In other words, the U-turn area 104 (discharge prohibited area) is set. If rice straw is discharged into the U-turn area 104, the combine harvester 1 may pass over the discharged rice straw, which may result in a deterioration in the quality of the rice straw.

[0149] As will be described later, if there is a specified area in the discharge-permitted area 100 where more rice straw than the standard amount has been discharged, the specified area, i.e., the changed area 105, is stored in the auxiliary memory device of the control unit 20, as shown in Figure 4. In other words, the changed area 105 (discharge-prohibited area) is set. The standard amount indicates the maximum amount that can be discharged within the specified area. If the amount of rice straw discharged within the specified area exceeds the standard amount, the weight of the piled rice straw makes it easier for soil to adhere to the rice straw at the bottom, which could result in a decline in the quality of the rice straw.

[0150] In the following description, the uncut area 101, the α-turn area 102, the wet area 103, the U-turn area 104, and the change area 105 will also be referred to as discharge prohibition areas 101 to 105 as necessary.

[0151] For example, when there is a discharge-permitted area 100 on the right or left side of the traveling direction, the control unit 20 determines to discharge the rice straw to the right or left side. For example, when there is a discharge-permitted area 100 on the rear side of the traveling direction and there are discharge-prohibited areas 101-105 on the right and left side of the traveling direction, the control unit 20 determines to discharge the rice straw to the rear. For example, when there are discharge-prohibited areas 101-105 on the right, left, and rear side of the traveling direction, the control unit 20 determines to store the rice straw in the tank of the straw discharge device 17.

[0152] Fig. 9 is a flowchart illustrating the discharge process by the control unit 20, Fig. 10 is a flowchart illustrating the stop discharge process by the control unit 20, and Figs. 11 to 18 are explanatory plan views illustrating the discharge process. The control unit 20 determines whether or not mowing travel is being performed (S1). If mowing travel is not being performed (S1: NO), the control unit 20 returns the process to step S1.

[0153] If the combine harvester 1 is performing reaping travel (S1: YES), the control unit 20 determines whether the combine harvester 1 is adjacent to the discharge permission area 100 based on the time-dependent position coordinates of the combine harvester 1 calculated by the vehicle position calculation unit 21 (S2). That is, it determines whether the discharge permission area 100 is located behind, to the left, or to the right of the combine harvester 1.

[0154] If it is determined that the combine harvester 1 is adjacent to the discharge permission area 100 (S2: YES), that is, if it is determined that the discharge permission area 100 is located behind, to the left, or to the right of the combine harvester 1, the control unit 20 determines whether the amount of rice straw stored in the tank of the straw discharge device 17 is equal to or greater than T1 (S9). T1 is a predetermined amount of rice straw, for example, approximately half the tank capacity. T1 corresponds to a second predetermined amount.

[0155] T1 is a threshold value used to determine whether the combine harvester 1 can discharge rice straw while traveling. If the threshold is less than T1, the combine harvester 1 can discharge rice straw while traveling a predetermined distance, for example, one meter, and can discharge substantially all of the rice straw stored in the tank. That is, if the threshold is less than T1, the control unit 20 determines that the combine harvester 1 can discharge rice straw while traveling, and if the threshold is T1 or greater, the control unit 20 determines that the combine harvester 1 cannot discharge rice straw while traveling.

[0156] If the amount of rice straw stored in the tank is not equal to or greater than T1 (S9: NO), the control unit 20 determines whether the amount of rice straw stored in the tank is equal to or less than T2 (S12). T2 is a predetermined amount smaller than T1, and is the amount of rice straw that indicates that the tank is empty. T2 is, for example, an amount equal to or less than 1 to 10% of the tank capacity. If the amount of rice straw stored in the tank is equal to or less than T2 (S12: YES), that is, if it is determined that the tank is empty, the control unit 20 returns the process to step S2.

[0157] If the amount of rice straw stored in the tank is not equal to or less than T2 (S12: NO), the control unit 20 starts discharging the rice straw into the adjacent discharge-permitted area 100 (S13). The control unit 20 determines whether the amount of rice straw stored in the tank is equal to or less than T2 (S14). If the amount of rice straw stored in the tank is not equal to or less than T2 (S14: NO), the control unit 20 determines whether the combine harvester 1 is adjacent to an discharge-prohibited area based on the position coordinates of the combine harvester 1 over time calculated by the vehicle position calculation unit 21 (S15). If the combine harvester 1 is not adjacent to an discharge-prohibited area (S15: NO), the control unit 20 returns the process to step S14. If the amount of rice straw stored in the tank is less than T2 (S14: YES), or if the combine 1 is adjacent to a discharge-prohibited area (S15: YES), the control unit 20 stops the discharge of rice straw into the discharge-permitted area 100 (S16) and returns the processing to step S2.

[0158] Here, the processing of steps S12 to S16 will be specifically described with reference to FIGS. 11 to 13. For example, as shown in FIG. 11, assume that the combine harvester 1 is reap-traveling through a discharge-prohibited area 101 (work target area CA), and that a discharge-permitted area 100 is located on the right side of the combine harvester 1's traveling direction. If the amount of rice straw stored in the tank is not equal to or less than T2 (S12: NO), the combine harvester 1 starts discharging rice straw when it reaches one end of the discharge-permitted area 100. That is, discharge starts from one end of the discharge-permitted area 100 (S13). In FIG. 11, the control unit 20 determines that the rice straw will be discharged to the right side of the traveling direction. If the amount of rice straw stored in the tank is not equal to or less than T2 (S14: NO) and the combine harvester 1 is not adjacent to the discharge-prohibited area 102 (S15: NO), the combine harvester 1 continues discharging rice straw to the other end of the discharge-permitted area 100 while reap-traveling, as shown in FIG. 12.

[0159] For example, as shown in Figure 13, if the combine harvester 1 is not adjacent to the discharge-permitted area 100 but adjacent to the discharge-prohibited area 102 (S15: YES), the combine harvester 1 stops discharging rice straw (S16). If the amount of rice straw stored in the tank is T2 or less (S14: YES), the combine harvester 1 stops discharging rice straw even if it is adjacent to the discharge-permitted area 100 (S16).

[0160] Note that the decision to discharge rice straw to the right side of the direction of travel is merely one example. For example, if there is a discharge-permitted area 100 on the left side of the direction of travel, the control unit 20 decides to discharge rice straw to the left side. For example, if there is a discharge-permitted area 100 on the rear side of the direction of travel and there are discharge-prohibited areas 101-104 on the right and left side of the direction of travel, the control unit 20 decides to discharge rice straw to the rear side. When the combine harvester 1 travels to reap an unreapable area 101, the unreapable area 101 after reapable, i.e., the area behind the combine harvester 1, may become the discharge-permitted area 100. In this case, even if there are discharge-prohibited areas 101-104 on the right and left side of the direction of travel, the rice straw can be discharged to the rear side.

[0161] In step S9, if the amount of rice straw stored in the tank is equal to or greater than T1 (S9: YES), that is, if it is determined that the combine harvester 1 cannot discharge rice straw while traveling, the control unit 20 determines that the combine harvester 1 is adjacent to a predetermined position, for example, the discharge-permitted area 100 (S2: YES), and then stops the combine harvester 1 at a position where the combine harvester 1 has moved a predetermined distance, for example, half the total length of the combine harvester 1 (S10). For example, if it is determined that the combine harvester 1 is adjacent to one end of the discharge-permitted area 100, the combine harvester 1 stops when it has moved the predetermined distance from that end. The control unit 20 executes a stop discharge process (S11).

[0162] The stop discharge process will now be described with reference to the flowchart in Figure 10. The control unit 20 starts discharge to the adjacent discharge-permitted area 100 (S21) and determines whether the standard amount has been discharged to the designated area (S22). The standard amount indicates the maximum amount that can be discharged within a designated area, for example, within a 1-meter square. For example, if the area of ​​the discharge-permitted area 100 is 1 meter left to right and 2 meters front to back, the number of designated areas that the discharge-permitted area 100 has is two. When the combine harvester 1 discharges rice straw from the straw discharge device 17 while stopped, the discharged rice straw piles up within the designated area. If the standard amount is exceeded, the weight of the piled rice straw can cause soil to adhere to the rice straw underneath, which could result in a deterioration in rice straw quality.

[0163] If it is determined that the standard amount has not been discharged (S22: NO), the control unit 20 determines whether the amount of rice straw stored in the tank is T2 or less (S28). That is, it determines whether the tank is empty. If the amount of rice straw stored in the tank is T2 or less (S28: YES), that is, if it is determined that the tank is empty, the control unit 20 stops the discharge of rice straw to the discharge-permitted area 100 (S29), ends the stop discharge process, and proceeds to step S8, which will be described later. If the amount of rice straw stored in the tank is not T2 or less (S28: NO), that is, if it is determined that the tank is not empty, the control unit 20 returns the process to step S22.

[0164] If it is determined that more than the reference amount of rice straw has been discharged (S22: YES), the control unit 20 stops the discharge of rice straw into the discharge-permitted area 100 (S23), and changes the specified area into which more than the reference amount of rice straw has been discharged from the discharge-permitted area to a discharge-prohibited area (S24). In other words, a discharge-prohibited area is set for the specified area. The control unit 20 determines whether the amount of rice straw stored in the tank is T2 or less (S25). In other words, it determines whether the tank is empty. If the amount of rice straw stored in the tank is T2 or less (S25: YES), the control unit 20 ends the stop discharge process and proceeds to step S8, which will be described later.

[0165] If it is determined that the amount of rice straw stored in the tank is not equal to or less than T2 (S25: NO), the control unit 20 moves the combine harvester 1 forward to the shortest distance from its current location, for example, one meter (S26), and determines whether the combine harvester 1 after movement is adjacent to the discharge-permission area 100 (S27). If it is determined that the combine harvester 1 after movement is not adjacent to the discharge-permission area 100 (S27: NO), the control unit 20 ends the stop discharge process and proceeds to step S8, which will be described later. If it is determined that the combine harvester 1 after movement is adjacent to the discharge-permission area 100 (S27: YES), the control unit 20 returns to step S21. That is, the combine harvester 1 moves to the discharge-permission area 100 that is the shortest distance from its current location, and resumes discharging rice straw.

[0166] The processing of steps S9 to S11 and S21 to S29 will now be described in detail with reference to FIGS. 14 to 17. For example, as shown in FIG. 14, assume that the combine harvester 1 is harvesting and traveling in a no-discharge area 101 (work target area CA), and that a discharge-permitted area 100 is located on the right side of the combine harvester 1's traveling direction. If the amount of rice straw stored in the tank is equal to or greater than T1 (S9: YES), the combine harvester 1 stops at a predetermined position (S10) and begins discharging rice straw into the discharge-permitted area 100 (S21), as shown in FIG. 15. The predetermined position is, for example, a position where the combine harvester 1 has traveled a predetermined distance from one end of the discharge-permitted area 100 when the combine harvester 1 moves from one end to the other end of the discharge-permitted area 100. In FIG. 14, the combine harvester 1 discharges rice straw into the discharge-permitted area 100 on the right side of the traveling direction.

[0167] If the standard amount of rice straw has been discharged (S22: YES), the combine harvester 1 stops discharging (S23) and changes the predetermined area into which the standard amount of rice straw or more has been discharged from a discharge-permitted area to a discharge-prohibited area (S24). For example, as shown in FIG. 15, the predetermined area is changed from a discharge-permitted area 100 to a discharge-prohibited area 105. If the amount of rice straw stored in the tank is not equal to or less than T2 (S25: NO), the control unit 20 moves the combine harvester 1 forward a predetermined distance (S26). As shown in FIG. 16, if the combine harvester 1 is adjacent to the discharge-permitted area 100 (S27: YES), the combine harvester 1 stops at the position after movement and starts discharging rice straw into the discharge-permitted area 100 (S21). In FIG. 16, the right side of the combine harvester 1 in the traveling direction is adjacent to the discharge-permitted area 100, and the combine harvester 1 discharges into the discharge-permitted area 100 on the right side of the traveling direction.

[0168] As shown in Figure 17, if the combine harvester 1 is not adjacent to the discharge permission area 100 (S27: NO), the combine harvester 1 ends the stop discharge process and resumes reaping travel (S8). If the amount of rice straw stored in the tank is T2 or less (S25, S28: YES), that is, if it is determined that the tank is empty, the combine harvester 1 ends the stop discharge process and resumes reaping travel (S8).

[0169] In step S2, if it is determined that the combine harvester 1 is not adjacent to the discharge-permitted area 100 (S2: NO), i.e., if there are discharge-prohibited areas 101-104 on the right, left, and rear sides of the direction of travel, the control unit 20 determines whether the amount of rice straw stored in the tank of the straw discharge device 17 is equal to or greater than T0 (S3). T0 is a predetermined rice straw amount indicating that the tank is full, for example, an amount equal to or greater than 90-95% of the tank capacity. T0 corresponds to a first predetermined amount. If it is determined that the amount of rice straw stored in the tank is not equal to or greater than T0 (S3: NO), i.e., if it is determined that the tank is not full, the control unit 20 returns the process to step S2. As long as the combine harvester 1 is not adjacent to the discharge-permitted area 100 and the amount of rice straw stored in the tank is not equal to or greater than T0, rice straw continues to be stored in the tank of the straw discharge device 17.

[0170] If it is determined that the amount of rice straw stored in the tank is equal to or greater than T0 (S3: YES), that is, if it is determined that the tank is full, the control unit 20 stops the reaping travel of the combine harvester 1 (S4). That is, the reaping unit H and the traveling device 11 stop. At this time, the control unit 20 calculates the stopping position of the combine harvester 1 in the no-discharge zone based on the position coordinates of the combine harvester 1 calculated by the vehicle position calculation unit 21, and stores this in the auxiliary storage device. The control unit 20 calculates the discharge-permitted zone 100 that is the shortest distance from the location (stopping position) of the combine harvester 1, and moves the combine harvester 1 to the calculated discharge-permitted zone 100 (S5). After moving to the discharge-permitted zone 100, the combine harvester 1 stops.

[0171] The control unit 20 executes a stop discharge process (S6, see FIG. 10). The stop discharge process is the same process as step S11, and a detailed description thereof will be omitted. Note that in the stop discharge process of step S11, after the stop discharge process is completed, the process proceeds to step S8, which will be described later, but in the stop discharge process of step S6, after the stop discharge process is completed, the process proceeds to step S7.

[0172] After the stop discharge process is completed, the control unit 20 refers to the stop position stored in the auxiliary storage device, moves from the discharge-permitted area 100 to the stop position (S7), and restarts the mowing travel from the stop position (S8). The control unit 20 returns the process to step S2.

[0173] Here, the processing of steps S2 to S8 will be specifically described with reference to Fig. 18. For example, as shown in the upper diagram of Fig. 18, assume that the combine harvester 1 is traveling to reap in the discharge-prohibited area 101 (work target area CA), and the combine harvester 1 is not adjacent to the discharge-permitted area 100 in either direction (step S2: NO). If the amount of rice straw is equal to or greater than T0 (S3: YES), the combine harvester 1 stops reap- ing (S4), and moves to the discharge-permitted area 100 and stops there (S5), as shown by arrow (1) in Fig. 18 and the lower diagram of Fig. 18.

[0174] In the lower diagram of Figure 18, the combine harvester 1 is located inside the discharge-permitted area 100. That is, the rear, right, and left sides of the combine harvester 1 are adjacent to the discharge-permitted area 100. In other words, the discharge-permitted area 100 is located on the rear, right, and left sides of the combine harvester 1. The straw discharge device 17 of the combine harvester 1 discharges rice straw into the discharge-permitted area 100 on the rear, right, or left side, i.e., performs a stop discharge process (step S6). After the stop discharge process is completed, as shown by arrow (2) in Figure 18 and the upper diagram of Figure 18, the combine harvester 1 returns to the stop position in the discharge-prohibited area (S7) and resumes reaping travel (S8).

[0175] Fig. 19 is a schematic front view of the touch panel 4a indicating the discharge prohibited area. As shown in Fig. 19, when the control unit 20 sets a discharge prohibited area, it displays an image indicating the discharge prohibited area on the touch panel 4a. In the upper and lower diagrams of Fig. 19, the hatched areas are images 101a to 105a indicating the discharge prohibited area, and the images 101a to 105a correspond to the discharge prohibited areas 101 to 105, respectively (see Figs. 3 and 4). In Fig. 19, the area other than the hatched area is an image 100a indicating the discharge permitted area. The image 100a corresponds to the discharge permitted area 100.

[0176] 19, an image 1a showing the combine harvester 1 is displayed on the touch panel 4a. The display position of the image 1a is updated to correspond to the position coordinates of the combine harvester 1 over time calculated by the vehicle position calculation unit 21. By displaying images 101a to 105a showing the no-discharge zone, image 100a showing the discharge-permitted zone, and image 1a showing the combine harvester 1 on the touch panel 4a, i.e., the display unit, the user can intuitively understand the positional relationship between the location of the combine harvester 1 and the no-discharge zone and the discharge-permitted zone.

[0177] (Embodiment 2) The present invention will be described below with reference to the drawings showing a second embodiment. Among the components of the second embodiment, the same components as those of the first embodiment are given the same reference numerals, and detailed description thereof will be omitted. Fig. 20 is a flowchart illustrating the discharge process by the control unit 20. Steps S1 to 4 and 8 to 16 shown in Fig. 20 are the same processes as steps S1 to 4 and 8 to 16 shown in Fig. 9, and detailed description thereof will be omitted. Here, step S17 will be mainly described.

[0178] The combine harvester 1 is not adjacent to the discharge-permitted area 100 (S2: NO), the tank is determined to be full (S3: YES), and the combine harvester 1 is stopped in the discharge-prohibited area (S4). After stopping the combine harvester 1 from reaping (S4), the control unit 20 executes the prohibited area discharge process (S17).

[0179] The prohibited area discharge process will now be described. Figure 21 is a flowchart illustrating the prohibited area discharge process. The control unit 20 starts discharge to the discharge prohibited area (S31) and determines whether the amount of rice straw stored in the tank is T2 or less (S32). That is, it determines whether the tank is empty. If it is determined that the amount of rice straw stored in the tank is not T2 or less (S32: NO), that is, if it is determined that the tank is not empty, the control unit 20 returns the process to step S32.

[0180] If it is determined that the amount of rice straw stored in the tank is T2 or less (S32: YES), that is, if it is determined that the tank is empty, the control unit 20 stops discharging rice straw into the discharge-prohibited area (S33), and links the position of the area in the discharge-prohibited area into which the rice straw was discharged and the amount of rice straw discharged based on the position of the combine 1 calculated by the vehicle position calculation unit 21 and the discharge time of the straw discharge device 17, and stores these in the auxiliary storage device (S34). The control unit 20 ends the prohibited area discharge process and returns to step S8.

[0181] Fig. 22 is a conceptual diagram showing a map 110 of a farm field. The area calculation unit 22 of the control unit 20 creates the map 110 based on the time-varying position coordinates of the combine harvester 1 acquired from the vehicle position calculation unit 21. As shown in Fig. 22, the control unit 20 sets discharge-prohibited areas 101 to 105 and a discharge-permitted area 100 on the created map 110. In the prohibited area discharge process, the control unit 20 registers in the map 110 the position of the area into which rice straw has been discharged and the amount of rice straw discharged, which are stored in the auxiliary storage device.

[0182] For example, when rice straw is discharged into the discharge-prohibited area 105, as shown in Fig. 22, the position (X, Y) of the area where the rice straw is discharged and the discharge amount A are registered in the discharge-prohibited area 105. That is, the discharge amount A is stored in association with the position (X, Y) registered on the map 110.

[0183] FIG. 23 is a schematic front view of the touch panel 4a showing the map 110. As shown in FIG. 23, the control unit 20 displays an image 110a showing the map 110 on the touch panel 4a. The image 110a includes images 100a, 101a, 103a, and 105a. The images 101a, 103a, and 105a correspond to the no-discharge areas 101, 103, and 105, respectively. The image 100a corresponds to the discharge-permitted area 100. Also, as shown in FIG. 23, an image 105b showing the location of the area where the rice straw has been discharged and the amount of rice straw discharged is displayed so as to overlap the image 105a. The image 105b is displayed in a speech bubble at the location of the area where the rice straw has been discharged. In other words, the amount of rice straw discharged is displayed at the location registered on the map 110.

[0184] (Embodiment 3) The present invention will be described below with reference to the drawings showing a third embodiment. Among the components of the third embodiment, the same components as those of the first or second embodiment are given the same reference numerals, and detailed description thereof will be omitted. Figure 24 is a conceptual diagram of a rice straw amount map 210 showing the amount of rice straw discharged. The control unit 20 creates a rice straw amount map 210 showing the distribution of rice straw amounts in the field based on the time-dependent position coordinates of the combine 1 acquired from the vehicle position calculation unit 21 and the amount of rice straw discharged from the straw discharge device 17, and stores the map in an auxiliary storage device.

[0185] For example, as shown in Figure 24, areas 200 to 205 are registered in a rice straw amount map 210 according to the amount of rice straw discharged. The magnitude relationship of the discharged rice straw amounts is area 200 < area 201 < area 202 < area 203 < area 204 < area 205. In area 205, rice straw exceeding the standard amount has been discharged and piled up for each predetermined section within area 205. Therefore, area 205 is a discharge prohibited area.

[0186] Figure 25 is a flowchart showing the modified portion of the stop discharge process. Steps S21, 25, 28, and 29 shown in Figure 25 are the same processes as steps S21, 25, 28, and 29 shown in Figure 10, so detailed explanations thereof will be omitted. Here, steps S200 to 203 will be mainly explained.

[0187] After starting discharge into the discharge permission area 100, i.e., areas 200-204 (S21), the control unit 20 refers to the rice straw amount map 210 and determines whether or not rice straw of a standard amount or more has piled up in the specified area of ​​the discharge destination (S200). If it is determined that rice straw of a standard amount or more has not piled up in the specified area of ​​the discharge destination (S200: NO), the control unit 20 proceeds to step S28.

[0188] When it is determined that rice straw of a standard amount or more has piled up in the specified area of ​​the discharge destination (S200: YES), the control unit 20 stops the discharge of rice straw to the specified area (S201), and changes the specified area where rice straw of a standard amount or more has piled up from a discharge-permitted area to a discharge-prohibited area (S202). That is, the control unit 20 changes areas 200 to 204 to area 205, and updates the rice straw amount map 210. The control unit 20 proceeds to step S25.

[0189] If it is determined that the amount of rice straw stored in the tank is not less than T2 (S25: NO), the control unit 20 refers to the rice straw amount map 210, moves the combine 1 to the discharge permission area 100, i.e., area 200-204 (S203), and returns the processing to step S21.

[0190] By controlling the discharge and suspension of discharge of the rice straw amount based on the rice straw amount map 210, it is possible to improve the accuracy of dividing the discharge permitted area and the discharge prohibited area. The control unit 20 may display an image showing the rice straw amount map 210 on the touch panel 4a. By displaying it on the touch panel 4a, the user can intuitively understand the distribution of the amount of rice straw discharged in the field.

[0191] Although the updating of the rice straw amount map 210 during the stopped discharge process has been described, the updating of the rice straw amount map 210 is not limited to the stopped discharge process. For example, during the process shown in steps S12 to S16 of the discharge process (see FIG. 9), i.e., during the process of discharging rice straw while traveling, the rice straw amount map 210 may be updated, and the rice straw amount may be discharged and discharge stopped based on the rice straw amount map 210. In this case, the control unit 20 calculates the amount of rice straw piled up in each predetermined area of ​​the discharge-permitted area 100 based on the traveling speed of the combine 1, the amount of rice discharged per unit time from the straw discharge device 17, and the like. The control unit 20 updates the rice straw amount map 210 based on the calculated rice straw amount.

[0192] It should be noted that a computer program can be deployed to be executed on a single computer or on multiple computers that are located at one site or distributed across multiple sites and interconnected by a communications network.

[0193] The embodiments disclosed herein are illustrative in all respects and should not be considered limiting. The scope of the present invention is intended to include all modifications within the scope of the claims and the scope equivalent to the claims. The features described in each embodiment can be mutually combined. Furthermore, independent claims and dependent claims described in the claims can be mutually combined in any and all combinations, regardless of the reference format. Furthermore, although the claims use a format in which a claim references two or more other claims (multiple claim format), this is not limiting. A multiple claim (multi-multi claim) that references at least one other multiple claim may also be used. [Explanation of symbols]

[0194] 1 Combine (harvester) 4. Communication terminals 4a Touch panel 20 Control Unit 21 Vehicle position calculation unit 22 Area calculation section 100 Discharge permit area 101~105 Discharge prohibited area 110 Maps 210 Rice straw quantity map

Claims

1. Obtain the rice straw discharge permitted area or discharge prohibited area set in the field where the harvester travels, obtaining a location of the harvester; Based on the acquired position of the harvester and the discharge permitted area or the discharge prohibited area, a decision is made as to whether to discharge or store the harvested rice straw. A computer program that causes a computer to perform a process.

2. If the discharge permitted area is on the left or right side of the harvester, the rice straw is discharged to the left or right side where the discharge permitted area is located.

2. The computer program according to claim 1, which causes a computer to execute a process.

3. When the discharge permitted area is located behind the harvester and the discharge prohibited areas are located on the left and right sides of the harvester, the discharge of the rice straw to the rear is determined.

2. The computer program according to claim 1, which causes a computer to execute a process.

4. If there are no-discharge areas on the rear, left and right sides of the harvester, the rice straw is stored there.

2. The computer program according to claim 1, which causes a computer to execute a process.

5. The harvester includes a tank for storing the rice straw, After determining to store the rice straw, if the rice straw stored in the tank is equal to or greater than a first predetermined amount indicating fullness, the harvester stops harvesting the rice straw, moves to the discharge permission area that is the shortest distance from the harvester, discharges the rice straw into the discharge permission area, returns to the position where harvesting of the rice straw was stopped, and resumes harvesting of the rice straw.

5. A computer program according to claim 4, which causes a computer to execute a process.

6. The harvester includes a tank for storing the rice straw, After determining to store the rice straw, the rice straw is stored in the tank less than a first predetermined amount indicating fullness, the harvester moves from the discharge prohibited area to the discharge permitted area, and if the discharge permitted area is located behind, to the left, or to the right of the harvester, the rice straw is discharged into the discharge permitted area.

5. A computer program according to claim 4, which causes a computer to execute a process.

7. The harvester includes a discharge unit that discharges the rice straw stored in the tank, When the amount of rice straw less than the first predetermined amount is less than a second predetermined amount that is smaller than the first predetermined amount and the harvester moves from one end of the discharge-permitted area to the other end, the harvester continues reaping the rice straw, and when the discharge unit reaches the one end, starts discharging the rice straw.

7. A computer program according to claim 6, which causes a computer to execute a process.

8. The harvester includes a discharge unit that discharges the rice straw stored in the tank, When the amount of rice straw less than the first predetermined amount is equal to or greater than a second predetermined amount that is smaller than the first predetermined amount and the harvester moves from one end of the discharge-permitted area to the other end, the harvester stops when it has moved a predetermined distance from the one end, discharges the rice straw, and resumes harvesting after discharge is complete.

7. A computer program according to claim 6, which causes a computer to execute a process.

9. The predetermined distance is half the total length of the harvester.

9. A computer program according to claim 8.

10. The harvester includes a tank for storing the rice straw, When the rice straw is stored in the tank at a first predetermined amount or more, which indicates that the tank is full, the rice straw is discharged into the discharge prohibited area.

5. A computer program according to claim 4, which causes a computer to execute a process.

11. Measure the amount of rice straw discharged per unit area; If the measured discharge amount is equal to or greater than a predetermined threshold, the discharge of the rice straw is stopped.

11. A computer program according to claim 1, which causes a computer to execute a process.

12. The area where the rice straw exceeding the threshold is discharged is changed to the discharge prohibition area.

12. A computer program product according to claim 11, which causes a computer to carry out a process.

13. measuring the amount of rice straw discharged into the discharge permitted area; When the measured discharge amount is equal to or greater than a predetermined threshold, the discharge of the rice straw is stopped; The discharge permitted area in which the rice straw equal to or greater than the threshold is discharged is changed to a discharge prohibited area; Move to the discharge permitted area that is the shortest distance from the harvester and resume discharging the rice straw.

6. A computer program according to claim 5, which causes a computer to execute a process.

14. The amount of the rice straw stored in the tank is estimated based on the travel distance of the harvester.

11. A computer program according to claim 5, which causes a computer to execute a process.

15. creating a map of the field based on the acquired position of the harvester; Display the created map, The discharge permitted area and the discharge prohibited area are displayed on the map in a distinguishable manner.

11. A computer program according to claim 1, which causes a computer to execute a process.

16. creating a map of the field based on the acquired position of the harvester; When the rice straw is discharged into the discharge prohibited area, the location is acquired and registered on the map.

11. A computer program product according to claim 10, which causes a computer to execute a process.

17. Displaying the map and displaying the registered location on the map 17. A computer program according to claim 16.

18. The amount of rice straw discharged into the discharge prohibition area is stored in association with the location registered on the map.

17. A computer program product according to claim 16, which causes a computer to carry out a process.

19. The stored amount of rice straw is displayed at the registered position.

20. A computer program product according to claim 18, which causes a computer to carry out a process.

20. Obtaining the moisture content of each area of ​​the field; The discharge prohibition area is set based on the obtained moisture amount.

11. A computer program according to claim 1, which causes a computer to execute a process.

21. Acquire a travel route of the harvester; The discharge prohibition area is set based on the acquired driving route.

11. A computer program according to claim 1, which causes a computer to execute a process.

22. creating a rice straw amount map showing the distribution of the rice straw amount in the field based on the acquired positions of the harvesters and the discharged rice straw amounts; When the rice straw is discharged from the harvester, the rice straw amount map is updated.

11. A computer program according to claim 1, which causes a computer to execute a process.

23. The discharge prohibition area is set based on the rice straw amount map.

23. A computer program product according to claim 22, which causes a computer to carry out a process.

24. Obtain the rice straw discharge permitted area or discharge prohibited area set in the field where the harvester travels, obtaining a location of the harvester; Based on the acquired position of the harvester and the discharge permitted area or the discharge prohibited area, a decision is made as to whether to discharge or store the harvested rice straw. A control device for the harvester that executes the process.

25. Obtain the rice straw discharge permitted area or discharge prohibited area set in the field where the harvester travels, obtaining a location of the harvester; Based on the acquired position of the harvester and the discharge permitted area or the discharge prohibited area, a decision is made as to whether to discharge or store the harvested rice straw. The method for controlling the harvester.

Images