Work vehicles

Abstract

This invention provides a combine harvester that automatically selects a turning method based on the combine's turning position, thereby shortening the turning time and improving the efficiency of grain harvesting. [Solution] The controller (30) automatically drives the traveling device (2) along a rectangular travel path (41) that circles counterclockwise, sets the traveling device (2) to a turning position (A to D) where it will stop, and determines whether there is space to turn the combine 90 degrees in front of and to the right of the combine at the turning position (A to D). If it determines that there is space, it turns the combine 90 degrees and resumes automatic driving.

Description

Technical Field

[0001] The present invention relates to a work vehicle that automatically travels in a field.

Background Art

[0002] Patent Document 1 discloses a technique for automatically performing a corner cutting turn in which, in order to harvest cereal straws planted at the corner of a field, after raising a cutting device, reversing and stopping a combine, lowering the cutting device, advancing the combine, and turning it at a predetermined angle.

[0003] Patent Document 2 discloses a technique for repeatedly performing a corner cutting turn in which, in order to prevent a combine from crushing cereal straws planted at the corner of a field, after raising a cutting device, reversing and stopping the combine, lowering the cutting device, advancing the combine, and turning it at a predetermined angle.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0005] However, it has been pointed out that the techniques disclosed in Patent Documents 1 and 2 have a problem that the turning time of the combine becomes long and the harvesting work efficiency of cereal straws becomes low.

[0006] Therefore, an object of the present invention is to provide a combine that can automatically select a cutting travel route at the turning position of the combine, reduce the operation burden of an operator, shorten the turning time of the combine, and improve the harvesting work efficiency of cereal straws.

Means for Solving the Problems

[0007] The present invention, which solves the above problems, is as follows.

[0008] In other words, the invention described in claim 1 is a combine harvester having a traveling device (2) for traveling in a field on the lower side of a machine frame (1), and a harvesting device (3) for harvesting grain stalks on the front side of the machine frame (1), wherein the harvesting device (3) is provided with a grain stalk sensor (3A) for detecting grain stalks in front, the controller (30) of the combine harvester causes the traveling device (2) to travel along a rectangular travel path (41) that circles in a counterclockwise direction, the controller (30) sets a turning position (A to D) to stop the travel of the traveling device (2), determines whether there is space to turn the combine harvester 90 degrees on the front and right sides of the combine harvester at the turning position (A to D), and if it determines that there is space, turns the combine harvester 90 degrees and resumes automatic travel.

[0009] The invention described in claim 2 is a combine harvester according to claim 1, which sets the position information of the turning positions (A to D) for the next turning period based on the position information of the turning positions (A to D) for the current turning period and the cutting width (w) of the harvesting device (3).

[0010] The invention described in claim 3 is a combine harvester according to claim 1, characterized in that the travel path of the combine harvester is set based on the position information of the turning positions (A to D) for the current lap, the position information of the next turning position (A to D) to be moved to, and the turning radius (R).

[0011] The invention described in claim 4 is a combine harvester according to claim 1, characterized in that when the signal input from the grain stalk sensor 3A changes from ON to OFF and the controller (30) no longer detects grain stalks, it sets the controller (30) to a turning position (A to D) that stops the travel of the travel device (2), and activates the brake 36 to stop the automatic travel of the combine harvester. [Effects of the Invention]

[0012] According to the invention described in claim 1, the combine harvester controller (30) automatically moves the traveling device (2) along a rectangular travel path (41) that circles counterclockwise, sets the traveling device (2) to a turning position (A to D) where it stops moving, and determines whether there is space to turn the combine harvester 90 degrees to the front and right of the combine harvester at the turning position (A to D). If it determines that there is space, it turns the combine harvester 90 degrees and resumes automatic movement, thereby reducing the operator's burden, shortening the turn time of the combine harvester, and improving the efficiency of harvesting grain.

[0013] According to the invention described in claim 2, in addition to the effects of the invention described in claim 1, the position information for the next rotation position (A to D) is set based on the position information for the current rotation position (A to D) and the cutting width (w) of the cutting device (3), so that the operator can perform long-side cutting without any operation.

[0014] According to the invention described in claim 3, in addition to the effects of the invention described in claim 1, the travel path of the combine harvester is set based on the position information of the current turning position (A to D), the position information of the next turning position (A to D) to be moved to, and the turning radius (R). Therefore, the operator can perform long-side mowing without having to operate the combine harvester to move to the next point.

[0015] According to the invention described in claim 4, when the signal input from the grain stalk sensor 3A changes from ON to OFF and the controller (30) no longer detects grain stalks, it sets the travel device (2) to a turning position (A to D) that stops its movement and activates the brake 36 to stop the combine's automatic movement. This improves the accuracy of the combine's turning position and enhances work efficiency. [Brief explanation of the drawing]

[0016] [Figure 1] This is a left side view of a combine harvester. [Figure 2] This is a plan view of a combine harvester. [Figure 3]It is a connection diagram of a positioning unit. [Figure 4] It is a connection diagram of a controller. [Figure 5] It is an explanatory diagram of a mowing operation in the strip and horizontal modes. [Figure 6] It is an explanatory diagram of a corner mowing turn. [Figure 7] It is an explanatory diagram of an α turn. [Figure 8] It is a flowchart of the automatic driving of the first embodiment. [Figure 9] It is an explanatory diagram of the automatic driving of the same embodiment. [Figure 10] It is a flowchart of the automatic driving of the second embodiment. [Figure 11] It is an explanatory diagram of the automatic driving of the same embodiment. [Figure 12] It is a flowchart of the automatic driving of the third embodiment. [Figure 13] It is an explanatory diagram of the automatic driving of the same embodiment. [Figure 14] It is a flowchart of the automatic driving of the fourth embodiment. [Figure 15] It is an explanatory diagram of the automatic driving of the same embodiment. [[ID=3?]] [Figure 16] It is an explanatory diagram of the automatic driving of the same embodiment.

Mode for Carrying Out the Invention

[0017] As shown in FIGS. 1 and 2, the combine harvester is provided with a traveling device 2 composed of a pair of left and right crawlers that travel on the soil surface below the machine body frame 1, a mowing device 3 for mowing the cereal straws in the field is provided on the front side of the machine body frame 1, a threshing device 4 for threshing and sorting the mowed cereal straws is provided on the left rear side of the mowing device 3, and an operator's cab 5 for the operator to board is provided on the right rear side of the mowing device 3.

[0018] Below the control unit 5 is an engine room 6 where the engine is mounted, and behind the control unit 5 is a grain tank 7 for storing threshed and sorted grain. Behind the grain tank 7 is a discharge auger 8 consisting of a vertically extending grain lifting section and a horizontally extending front-to-back discharge section for discharging the grain to the outside.

[0019] A touch-panel monitor 11 that displays the travel speed of the travel device 2 is provided in the center of the front panel in front of the cockpit of the control unit 5, and an operating lever 12 for operating the turning of the travel device 2 and the raising and lowering of the harvesting device 3 is provided to the right of the monitor 11.

[0020] Between the monitor 11 and the operating lever 12, there is a straight-line assist switch 13 that automatically moves the combine along the travel path 41, which will be described later. Pressing the straight-line assist switch 13 starts the straight-line assist function, and the straight-line assist function is deactivated when the operator moves the operating lever 12 far to the left or right. The straight-line assist function is a function in which the controller 30 automatically moves the combine in a straight line based on the position information received by the position information device 34.

[0021] A gear shift lever 16 for increasing or decreasing the speed of the travel device 2 is provided on the front of the left side panel of the cockpit of the control unit 5, and an inertial measuring device 17 is provided behind the gear shift lever 16. This allows for the measurement of the yawing angle, rolling angle, and pitching angle of the aircraft frame 1.

[0022] As shown in Figure 3, the positioning unit 20, which uses the RTK-GPS positioning method or differential positioning method, is formed from multiple positioning satellites 21A to 21D, a base station 22 located at a known location, and a mobile station 26 installed on the combine harvester. As a result, positioning signals transmitted from the multiple positioning satellites 21A to 21D are received and positioned by GNSS receivers installed on the base station 22 and the mobile station 26, and the mobile station 26 can accurately obtain the combine harvester's driving position by performing high-precision positioning using correction signals from the base station 22. The positioning satellites 21A to 21D are collectively referred to as positioning satellites 21.

[0023] The base station 22 consists of a fixed communication device 23, a fixed GPS antenna 24 that receives position information from positioning satellites 21, and a fixed data transmission antenna 25 that transmits correction position information to the mobile station 26.

[0024] The mobile station 26 is comprised of a mobile communication device 27, a mobile GPS antenna 28 that receives position information from positioning satellites 21, and a mobile data receiving antenna 29 that receives correction position information from base station 22. The GPS antenna 28 is preferably positioned at the center of the combine harvester in both the front-to-back and left-to-right directions.

[0025] <Controller> As shown in Figure 4, the combine harvester's controller 30 is composed of a processing unit 31 consisting of a CPU and the like, a storage unit 32 consisting of ROM, RAM, a hard disk drive, flash memory, and the like, and a communication unit 33 for data communication with the outside.

[0026] The processing unit 31 sets the travel path 41 based on a reference line 45 that serves as a reference for straight-line travel, drives the autopilot 35 to automatically move the combine along the travel path 41, and selects a turning method for the combine based on the space in front of and to the right of the combine's direction of travel.

[0027] The memory unit 32 stores positional information, orientation, and coordinates of the rotation position A1 that constitute the reference line 45.

[0028] The input side of the controller 30 is connected via a predetermined input interface circuit to a grain stalk sensor 3A that detects the presence or absence of grain stalks in front of the harvesting device 3, a first reference point switch 11A that sets the first reference point 45A of the reference line 45, a second reference point switch 11B that sets the second reference point 45B of the reference line 45, a mode switching switch 11C that selects the work mode of the combine harvester, a straight-line assist switch 13 that makes the combine harvester move automatically, a GPS antenna 28 that receives position information from positioning satellites 21, and a data receiving antenna 29 that receives correction position information from base station 22. Switches 11A to 11C are displayed on the monitor screen of monitor 11, and the GPS antenna 28 and data receiving antenna 29 are collectively referred to as the position information device 34.

[0029] On the output side of the controller 30, an automatic steering device 35 that automatically drives the combine along the travel path 41, etc., and a brake 36 that stops the travel of the travel device 2 are connected via a predetermined output interface circuit.

[0030] As shown in Figure 5, the row / horizontal mode selected by the mode selector switch 11C is a method of harvesting the grain stalks in the field 40 while rotating the combine harvester in a counterclockwise rectangular pattern. The mode selector switch 11C can also be used to select a reciprocating mode, used for back-and-forth harvesting or splitting of grain stalks, or a unidirectional mode, used for lodging and unidirectional harvesting of grain stalks.

[0031] The travel path 41 for automatically driving the combine harvester in row / horizontal mode is formed from a first travel path 41A that is parallel to the orientation of a reference line 45, which will be described later and extends in the left-right direction and serves as the reference for the travel path 41, a second travel path 41B that extends downward from the end of the first travel path 41A perpendicular to the orientation of the first travel path 41A, a third travel path 41C that extends to the right from the end of the second travel path 41B parallel to the orientation of the first travel path 41A, and a fourth travel path 41D that extends upward from the end of the third travel path 41C perpendicular to the orientation of the first travel path 41A.

[0032] Inside the travel path 41, a travel path 41 is formed according to the number of laps G predetermined by the operator. For example, if the number of laps G is set to 2, the end of the fourth travel path 41D forms the first travel path 41A of the second lap parallel to the first travel path 41A of the first lap, the end of the first travel path 41A of the second lap forms the second travel path 41B of the second lap parallel to the second travel path 42B of the first lap, the end of the second travel path 41B of the second lap forms the third travel path 41C of the second lap parallel to the third travel path 41C of the first lap, and the end of the third travel path 41C of the second lap forms the fourth travel path 41D of the second lap. The distance between the first travel path 41A of the first lap and the first travel path 41A of the second lap, etc., is set to the cutting width w of the harvesting device 3. This helps to prevent leaving grain stalks unharvested.

[0033] The worker who brings the combine harvester into the field 40 sets a reference line 45 that serves as the basis for the first travel path 41A. The reference line 45 is a straight line passing through a first reference point 45A located near the entrance 40A and a second reference point 45B located to the left of the first reference point 45A, which is the direction of travel for the combine harvester.

[0034] The first reference point 45A can be set by the operator pressing the first reference point switch 11A displayed on the monitor 11. When the first reference point switch 11A is pressed, the processing unit 31 sets the travel position of the combine harvester, as received by the position information device 34, as the first reference point 45A.

[0035] The second reference point 45B can be set by the operator pressing the second reference point switch 11B displayed on the monitor 11. When the second reference point switch 11B is pressed, the processing unit 31 sets the travel position of the combine harvester, as received by the position information device 34, as the second reference point 45B.

[0036] The processing unit 31 stores the orientation of the first reference point 45A, the second reference point 45B, and the reference line 45 passing through the first reference point 45A and the second reference point 45B in the storage unit 32.

[0037] The combine harvester's automatic movement can be started by the operator pressing the straight-line assist switch 13. When the straight-line assist switch 13 is pressed, the processing unit 31 sets the first travel path 41A for the first lap, which extends to the left parallel to the direction of the reference line 45 from the second reference point B, and then drives the automatic steering device 35 to start the combine harvester's automatic movement. This relieves the operator of the task of steering the combine harvester, thereby reducing their workload.

[0038] If the signal input from the grain stalk sensor 3A is ON, that is, the grain stalk sensor 3A detects grain stalks in front of the harvesting device 3, the processing unit 31 continues to drive the automatic steering device 35 to make the combine automatically travel along the first travel path 41A for the first lap. If the signal input from the grain stalk sensor 3A is OFF, that is, the grain stalk sensor 3A does not detect grain stalks in front of the harvesting device 3, the brake 36 is activated to stop the combine's automatic travel. For ease of understanding, the end of the first travel path 41A for the first lap where the combine stops its automatic travel is called the turning position A1.

[0039] At turning position A1, the processing unit 31 determines whether there is space to turn the combine harvester α to the front and right of the direction of travel. If it determines that there is no space, it turns the combine harvester along a pre-set corner cutting path, turning the direction of travel of the combine harvester 90 degrees counterclockwise. If it determines that there is space, it turns the combine harvester α along a pre-set α path, turning the direction of travel of the combine harvester 90 degrees counterclockwise.

[0040] Next, the processing unit 31 sets a second travel path 41B that extends downward perpendicular to the direction of the first travel path 41A for the first lap from the turning position A1, and then drives the autopilot device 35 to start the combine harvester's automatic movement. This frees the operator from the task of driving and turning the combine harvester, thereby reducing the workload.

[0041] Next, if the signal input from the grain stalk sensor 3A is ON, the processing unit 31 continues to drive the automatic steering device 35 to make the combine automatically travel along the second travel path 41B. If the signal input from the grain stalk sensor 3A is OFF, that is, if the grain stalk sensor 3A does not detect grain stalks in front of the harvesting device 3, the brake 36 is activated to stop the combine's automatic travel. For ease of understanding, the end of the second travel path 41B on the first lap when the combine stops its automatic travel is called the turning position B1.

[0042] At turning position B1, the processing unit 31 determines whether there is space to turn the combine harvester α to the front and right of the combine harvester's direction of travel. If it determines that there is no space, it turns the combine harvester along a pre-set corner cutting path, turning the direction of travel of the combine harvester 90 degrees counterclockwise. If it determines that there is space, it turns the combine harvester α along a pre-set α path, turning the direction of travel of the combine harvester 90 degrees counterclockwise.

[0043] Next, the processing unit 31 sets a third travel path 41C that extends to the right parallel to the direction of the first travel path 41A for the first lap from the turning position B1, and then drives the autopilot device 35 to start the combine harvester's automatic movement. This frees the operator from the task of driving and turning the combine harvester, thereby reducing the workload.

[0044] Next, if the signal input from the grain stalk sensor 3A is ON, the processing unit 31 continues to drive the automatic steering device 35 to make the combine automatically travel along the third travel path 41C. If the signal input from the grain stalk sensor 3A is OFF, that is, if the grain stalk sensor 3A does not detect grain stalks in front of the harvesting device 3, the brake 36 is activated to stop the combine's automatic travel. For ease of understanding, the end of the third travel path 41C on the first lap when the combine stops its automatic travel is called the turning position C1.

[0045] At the turning position C1, the processing unit 31 determines whether there is space to turn the combine harvester α to the front and right of the direction of travel. If it determines that there is no space, it turns the combine harvester along a pre-set corner cutting path, turning the direction of travel of the combine harvester 90 degrees counterclockwise. If it determines that there is space, it turns the combine harvester α along a pre-set α path, turning the direction of travel of the combine harvester 90 degrees counterclockwise.

[0046] Next, the processing unit 31 sets a fourth travel path 41D that extends upward perpendicular to the direction of the first travel path 41A for the first lap from the turning position C1, and then drives the autopilot device 35 to start the combine harvester's automatic movement. This frees the operator from the task of driving and turning the combine harvester, thereby reducing the workload.

[0047] Next, if the signal input from the grain stalk sensor 3A is ON, the processing unit 31 continues to drive the automatic steering device 35 to make the combine automatically travel along the fourth travel path 41D. If the signal input from the grain stalk sensor 3A is OFF, that is, if the grain stalk sensor 3A does not detect grain stalks in front of the harvesting device 3, the brake 36 is activated to stop the combine's automatic travel. For ease of understanding, the end of the fourth travel path 41D on the first lap when the combine stops its automatic travel is called the turning position D1.

[0048] At the turning position D1, the processing unit 31 determines whether there is space to turn the combine harvester α to the front and right of the direction of travel. If it determines that there is no space, it turns the combine harvester along a pre-set corner cutting path, turning the direction of travel of the combine harvester 90 degrees counterclockwise. If it determines that there is space, it turns the combine harvester α along a pre-set α path, turning the direction of travel of the combine harvester 90 degrees counterclockwise.

[0049] Next, the processing unit 31 sets the first travel path 41A for the second lap, which extends to the left parallel to the direction of the first travel path 41A for the first lap from the turning position D1, and then drives the autopilot device 35 to start the combine harvester's automatic movement. This frees the operator from the task of driving and turning the combine harvester, thereby reducing the workload.

[0050] Next, if the signal input from the grain stalk sensor 3A is ON, the processing unit 31 continues to drive the automatic steering device 35 to make the combine automatically travel along the first travel path 41A for the second lap. If the signal input from the grain stalk sensor 3A is OFF, that is, if the grain stalk sensor 3A does not detect grain stalks in front of the harvesting device 3, the brake 36 is activated to stop the combine's automatic travel. For ease of understanding, the end of the first travel path 41A for the second lap where the combine stops its automatic travel is called the turning position A2.

[0051] At turning positions A2 to D2, the processing unit 31 performs the same processing as at turning positions A1 to D1. At turning position A2, the processing unit 31 sets the second travel path 41B for the second lap, which extends downward from turning position A2 perpendicular to the direction of the first travel path 41A for the first lap; at turning position B2, it sets the third travel path 41C for the second lap, which extends to the right parallel to the direction of the first travel path 41A for the first lap; at turning position C2, it sets the fourth travel path 41D for the second lap, which extends upward from turning position C2 perpendicular to the direction of the first travel path 41A for the first lap; and at turning position D2, it activates the brake 36 to stop the combine's automatic movement.

[0052] Furthermore, at the turning position D2, the processing unit 31 can set the first travel path 41A for the third lap, which extends to the left parallel to the direction of the first travel path 41A for the first lap from the turning position D2.

[0053] <Corner trimming turn> As shown in Figure 6, if the cutting width w of the harvesting device 3 is on the right side in the direction of travel of the combine harvester, the combine harvester can be made to perform a corner harvesting turn. Note that in Figure 6, the width of the combine harvester in the left-right direction is shown as being the same width as the cutting width w of the harvesting device 3.

[0054] The processing unit 31 drives the automatic steering device 35 to activate the brake 36 and stop the combine's automatic movement from position P1 to position P2 by moving the combine in reverse along the travel path 41. The processing unit 31 stops the drive of the harvesting device 3 while the combine is moving from position P1 to position P2.

[0055] Next, the processing unit 31 drives the automatic steering device 35 to move the combine harvester forward in a straight line to the left from position P2, to position P3 where the right end of the harvesting device 3 extends one row to the right of the unharvested grain area 42. The processing unit 31 keeps the harvesting device 3 running while the combine harvester moves from position P2 to position P3.

[0056] Next, the processing unit 31 drives the automatic steering device 35 to move the combine harvester in a straight line backward to the right from position P3 to position P2. The processing unit 31 stops the drive of the harvesting device 3 while the combine harvester is moving from position P3 to position P2.

[0057] Next, the processing unit 31 drives the automatic steering device 35 to move the combine harvester forward in a straight line to the left from position P2, so that the right end of the harvesting device 3 moves to position P4, which extends one row to the right into the harvested area 43 harvested by the combine harvester at position P2. The processing unit 31 keeps the harvesting device 3 driven while the combine harvester moves from position P2 to position P4.

[0058] Next, the processing unit 31 drives the automatic steering device 35 to move the combine harvester in a straight line backward to the right from position P4 to position P2. The processing unit 31 stops the drive of the harvesting device 3 while the combine harvester is moving from position P4 to position P2.

[0059] Next, the processing unit 31 drives the automatic steering device 35 to move the combine harvester forward from position P2 along the travel path 41 to position P5. The processing unit 31 stops the drive of the harvesting device 3 while the combine harvester is moving from position P2 to position P5.

[0060] Next, the processing unit 31 drives the automatic steering device 35 to rotate the combine harvester 90 degrees counterclockwise in an arc with the minimum turning radius R from position P5 to position P6. The processing unit 31 also drives the harvesting device 3 while the combine harvester is moving from position P5 to position P6. This further prevents the travel device 2 from trampling over the grain stalks planted on the right side of the unharvested grain stalk area 42, and also further prevents harvest loss of grain stalks.

[0061] <α rotation> As shown in Figure 7, if there is a rectangular space with a vertical length a calculated by Equation 1 in front of the combine's direction of travel (above the unharvested grain area 42) and a rectangular space with a horizontal length b calculated by Equation 2 in the direction of travel to the right of the combine's direction of travel (to the right of the unharvested grain area 42), the combine can be turned α. Note that in Figure 7, the horizontal width of the combine is shown as being the same width as the cutting width w of the harvesting device 3. Equation 1

[0062] JPEG2026091634000002.jpg2566

[0063] Note that l is the longitudinal length of the combine harvester, w is the cutting width of the harvesting device 3, and R is the minimum turning radius of the combine harvester. Equation 2

[0064] JPEG2026091634000003.jpg1994

[0065] Note that l is the length of the combine harvester in the front-to-back direction, w is the cutting width of the harvesting device 3, and R is the minimum turning radius of the combine harvester.

[0066] The processing unit 31 drives the automatic steering device 35 to activate the brake 36 and stop the combine's automatic movement from position Q1, moving the combine forward along the travel path 41 to position Q2 on a virtual line 44A that extends horizontally across the upper part of the unharvested grain area 42. The processing unit 31 stops the drive of the harvesting device 3 when the combine moves from position Q1 to position Q2.

[0067] Next, the processing unit 31 drives the automatic steering device 35 to rotate the combine harvester 45 degrees counterclockwise in an arc with the minimum turning radius R from position Q2, moving the center of the combine harvester to position Q3 on a virtual line 44B that extends vertically above the unharvested grain area 42. The processing unit 31 stops driving the harvesting device 3 while the combine harvester moves from position Q2 to position Q3.

[0068] Next, the processing unit 31 drives the automatic steering device 35 to move the combine harvester backward to the right from position Q3 to position Q4. The processing unit 31 stops driving the harvesting device 3 while the combine harvester is moving from position Q3 to position Q4.

[0069] Next, the processing unit 31 drives the automatic steering device 35 to rotate the combine harvester 45 degrees counterclockwise in an arc with the minimum turning radius R from position Q4, so that the front-to-back direction of the combine harvester is parallel to the virtual line 44A, and the right side of the harvesting device 3 is moved to position Q5 on the virtual line 44A. The processing unit 31 stops driving the harvesting device 3 when the combine harvester moves from position Q4 to position Q5. This relieves the worker of the task of driving and turning the combine harvester, thus reducing the workload. In addition, since α turning can be done more quickly than corner turning, it can also shorten working time.

[0070] <Automated driving in the first embodiment> As shown in Figures 8 and 9, in step S10 the operator sets the work mode and the final number of laps, and the processing unit 31 of the controller 30 reads the initial values ​​of the number of turns F and the number of laps G stored in the memory unit 32, as well as the specifications of the combine harvester to be operated automatically, such as the length in the front-to-back direction l, the minimum turning radius R, and the cutting width w of the harvesting device 3, and proceeds to step S20. In this embodiment, the operator sets the work mode to row / cross mode and the final number of laps to 3. As a result, the work mode is set to row / cross mode.

[0071] In step S20, the processing unit 31 sets a reference line 45 and a first travel path 41A based on the reference line 45. After the straight assist switch 13 is pressed, the combine harvester is automatically driven along the first travel path 41A, and the process proceeds to step S30. This initiates the automatic driving of the combine harvester, freeing the operator from the task of driving and steering the combine harvester and reducing their workload.

[0072] In step S30, the processing unit 31 determines whether the grain stalk sensor 3A has detected a grain stalk and whether the signal input from the grain stalk sensor 3A is ON. If the signal input from the grain stalk sensor 3A is ON (YES), step S30 is repeated; if the signal input from the grain stalk sensor 3A is OFF (NO), the process proceeds to step S40.

[0073] In step S40, the processing unit 31 activates the brake 36 to stop the movement of the travel device 2, and releases the clutch connection in the transmission path between the engine and the harvesting device 3 to stop the drive of the harvesting device 3, and proceeds to step S50.

[0074] In step S50, the processing unit 31 determines whether there is space to rotate the combine harvester α to the front and right of the combine harvester's direction of travel. If there is space to rotate the combine harvester α (YES), the process proceeds to step S60; if there is no space to rotate the combine harvester α (NO), the process proceeds to step S70.

[0075] In step S60, the processing unit 31 stops the operation of the brake 36 at the turning position A1, reads the α-turn movement path shown in Figure 7 stored in the memory unit 32, turns the combine harvester by α, and proceeds to step S80. This allows the combine harvester to turn quickly, thereby shortening the working time.

[0076] In step S70, the processing unit 31 stops the operation of the brake 36 at the turning position A1, reads the corner-cutting turning path shown in Figure 6 stored in the memory unit 32, and makes the combine perform a corner-cutting turning before proceeding to step S80. This prevents the combine from trampling over uncut grain stalks during turning.

[0077] In step S80, the processing unit 31 adds 1 to the number of turns F, sets the second travel path 41B etc. at the turning position A1, and proceeds to step S90. Note that (A1X, A1Y) in turning position A1(A1X, A1Y) in Figure 9 represents the coordinates of turning position A1.

[0078] If the remainder when the number of turns F is divided by 4 is 1, the second travel path 41B for the 1st to 3rd laps is set at turning positions A1 to A3; if the remainder is 2, the third travel path 41C for the 1st to 3rd laps is set at turning positions B1 to B3; if the remainder is 3, the fourth travel path 41D for the 1st to 3rd laps is set at turning positions C1 to C3; and if the remainder is 0, the second travel path 41B for the 1st and 2nd laps is set at turning positions D1 and D2.

[0079] In step S90, the processing unit 31 determines whether the number of turns F is a multiple of 4.

[0080] If the remainder when the number of turns F is divided by 4 is 0 (YES), proceed to step S100; if the remainder when the number of turns F is divided by 4 is 1, 2, or 3 (NO), return to step S30.

[0081] In step S100, the processing unit 31 adds 1 to the number of laps G and proceeds to step S110.

[0082] In step S110, the processing unit 31 determines whether the lap count G has reached the final lap count. If the lap count G exceeds the final lap count (YES), automatic driving is stopped; if the lap count G is less than or equal to the final lap count (NO), the process returns to step S30.

[0083] <Automatic driving in the second embodiment> As shown in Figures 10 and 11, in step S10 the operator sets the work mode and the final number of laps, and the processing unit 31 of the controller 30 reads the initial values ​​of the number of turns F and the number of laps G stored in the memory unit 32, as well as the specifications of the combine harvester to be operated automatically, such as the length l in the front-to-back direction, the minimum turning radius R, and the cutting width w of the harvesting device 3, and proceeds to step S20. In this embodiment, the operator sets the work mode to row / cross mode and the final number of laps to 3. As a result, the work mode is set to row / cross mode.

[0084] In step S20, the processing unit 31 sets a reference line 45 and a first travel path 41A based on the reference line 45. After the straight assist switch 13 is pressed, the combine harvester is automatically driven along the first travel path 41A, and the process proceeds to step S30. This initiates the automatic driving of the combine harvester, freeing the operator from the task of driving and steering the combine harvester and reducing their workload.

[0085] In step S30, the processing unit 31 determines whether the grain stalk sensor 3A has detected a grain stalk and whether the signal input from the grain stalk sensor 3A is ON. If the signal input from the grain stalk sensor 3A is ON (YES), step S30 is repeated; if the signal input from the grain stalk sensor 3A is OFF (NO), the process proceeds to step S31.

[0086] In step S31, the processing unit 31 determines whether the number of laps G is 1 or not. If the number of laps G is 1 (YES), the process proceeds to step S40. If the number of laps G is 2 or more, i.e., a turning position A2 or the like is set (NO), the process proceeds to step S45.

[0087] In step S40, the processing unit 31 activates the brake 36 to stop the movement of the travel device 2, and releases the clutch connection in the transmission path between the engine and the harvesting device 3 to stop the drive of the harvesting device 3, and proceeds to step S41.

[0088] In step S41, the processing unit 31 reads the coordinates (A1X, A1Y) of the turning position A1, which is the actual stopping position of the combine harvester, received by the position information device 34, stores them in the storage unit 32, and proceeds to step S42.

[0089] In step S42, the processing unit 31 sets the coordinates of turning position A2 (A2X, A2Y), etc., calculated based on the coordinates of turning position A1 (A1X, A1Y) and the cutting width w, saves them in the storage unit 32, and proceeds to step S50. This allows the coordinates of turning position A2 (A2X, A2Y) and turning position A3 (A3X, A3Y), etc., based on the coordinates of turning position A1 (A1X, A2Y) and the cutting width w at which the combine harvester actually stopped, enabling the intervals between the first, second, and third travel paths 41 to be set with high precision, thereby suppressing uncut grain stalks and reducing harvest losses.

[0090] As shown in Table 1, the memory unit 32 stores the number of laps G, the number of turns F, and the turning position A1, etc., in association with each other. In addition, calculation formulas are stored that calculate the coordinates A2X of turning position A2 as A2X = A1X + w and A2Y as A2Y = A1Y - w based on the coordinates (A1X, A1Y) of turning position A1 and the cutting width w, and the coordinates A3X of turning position A3 as A3X = A1X + 2w and A3Y as A3Y = A1Y - 2w.

[0091] ◎ [Table 1]

[0092] In step S45, the processing unit 31 determines whether the combine harvester has reached the turning position A2, etc. If the combine harvester has reached the turning position A2, etc. (YES), the process proceeds to step S46; if the combine harvester has not reached the turning position A2, etc. (NO), step S45 is repeated.

[0093] In step S46, the processing unit 31 activates the brake 36 to stop the movement of the travel device 2, and releases the clutch connection in the transmission path between the engine and the harvesting device 3 to stop the drive of the harvesting device 3, and proceeds to step S50.

[0094] In step S50, the processing unit 31 determines whether there is space to rotate the combine harvester α to the front and right of the combine harvester's direction of travel. If there is space to rotate the combine harvester α (YES), the process proceeds to step S60; if there is no space to rotate the combine harvester α (NO), the process proceeds to step S70.

[0095] In step S60, the processing unit 31 stops the operation of the brake 36 at the turning position A1, reads the α-turn movement path shown in Figure 7 stored in the memory unit 32, turns the combine harvester by α, and proceeds to step S80. This allows the combine harvester to turn quickly, thereby shortening the working time.

[0096] In step S70, the processing unit 31 stops the operation of the brake 36 at the turning position A1, reads the corner-cutting turning path shown in Figure 6 stored in the memory unit 32, and makes the combine perform a corner-cutting turning before proceeding to step S80. This prevents the combine from trampling over uncut grain stalks during turning.

[0097] In step S80, the processing unit 31 adds 1 to the number of turns F, sets the second travel path 41B etc. at the turning position A1, and proceeds to step S90. Note that (A1X, A1Y) in turning position A1(A1X, A1Y) in Figure 11 represents the coordinates of turning position A1.

[0098] If the remainder when the number of turns F is divided by 4 is 1, the second travel path 41B for the 1st to 3rd laps is set at turning positions A1 to A3; if the remainder is 2, the third travel path 41C for the 1st to 3rd laps is set at turning positions B1 to B3; if the remainder is 3, the fourth travel path 41D for the 1st to 3rd laps is set at turning positions C1 to C3; and if the remainder is 0, the second travel path 41B for the 1st and 2nd laps is set at turning positions D1 and D2.

[0099] In step S90, the processing unit 31 determines whether the number of turns F is a multiple of 4.

[0100] If the remainder when the number of turns F is divided by 4 is 0 (YES), proceed to step S100; if the remainder when the number of turns F is divided by 4 is 1, 2, or 3 (NO), return to step S30.

[0101] In step S100, the processing unit 31 adds 1 to the number of laps G and proceeds to step S110.

[0102] In step S110, the processing unit 31 determines whether the lap count G has reached the final lap count. If the lap count G exceeds the final lap count (YES), automatic driving is stopped; if the lap count G is less than or equal to the final lap count (NO), the process returns to step S30.

[0103] <Automated driving in the third embodiment> As shown in Figures 12 and 13, in step S10 the operator sets the work mode and the final number of laps. The processing unit 31 of the controller 30 reads the initial values ​​of the number of turns F and the number of laps G stored in the memory unit 32, as well as the specifications of the combine harvester to be automatically operated, such as the length l in the front-to-back direction, the minimum turning radius R, and the cutting width w of the harvesting device 3, and proceeds to step S20. In this embodiment, the operator sets the work mode to row / cross mode and the final number of laps to 3. This sets the work mode to row / cross mode.

[0104] In step S20, the processing unit 31 sets a reference line 45 and a first travel path 41A based on the reference line 45. After the straight assist switch 13 is pressed, the combine harvester is automatically driven along the first travel path 41A, and the process proceeds to step S30. This initiates the automatic driving of the combine harvester, freeing the operator from the task of driving and steering the combine harvester and reducing their workload.

[0105] In step S30, the processing unit 31 determines whether the grain stalk sensor 3A has detected a grain stalk and whether the signal input from the grain stalk sensor 3A is ON. If the signal input from the grain stalk sensor 3A is ON (YES), step S30 is repeated; if the signal input from the grain stalk sensor 3A is OFF (NO), the process proceeds to step S32.

[0106] In step S32, the processing unit 31 determines whether or not a turning position for the next lap, for example, the turning position A2 for the second lap, has been set. If the turning position A2 for the second lap has not been set (YES), the process proceeds to step S40; if the turning position A2 for the second lap has been set (NO), the process proceeds to step S45.

[0107] In step S40, the processing unit 31 activates the brake 36 to stop the movement of the travel device 2, and releases the clutch connection in the transmission path between the engine and the harvesting device 3 to stop the drive of the harvesting device 3, and proceeds to step S41.

[0108] In step S41, the processing unit 31 reads the coordinates (A1X, A1Y) of the turning position A1, which is the actual stopping position of the combine harvester, received by the position information device 34, stores them in the storage unit 32, and proceeds to step S42.

[0109] In step S42, the processing unit 31 sets the coordinates of turning position A2 (A2X, A2Y), etc., calculated based on the coordinates of turning position A1 (A1X, A1Y) and the cutting width w, saves them in the storage unit 32, and proceeds to step S50. This allows the coordinates of turning position A2 (A2X, A2Y), etc., to be set based on the coordinates of turning position A1 (A1X, A2Y) where the combine actually stopped and the cutting width w, enabling the distance between the travel path 41 for the second lap and the travel path 41 for the third lap to be set with high precision, thereby suppressing uncut grain stalks and reducing harvest losses.

[0110] As shown in Table 2, the memory unit 32 stores the number of laps G, the number of turns F, and the turning position A1, etc., in association with each other. In addition, calculation formulas are stored that calculate the coordinates A2X of turning position A2 as A2X=A1X+w and A2Y as A2Y=A1Y-w based on the coordinates (A1X, A1Y) of turning position A1 and the cutting width w, and the coordinates A3X of turning position A3 as a2X=a2X+w and A3Y as A3Y=a2Y-w based on the coordinates (a2X, a2Y) of the actual turning position A2 where the combine harvester actually stopped and the cutting width w.

[0111] ◎ [Table 2]

[0112] In step S45, the processing unit 31 determines whether the combine harvester has reached the turning position A2, etc. If the combine harvester has reached the turning position A2, etc. (YES), the process proceeds to step S46; if the combine harvester has not reached the turning position A2, etc. (NO), step S45 is repeated.

[0113] In step S46, the processing unit 31 activates the brake 36 to stop the movement of the travel device 2, and releases the clutch connection in the transmission path between the engine and the harvesting device 3 to stop the drive of the harvesting device 3, and proceeds to step S47.

[0114] In step S47, the processing unit 31 reads the coordinates (a2X, a2Y) of the turning position A2, etc., where the combine harvester actually stopped, as received by the position information device 34 after reaching the turning position A2, and stores them in the storage unit 32 before proceeding to step S48.

[0115] In step S48, the processing unit 31 sets the coordinates (a2X, a2Y) of the turning position A2 where the combine actually stopped and the coordinates (A3X, A3Y) of the turning position A3 calculated based on the cutting width w, saves them in the storage unit 32, and proceeds to step S50. This allows the coordinates (A3X, A3Y) of the turning position A3 to be reset based on the coordinates (a2X, a2Y) of the turning position A2 where the combine actually stopped and the cutting width w, enabling a more accurate setting of the distance between the second and third rounds of the travel path 41, thereby suppressing uncut grain stalks and further reducing harvest losses.

[0116] In step S50, the processing unit 31 determines whether there is space to rotate the combine harvester α to the front and right of the combine harvester's direction of travel. If there is space to rotate the combine harvester α (YES), the process proceeds to step S60; if there is no space to rotate the combine harvester α (NO), the process proceeds to step S70.

[0117] In step S60, the processing unit 31 stops the operation of the brake 36 at the turning position A1, reads the α-turn movement path shown in Figure 7 stored in the memory unit 32, turns the combine harvester by α, and proceeds to step S80. This allows the combine harvester to turn quickly, thereby shortening the working time.

[0118] In step S70, the processing unit 31 stops the operation of the brake 36 at the turning position A1, reads the corner-cutting turning path shown in Figure 6 stored in the memory unit 32, and makes the combine perform a corner-cutting turning before proceeding to step S80. This prevents the combine from trampling over uncut grain stalks during turning.

[0119] In step S80, the processing unit 31 adds 1 to the number of turns F, sets the second travel path 41B etc. at the turning position A1, and proceeds to step S90. Note that (A1X, A1Y) in the turning position A1(A1X, A1Y) in Figure 13 represents the coordinates of the turning position A1.

[0120] If the remainder when the number of turns F is divided by 4 is 1, the second travel path 41B for the 1st to 3rd laps is set at turning positions A1 to A3; if the remainder is 2, the third travel path 41C for the 1st to 3rd laps is set at turning positions B1 to B3; if the remainder is 3, the fourth travel path 41D for the 1st to 3rd laps is set at turning positions C1 to C3; and if the remainder is 0, the second travel path 41B for the 1st and 2nd laps is set at turning positions D1 and D2.

[0121] In step S90, the processing unit 31 determines whether the number of turns F is a multiple of 4.

[0122] If the remainder when the number of turns F is divided by 4 is 0 (YES), proceed to step S100; if the remainder when the number of turns F is divided by 4 is 1, 2, or 3 (NO), return to step S30.

[0123] In step S100, the processing unit 31 adds 1 to the number of laps G and proceeds to step S110.

[0124] In step S110, the processing unit 31 determines whether the lap count G has reached the final lap count. If the lap count G exceeds the final lap count (YES), automatic driving is stopped; if the lap count G is less than or equal to the final lap count (NO), the process returns to step S30.

[0125] In the above embodiment, once the perimeter mowing is completed, the system may be configured to perform long-side mowing as well. As shown in Figure 15, an embodiment for which the combine harvester automatically travels while mowing the long sides in the order Dn→An+1→Bn+1→Cn+1→Dn+1→An+2→… will be described. The combine harvester will perform the harvesting work between A and B (numbers such as n are omitted) and between C and D (numbers such as n are omitted). In the following, it will be assumed that when the number of laps is 1, the position information of turning positions A to D is acquired, and each turning position such as An+1, Dn calculated in the above embodiment is stored in the storage unit 32. Furthermore, in the following, when the combine harvester's position information detects that it has passed through turning positions An to Dn stored in the storage unit 32 and has stopped, the processing unit 31 will determine that the combine harvester's position is at turning position Dn (where n is the number of laps).

[0126] <Automatic driving in the fourth embodiment> As shown in Figures 14 and 15, when the combine harvester is at the turning position Dn (where n is the number of laps) (step S201), the processing unit 31 determines whether there is enough space for the combine harvester to turn 90 degrees with a turning radius R (step S202). For example, it is possible to determine whether there is enough space for a 90-degree turn based on the number of laps n. When the number of laps is n, the harvested width T, which is the value obtained by multiplying n-1 by the cutting width w, indicates that there is harvested field space. Therefore, if the harvested width T is greater than the turning radius R, a 90-degree turn is possible. In addition to the number of laps n, if the harvested width T can be measured using a distance measuring sensor or image analysis, that measured value can be used.

[0127] Next, the processing unit 31 sets the outer perimeter travel path (step S203). Specifically, 1) when the distance L0 between turning position Dn and An shown in Figure 15 is more than twice the turning radius R, the processing unit 31 sets the path from position Dn (DnX, DnY) → position Z0 → position Z1 → position An+1 (An+1X, An+1Y), drives the automatic steering device 35 to turn 90 degrees with turning radius R and move to position Z0, and with the drive of the harvesting device 3 stopped, it travels straight from position Z0 to position Z1 and stops. At this time, An+1 (An+1X, An+1Y) is the position information already obtained when the above embodiments 1 to 3 were carried out. The distance between positions Z0 and Z1 is L0 - 2R. When the combine moves to position Z1 and stops, the processing unit 31 turns 90 degrees with turning radius R and moves the combine to position An+1 (An+1X, An+1Y). The processing unit 31 then stores the position information, which is moved to the left by a cutting width w relative to the direction of travel, as the turning position An+2 in the storage unit.

[0128] 2) When the distance L0 between turning position Dn and An is less than twice the turning radius R and greater than or equal to half the cutting width (0.5w), the path Dn (DnX, DnY) → Z0 → Z1 → An+1 (An+1X, An+1Y) is set, the automatic steering device 35 is driven to turn 90 degrees with turning radius R and move to position Z0, and the harvesting device 3 remains stopped and travels straight from position Z0 to position Z1 and stops. At this time, the movement from position Z0 to position Z1 is by traveling 2R-L0 in reverse from position Z0 to position Z1. When the combine moves to position Z1 and stops, the processing unit 31 turns 90 degrees with turning radius R and moves the combine to position An+1 (An+1X, An+1Y). The processing unit 31 then stores the position information, which has moved by the cutting width w to the left of the direction of travel, as turning position An+2 in the storage unit 32.

[0129] 3) When the distance L0 between the turning position Dn and An is less than a cutting width of 0.5w, there is no uncut area, and therefore this embodiment is terminated.

[0130] Next, the processing unit 31 determines whether the combine harvester has completed one full rotation around the rectangular field using the long side mowing method. Specifically, it determines if the current position of the combine harvester is at the turning position Dn+1 (step S204). If it is at position Dn+1, it means that one rotation has been completed, so it increments the rotation count G by 1 (step S205). If the position of the combine harvester is not at position Dn+1, it returns to step S201.

[0131] Next, when the combine harvester is at position An+1, the processing unit 31 drives the harvesting device 3 to automatically travel in a straight line to turning position Bn+1 (Bn+1X, Bn+1Y) based on the acquired reference line, and stops driving the harvesting device 3 (step S206). Note that turning position Bn+1 can also be replaced with position information where the grain stalk sensor 3A did not detect a grain stalk. At this time, the processing unit 31 stores the position information, which has moved to the left by a cutting width w relative to the direction of travel, as turning position Bn+2 in the storage unit 32.

[0132] When the combine harvester moves to the turning position Bn+1, the processing unit 31 performs steps S201 to S205 as described above, moving the combine harvester to the turning position Cn+1. Then, the processing unit 31 performs steps S201 and S206, moving the combine harvester to the turning position Dn+1.

[0133] In the above description, an example of long-side harvesting was explained in which harvesting work is performed between turning positions A and B and CD. However, this embodiment can be appropriately modified so that the harvesting device 3 drives the long side of the rectangle. Furthermore, although the processing unit 31 was configured to automatically steer the combine to stop at a predetermined turning position, the processing unit 31 may also activate the brake 36 to stop the combine's automatic movement when the signal input from the grain stalk sensor 3A changes from ON to OFF and no longer detects grain stalks. The processing unit 31 may also replace the position information of the combined when it stopped with the turning position and store it in the memory unit for use. Since it is based on the actual position information of the combined when it stopped, it is possible to suppress the occurrence of unharvested areas. In addition, when the combine is at positions Z1 and Z3, the processing unit 31 may drive the harvesting device 3 to prepare for long-side harvesting work.

[0134] <Other Embodiments> As shown in Figure 16, a travel path such as Dn→Z0→Z1→An+1→Bn+1→Z2→Z3→Cn+1→…→An+2→Bn+2 can also be set. In this case, An+1 and Bn+1 are not automatically selected from the position information acquired in Embodiments 1 to 3, but rather the position information specified by the operator is used by monitoring the field information. L2 and L3 are fixed values ​​calculated based on the specified position. Furthermore, at turning positions An+1 and Bn+1, the processing unit 31 stores the position information moved to the right by a cutting width w relative to the direction of travel as turning positions An+2 and Bn+2 in the storage unit 32, and at turning positions Dn and Cn+1, the processing unit 32 stores the position information moved to the left by a cutting width w relative to the direction of travel as turning positions Dn+1 and Cn+2 in the storage unit 32. Furthermore, while a 90-degree turn was shown as an example, if there is space on the front and right side of the combine harvester to perform a spin turn, the width of the adjacent travel path can be set so that the harvesting width w is the same, allowing for repeated spin turns. [Industrial applicability]

[0135] This invention is not limited to combine harvesters, but can also be used in other work vehicles such as tractors and rice transplanters. [Explanation of symbols]

[0136] 1. Aircraft frame 2. Traveling device 3 Reaping device 3A Grain Strand Sensor 5. Control Unit 30 controllers 41 Route 41A First Travel Route 41B Second Route 41C Third Route 41D Route 4 45. Reference Line A Swivel position B Rotation position C Rotation position D Rotation position w cutting width

Claims

1. In a combine harvester having a traveling device (2) for traveling in a field on the underside of the machine frame (1), and a harvesting device (3) for harvesting grain stalks on the front side of the machine frame (1), The harvesting device (3) is equipped with a grain stalk sensor (3A) for detecting grain stalks in front of it. The controller (30) of the combine harvester causes the traveling device (2) to travel along a rectangular travel path (41) that circles in a counterclockwise direction. The controller (30) is set to a turning position (A to D) that stops the travel of the travel device (2), and determines whether there is space to turn the combine 90 degrees to the front and right of the combine at the turning position (A to D). If it determines that there is space, the controller (30) turns the combine 90 degrees and resumes automatic travel.

2. The combine harvester according to claim 1, which sets the position information for the turning positions (A to D) for the next lap based on the position information for the turning positions (A to D) for the current lap and the cutting width (w) of the harvesting device (3).

3. The combine harvester according to claim 1, characterized in that the travel path of the combine harvester is set based on the position information of the turning positions (A to D) for the current lap, the position information of the next turning position (A to D) to be moved to, and the turning radius (R).

4. The combine harvester according to claim 1, characterized in that when the signal input from the grain stalk sensor 3A changes from ON to OFF and the controller (30) no longer detects grain stalks, it sets the controller (30) to a turning position (A to D) that stops the travel of the travel device (2), and activates the brake 36 to stop the automatic travel of the combine harvester.

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