Route creation method, work vehicle, and route creation system

Abstract

This invention provides a route creation method, a work vehicle, and a route creation system that can create a travel route that allows for efficient and stable harvesting, taking into account the field conditions and the condition of the machine. [Solution] The combine harvester 1, a work vehicle that performs harvesting along a travel path in a field, includes a lodging information setting unit 48 that sets lodging information related to lodging areas in the field where grain stalks have fallen over, and a route creation unit 49 that creates a travel path, including harvesting grain stalks within the lodging areas, based on the lodging information and the machine information of the combine harvester 1.

Description

Technical Field

[0001] The present invention relates to a route creation method for creating a travel route for a work vehicle to perform a cutting travel in a field, a work vehicle, and a route creation system.

Background Art

[0002] Conventionally, a work vehicle such as a combine can perform a cutting travel for cutting grain straw while traveling in a field according to a preset travel route for the field. The combine can perform automatic travel and automatic cutting according to the travel route based on the position information of its own device obtained by using a satellite positioning system such as GPS.

[0003] For example, in Patent Document 1, a combine includes a lodging information setting unit that automatically or manually sets lodging information related to a lodging area where grain straw is lodged in a field, a travel route corresponding to the field, and a travel route creation unit that creates a travel route including cutting of grain straw in the lodging area based on the lodging information, and an automatic driving control unit that controls automatic travel and automatic cutting according to the travel route.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] However, in a work vehicle, when the state of the field or the state of the machine body is different, the cutting and traveling states may also be different. In a conventional work vehicle such as the combine of Patent Document 1, a travel route corresponding to the lodging state of grain straw can be created, but since the state of the field and the state of the machine body are not considered, it may not be possible to create a travel route for efficient cutting travel or a travel route for stable cutting travel.

[0006] The present invention aims to provide a route creation method, a work vehicle, and a route creation system that can create a route for efficient and stable harvesting by taking into account not only the lodging state of the grain stalks, but also the field conditions and the condition of the machine. [Means for solving the problem]

[0007] To solve the above problems, the present invention provides a route creation method for creating a route for a work vehicle to perform harvesting in a field, comprising: a lodging information setting step of setting lodging information relating to a lodging area in the field where grain stalks have fallen over; and a route creation step of creating the route including harvesting the grain stalks in the lodging area based on the lodging information and the machine information of the work vehicle.

[0008] To solve the above problems, the present invention provides a work vehicle that creates a travel route for harvesting in a field, comprising: a lodging information setting unit that sets lodging information relating to lodging areas in the field where grain stalks have fallen over; and a route creation unit that creates the travel route, including harvesting the grain stalks in the lodging areas, based on the lodging information and the machine information of the work vehicle.

[0009] To solve the above problems, the present invention provides a route creation system for creating a route for a work vehicle to carry out harvesting in a field, comprising: a lodging information setting unit that sets lodging information relating to lodging areas in the field where grain stalks have fallen over; and a route creation unit that creates the route including harvesting the grain stalks in the lodging areas based on the lodging information and the machine information of the work vehicle. [Effects of the Invention]

[0010] The present invention provides a route creation method, a work vehicle, and a route creation system that can create a route for efficient and stable harvesting by taking into account not only the lodging state of the grain stalks, but also the field conditions and the condition of the machine. [Brief explanation of the drawing]

[0011] [Figure 1] This is a side view showing an example of a combine harvester according to an embodiment of the present invention. [Figure 2] This is a block diagram of a combine harvester according to an embodiment of the present invention. [Figure 3] This is a table showing the relationship between field information, lodging information, and lodging level in a combine harvester according to an embodiment of the present invention. [Figure 4] This is a table showing the relationship between machine information and the harvestable level in a combine harvester according to an embodiment of the present invention. [Figure 5] This table shows the relationship between field information, lodging information, machine information, and ease of harvesting in a combine harvester according to an embodiment of the present invention. [Modes for carrying out the invention]

[0012] The work vehicle of the present invention performs work while traveling in a field. As an example of a work vehicle according to an embodiment of the present invention, a combine harvester 1 will be described with reference to Figure 1, etc. The combine harvester 1 travels in the field to be worked on by automatic or manual operation and performs harvesting work such as cutting in order to harvest crops from grain stalks planted in the field. The combine harvester 1 travels in rows of grain stalks, setting a predetermined number of rows within the number of rows that can be harvested as the cutting width (working width), and performs harvesting work on those rows.

[0013] The combine harvester 1 is configured to perform automatic operations, such as controlling steering by automatic driving while controlling travel speed in response to manual operation, or unmanned operations, such as controlling steering and travel speed by automatic driving, and can autonomously travel, turn, and work in the field. In this embodiment, the combine harvester 1 travels in either a manual travel mode or an automatic travel mode.

[0014] When manual driving mode is set, the combine harvester 1 is configured to perform manual driving only or manual driving that includes harvesting, in response to the operator's operation of the control unit 9.

[0015] Combine harvester 1 is configured to perform automatic harvesting while automatically traveling along a set travel path in the field when the automatic travel mode is set. For example, combine harvester 1 performs automatic harvesting patterns such as reciprocal harvesting, which involves moving back and forth along multiple straight paths in unharvested areas (unworked areas) that have unharvested grain stalks in the field, or circular harvesting, which involves repeatedly moving along a straight path along the inner circumference of the unharvested area while shifting it toward the center. In addition, before performing automatic harvesting, combine harvester 1 performs perimeter harvesting, which involves moving in a circle along the outer shape of the field and harvesting as it goes, thereby creating a headland in the field, and the area inside the headland becomes the working area for automatic harvesting.

[0016] As shown in Figure 1, the combine harvester 1 comprises a traveling unit 2, a working unit consisting of a cutting unit 3, a threshing unit 4, a sorting unit 5, a storage unit 6, a straw waste processing unit 7, a power unit 8, and a control unit 9, and is composed of a so-called self-propelled combine harvester. The combine harvester 1 travels using the traveling unit 2, threshes the grain stalks cut by the cutting unit 3 in the threshing unit 4, sorts the grain in the sorting unit 5, and stores it in the storage unit 6. The combine harvester 1 processes the straw waste after threshing using the straw waste processing unit 7. The combine harvester 1 drives the traveling unit 2, the cutting unit 3, the threshing unit 4, the sorting unit 5, the storage unit 6, and the straw waste processing unit 7 with power supplied by the power unit 8.

[0017] The running unit 2 is located below the machine frame 10 and comprises a pair of left and right crawler-type running devices 11 and a transmission (not shown). The running unit 2 uses power (e.g., rotational power) transmitted from the engine 27 of the power unit 8 to rotate the crawlers of the crawler-type running devices 11, thereby causing the combine harvester 1 to move in the forward and backward directions and to turn in the left and right directions. The transmission transmits the power (rotational power) from the power unit 8 to the crawler-type running devices 11 and can also change the speed of the rotational power.

[0018] The cutting unit 3 is provided on the body frame 10 in front of the traveling unit 2 and performs cutting operations on rows within the number of rows that can be cut. The cutting unit 3 includes a divider 13, a lifting device 14, a cutting device 15, and a conveying device 16. The divider 13 separates the cereal straws in the field row by row and guides a predetermined number of cereal straws within the number of rows that can be cut to the lifting device 14. The lifting device 14 lifts the cereal straws guided by the divider 13. The cutting device 15 cuts the cereal straws lifted by the lifting device 14. The conveying device 16 conveys the cereal straws cut by the cutting device 15 to the threshing unit 4.

[0019] In addition, the cutting unit 3 can be equipped with an auxiliary divider or the like that raises the lodged cereal straws as an optional part that can be arbitrarily attached by the operator. The cutting unit 3 preferably has a sensor capable of detecting whether or not the auxiliary divider is attached.

[0020] The threshing unit 4 is provided behind the cutting unit 3. The threshing unit 4 includes a feed chain 18 and a threshing cylinder 19. The feed chain 18 conveys the cereal straws conveyed from the conveying device 16 of the cutting unit 3 for threshing, and further conveys the cereal straws after threshing, that is, the straw waste, to the straw waste processing unit 7. The threshing cylinder 19 threshes the cereal straws conveyed by the feed chain 18.

[0021] The sorting unit 5 is provided below the threshing unit 4. The sorting unit 5 includes a vibrating sorting device 21, a blowing sorting device 22, a grain conveying device (not shown), and a straw waste discharging device (not shown). The vibrating sorting device 21 sifts the threshed grains dropped from the threshing unit 4 to sort them into grains and straw waste. The blowing sorting device 22 further sorts the threshed grains sorted by the vibrating sorting device 21 into grains and straw waste by blowing. The grain conveying device conveys the grains sorted by the vibrating sorting device 21 and the blowing sorting device 22 to the storage unit 6. The straw waste discharging device discharges the straw waste and the like sorted by the vibrating sorting device 21 and the blowing sorting device 22 outside the machine.

[0022] The storage unit 6 is located to the right of the threshing unit 4. The storage unit 6 comprises a grain tank 24 and a discharge device 25. The grain tank 24 stores the grain transported from the sorting unit 5. The discharge device 25 consists of an auger and the like, and discharges the grain stored in the grain tank 24 to any desired location.

[0023] The straw removal section 7 is located behind the threshing section 4. The straw removal section 7 includes a straw conveying device (not shown) and a straw cutting device (not shown). The straw conveying device conveys the straw transported from the feed chain 18 of the threshing section 4 to the straw cutting device. The straw cutting device cuts the straw transported by the straw conveying device and discharges it outside the machine.

[0024] The power unit 8 is located above the traveling unit 2 and in front of the storage unit 6. The power unit 8 includes an engine 27 that generates rotational power. The power unit 8 transmits the rotational power generated by the engine 27 to the traveling unit 2, the harvesting unit 3, the threshing unit 4, the sorting unit 5, the storage unit 6, and the straw waste processing unit 7.

[0025] The control unit 9 is located above the power unit 8. The control unit 9 is located around the driver's seat, where the operator sits, and includes a drive control section for controlling the movement of the combine harvester 1. This section includes a steering wheel for instructing the turning of the combine harvester 1, and a main and sub-speed levers for instructing changes in the forward and reverse speed of the combine harvester 1. The control unit 9 also includes an operation control section for operating the raising and lowering of the harvesting unit 3, harvesting operations by the harvesting unit 3, threshing operations by the threshing unit 4, and discharge operations by the discharge device 25 of the storage unit 6. When manual driving mode is set, the power unit 8 and the drive unit 2 are driven in response to the operation of the drive control section of the control unit 9 to perform manual driving of the combine harvester 1, and the power unit 8 and the harvesting unit 3 are driven in response to the operation of the operation control section to perform manual operations of the combine harvester 1.

[0026] The combine harvester 1 is equipped with a positioning unit 28 that acquires its own position using a satellite positioning system such as GPS. The positioning unit 28 receives positioning signals from positioning satellites via a positioning antenna and acquires the position information of the positioning unit 28, i.e., the own position of the combine harvester 1, based on the positioning signals.

[0027] The combine harvester 1 is equipped with a machine camera 29 (see Figure 2) that takes images of the area around the combine harvester 1. The machine camera 29 takes pictures of the field to be worked on and acquires field images.

[0028] Next, the control device 30 of the combine harvester 1 will be described with reference to Figure 2. The control device 30 is composed of a computer such as a CPU and is connected to a storage unit 31 such as ROM, RAM, hard disk drive, and flash memory, and a communication unit 32 that communicates with external devices such as an artificial intelligence server 55.

[0029] The memory unit 31 stores programs and data for controlling various components and functions of the combine harvester 1, and the control device 30 controls the various components and functions by executing calculations based on the programs and data stored in the memory unit 31. For example, the control device 30 obtains the position of the combine harvester 1 from the positioning unit 28, and also obtains the direction of travel of the combine harvester 1 at its current position.

[0030] The communication unit 32 can communicate wirelessly with external devices such as the operator's mobile terminal 40 and the artificial intelligence server 55 via a wireless communication antenna. The control device 30 controls the communication unit 32 to communicate wirelessly with the mobile terminal 40 and the artificial intelligence server 55, and sends and receives various information between the two. For example, the communication unit 32 receives field information and travel routes set for the field from the mobile terminal 40 and stores them in the storage unit 31.

[0031] For example, a field has an outer shape that follows the perimeter of the field, which includes unworked areas where harvesting or other operations have not yet been performed, and worked areas where operations have already been completed. Field information includes information such as the shape, size, and location (coordinates, etc.) of the outer shape of the field, and the shape, size, and location (coordinates, etc.) of the unworked and worked areas. The travel route set for the field includes travel information and work information related to operations such as automatic harvesting. Travel information includes the travel position in the field, as well as the direction of travel and set vehicle speed at each travel position. Work information includes information on the operation or stop of various operations such as harvesting at each travel position, and information on the lifting and lowering operation of the harvesting unit 3.

[0032] Furthermore, the control device 30 operates as a driving control unit 35 by executing a program stored in the storage unit 31. The driving control unit 35 implements the driving control process of the route creation method according to the present invention.

[0033] When the automatic driving mode is set, the driving control unit 35 controls the automatic harvesting of the combine harvester 1. For example, the driving control unit 35 obtains field information and driving routes set for the field from the mobile terminal 40. When the automatic harvesting starts in response to the operation of the mobile terminal 40, the driving control unit 35 obtains the position of the combine harvester 1 from the positioning unit 28 and controls the power unit 8, the driving unit 2, and the harvesting unit 3 so that the combine harvester 1 performs automatic harvesting along the driving route based on the position of the combine harvester 1, the field information, and the driving route.

[0034] The mobile terminal 40 is one of the components of the combine harvester 1 and is a terminal capable of remotely controlling the combine harvester 1. It is composed of, for example, a tablet terminal equipped with a touch panel or a notebook-type personal computer. A similar operating device to the mobile terminal 40 may also be provided on the control unit 9. In this invention, the route creation system is composed of the combine harvester 1 and the mobile terminal 40.

[0035] As shown in Figure 2, the mobile terminal 40 is equipped with a terminal-side control unit 41 which is composed of a computer such as a CPU. The terminal-side control unit 41 is connected to a terminal-side storage unit 42 which includes ROM, RAM, hard disk drive, and flash memory, and to a terminal-side communication unit 43 which communicates with external devices such as the combine 1 and artificial intelligence server 55.

[0036] Furthermore, the mobile terminal 40 is equipped with a display unit 44 such as a touch panel or monitor for displaying and outputting various information to the worker, and an input unit 45 such as a touch panel or operation keys for receiving input operations of various information from the worker. The mobile terminal 40 is equipped with a mobile camera 46 for taking pictures. The mobile camera 46, for example, takes pictures of the field to be worked on and acquires field images.

[0037] The terminal-side storage unit 42 stores programs and data for controlling various components and functions of the mobile terminal 40, and the terminal-side control device 41 controls the various components and functions of the mobile terminal 40 by executing calculations based on the programs and data stored in the terminal-side storage unit 42. The terminal-side storage unit 42 also stores field information and travel routes of the field that the combine harvester 1 is working on.

[0038] The terminal-side communication unit 43 is connected to external devices such as the combine harvester 1's communication unit 32 and the artificial intelligence server 55 via a wireless communication antenna, enabling communication between them. The terminal-side control device 41 controls the terminal-side communication unit 43 to communicate wirelessly with the combine harvester 1 and the artificial intelligence server 55, sending and receiving various types of information between them.

[0039] The mobile terminal 40 may communicate wirelessly with an aerial photography device 50, such as a drone equipped with an aerial photography camera 51, via the terminal-side communication unit 43. The aerial photography device 50 may also communicate wirelessly with the combine harvester 1. The terminal-side control unit 41 or the combine harvester 1 receives operation instructions for the aerial photography device 50 from the operator, and the aerial photography device 50 operates in accordance with the operation instructions received from the terminal-side communication unit 43 or the combine harvester 1. The terminal-side control unit 41 or the combine harvester 1 also receives instructions from the operator to photograph the field, and the aerial photography device 50 receives these instructions from the terminal-side control unit 41 or the combine harvester 1. The aerial photography device 50 controls the aerial photography camera 51 in accordance with the instructions, and the aerial photography camera 51 photographs the field and acquires field images. The aerial photography device 50 transmits the field images taken by the aerial photography camera 51 to the terminal-side control unit 41 or the combine harvester 1.

[0040] The mobile terminal 40 accepts input operations via the input unit 45 regarding field information related to the field being worked on, and lodging information related to lodging areas in the field where grain stalks have fallen over at a predetermined angle or more. The mobile terminal 40 displays a field information setting screen on the display unit 44 in which field information can be set, for example, the shape of the field edge that constitutes the outer perimeter of the field (hereinafter referred to as field shape), the position information of the field edge (coordinates, etc.), and the direction of grain stalks in the field. The mobile terminal 40 also displays a lodging information setting screen on the display unit 44 in which lodging information can be set, such as the shape of the lodging area, the position information of the outer perimeter of the lodging area (coordinates, etc.), the direction of lodging of the grain stalks, and the lodging angle of the grain stalks.

[0041] Furthermore, the mobile terminal 40 can display a field map based on field information on the display unit 44, display the travel route of the combine harvester 1 on the field map in a way that indicates the direction of travel, and can also display lodged areas on the field map. Alternatively, the mobile terminal 40 may display the field map on the lodging information setting screen and allow the user to specify lodged areas on the field map.

[0042] The terminal-side control device 41 of the mobile terminal 40 operates as a field information setting unit 47, a lodging information setting unit 48, and a route creation unit 49 by executing a program stored in the terminal-side storage unit 42. The field information setting unit 47, the lodging information setting unit 48, and the route creation unit 49 realize the field information setting step, the lodging information setting step, and the route creation step of the route creation method according to the present invention.

[0043] The field information setting unit 47 automatically or manually sets field information relating to the field to be worked on and stores it in the terminal-side storage unit 42. For example, the field information setting unit 47 manually sets field information in response to the input operation of field information on the field information setting screen of the mobile terminal 40. Alternatively, the field information setting unit 47 acquires field images taken of the field by the machine camera 29 of the combine harvester 1, the mobile camera 46 of the mobile terminal 40, or the aerial camera 51 of the aerial photography device 50, and automatically acquires field information by performing image analysis on the field images. The field information setting unit 47 may analyze field information from field images from one of the cameras among the machine camera 29, mobile camera 46, or aerial camera 51, or it may analyze field information from field images from two or more cameras.

[0044] Furthermore, the field information setting unit 47 may use artificial intelligence (AI) to determine field information based on field images, and may use a generating AI to generate field information as a result of the determination. For example, the field information setting unit 47 generates a machine learning model by machine learning with training images of various fields and stores it in the terminal-side storage unit 42 or the artificial intelligence server 55. Then, the field information setting unit 47 analyzes the captured field images using the machine learning model and determines the field information shown in the field images.

[0045] Furthermore, the field information setting unit 47 can acquire more accurate field information by ensuring consistency between field information manually set via the mobile terminal 40 and field information automatically set from field images from the aircraft camera 29, mobile camera 46, or aerial camera 51. After automatically acquiring field information, the field information setting unit 47 may make the field information editable on the field information setting screen of the mobile terminal 40.

[0046] The lodging information setting unit 48 automatically or manually sets lodging information relating to lodging areas in the field where grain stalks have fallen at a predetermined angle or more, and stores it in the terminal-side storage unit 42. The lodging area is not limited to only the lodged grain stalks, but is a range that includes the lodged grain stalks, and is preferably set as a rectangle extending in the direction of the grain stalk rows and in directions intersecting the row direction. This makes it easier to clearly distinguish between harvesting areas that include lodging areas and harvesting areas that do not include lodging areas, and makes it easier to set appropriate travel routes for each.

[0047] For example, the lodging information setting unit 48 manually sets lodging information in response to input operations for lodging information on the lodging information setting screen of the mobile terminal 40. Alternatively, the lodging information setting unit 48 acquires field images taken of the field by the machine camera 29 of the combine harvester 1, the mobile camera 46 of the mobile terminal 40, or the aerial camera 51 of the aerial photography device 50, and automatically acquires lodging information such as the shape of the lodged area, the positional information of the outer perimeter of the lodged area, the lodging direction of the grain stalks, and the lodging angle by performing image analysis on the field images. For example, images of a field consisting of normal grain stalks that have not lodged are registered in advance, and lodging information is analyzed by comparing the registered images of normal fields with the captured field images. The lodging information setting unit 48 may analyze lodging information from field images taken by one of the following cameras: the aircraft camera 29, the portable camera 46, or the aerial camera 51, or it may analyze lodging information from field images taken by two or more cameras.

[0048] Furthermore, the lodging information setting unit 48 may use artificial intelligence (AI) to determine lodging information based on field images, and may use a generating AI to generate lodging information as a result of the determination. For example, the lodging information setting unit 48 generates a machine learning model by machine learning with training images taken of various fields and stores it in the terminal-side storage unit 42 or the artificial intelligence server 55. Then, the lodging information setting unit 48 analyzes the captured field images using the machine learning model and determines the lodging information shown in the field images.

[0049] Furthermore, the lodging information setting unit 48 can obtain more accurate lodging information by ensuring consistency between lodging information manually set via the mobile terminal 40 and lodging information automatically set from field images from the aircraft camera 29, mobile camera 46, or aerial camera 51. After automatically acquiring the lodging information, the lodging information setting unit 48 may make the lodging information editable on the lodging information setting screen of the mobile terminal 40.

[0050] The route creation unit 49 creates a travel route that the combine harvester 1 will refer to in order to automatically drive and harvest the field, and stores it in the terminal-side storage unit 42. The travel route includes not only travel settings related to driving, but also work settings related to harvesting and other operations. The travel settings include the driving position in the field, as well as the driving speed and direction of travel (steering direction and forward or reverse) at each driving position. The work settings include information on whether harvesting is started or stopped at each driving position, harvesting speed and harvesting height, and other work-related information.

[0051] The route creation unit 49 creates multiple work routes in which harvesting work is carried out while moving forward in the unworked area consisting of unharvested grain stalks in the field, according to the travel pattern (reciprocal harvesting or circular harvesting) selected by the operation of the mobile terminal 40, and also creates a turning route connecting the two work routes for every two consecutive work routes, thereby creating a travel route that includes the multiple work routes and each turning route.

[0052] The route creation unit 49 should set the work route so that the previously worked area is located on the driver's side (right side) of the combine harvester 1. The route creation unit 49 should create each turning route using a pre-set turning method or a turning method determined based on field information and machine information of the combine harvester 1 (machine width, machine length, etc.). In addition, when creating a new travel route or modifying a travel route, the route creation unit 49 may provisionally create multiple candidate travel routes and select the travel route that is most efficient. Note that work efficiency is determined by considering not only travel involving harvesting, but also coasting distance, turning, etc.

[0053] In this embodiment, the route creation unit 49 is configured to create a travel route based on lodging information of the lodged areas in the field and machine information of the combine harvester 1, in order to perform efficient and stable harvesting regardless of lodging of the grain stalks in the field.

[0054] For example, the route creation unit 49 first creates a travel route corresponding to the field to be worked on, without considering lodging of the grain stalks. The route creation unit 49 may manually set the travel route in response to input operations using the mobile terminal 40, or it may automatically set the travel route based on the field information set by the field information setting unit 47. The travel route includes not only the work route for harvesting the grain stalks, but also idle routes for moving from one work route to another. The route creation unit 49 should create the travel route in such a way that the idle distance of the idle routes is as short as possible.

[0055] Next, the route creation unit 49 determines whether harvesting within the lodged area of ​​the field is appropriate based on the travel route set as described above, the field information set by the field information setting unit 47, the lodging information set by the lodging information setting unit 48 for the lodged area of ​​the field, and the machine information of the combine harvester 1. If it is not appropriate, it modifies the travel route so that the grain stalks within that lodged area are harvested appropriately. The route creation unit 49 analyzes the modified travel route and modifies the travel route so that the idle distance of the idle route is shortened.

[0056] Here, the route creation unit 49 determines the lodging level of the lodged area and the level at which the combine harvester 1 can harvest, and based on the determination result, it determines whether or not to modify the travel route and the harvesting method for the lodged area.

[0057] For example, the route creation unit 49 determines the lodging level of the lodged area based on lodging information and / or field information. A lower lodging level indicates that it is easier to harvest the lodged grain stalks in the lodged area, while a higher lodging level indicates that it is more difficult to harvest the lodged grain stalks in the lodged area.

[0058] Specifically, as shown in Figure 3, the path creation unit 49 determines that the lodging level is lower the smaller the lodging angle in the lodging information, and higher the lodging level the larger the lodging angle. As shown in Figure 3, the path creation unit 49 determines that the lodging level increases in the order of overcutting, lateral cutting, and forward cutting based on the direction of lodging information. As shown in Figure 3, the path creation unit 49 determines that the lodging level increases in the order of dry field, slightly wet field, and wet field based on the field condition in the field information. Note that this determination of the lodging level based on the relationship between lodging angle, lodging direction, and field condition is just one example, and the present invention is not limited to this example. The lodging level may also be determined based on other relationships with lodging angle, lodging direction, field condition, and other factors.

[0059] The route creation unit 49 may refer to a map that pre-defines the relationship between lodging angle, lodging direction, field condition, and lodging level, as shown in Figure 3, and determine the lodging level of the current lodging area based on the current lodging information and the lodging angle, lodging direction, and field condition of the field information.

[0060] Furthermore, the route creation unit 49 receives information from the combine harvester 1 as machine information, such as whether or not an auxiliary divider is installed on the combine harvester 1, its vehicle class (maximum number of rows to be harvested), its model, and its crawler width. Based on the machine information of the combine harvester 1, the unit determines the harvesting level of the combine harvester 1. A lower value for the harvesting level indicates that the combine harvester 1 has poor harvesting performance against lodged grain stalks, while a higher value indicates that the combine harvester 1 has good harvesting performance against lodged grain stalks.

[0061] Specifically, as shown in Figure 4, the path creation unit 49 determines the harvestable level to be lower the smaller the maximum number of harvesting rows of the combine harvester 1, and higher the harvestable level to be higher the larger the maximum number of harvesting rows. The path creation unit 49 also determines the harvestable level to be lower the smaller the crawler width, and higher the crawler width. The path creation unit 49 also determines the harvestable level to be higher the smaller the crawler width, and higher the crawler width, as shown in Figure 4. The path creation unit 49 determines the harvestable level to be higher the order of presence or absence of auxiliary dividers. Note that the harvestable level based on the relationship between the maximum number of harvesting rows, crawler width, and the presence or absence of auxiliary dividers is just one example, and the present invention is not limited to this example. The harvestable level may be determined based on the relationship between the maximum number of harvesting rows, crawler width, the presence or absence of auxiliary dividers, and other factors.

[0062] The route creation unit 49 may, by referring to a map that pre-defines the relationship between the maximum number of harvesting rows, crawler width, and whether or not auxiliary dividers are installed and the harvesting level, as shown in Figure 4, determine the current harvesting level of the combine harvester 1 based on the current crawler width and whether or not auxiliary dividers are installed.

[0063] In other words, the higher the harvesting capacity of combine harvester 1, the more it can harvest grain stalks even in lodged areas that are difficult to harvest, and the lower the harvesting capacity, the more it can harvest grain stalks in lodged areas that are easy to harvest. Figure 5 is a table showing the relationship between the ease of harvesting in lodged areas and the lodging information of combine harvester 1 and the machine information of combine harvester 1. Combine harvester 1 is easier to harvest in the order of chasing, lateral, and opposing lodging directions. Combine harvester 1 is easier to harvest in the order of dry fields, slightly wet fields, and wet fields. Combine harvester 1 is easier to harvest in the order of vehicle size (maximum number of rows harvested) and the crawler width (contact area) of the running section 2 of combine harvester 1 is easier to harvest. Combine harvester 1 becomes easier to harvest with and without the auxiliary divider attached. Combine harvester 1 becomes easier to harvest the larger the contact length (contact area) of the harvesting unit 3 (divider 13) is. Combine harvester 1 becomes easier to harvest the larger the horsepower of the power unit 8 (engine 27) is.

[0064] Furthermore, the path creation unit 49 determines the harvesting direction for the grain stalks within the lodged area based on the direction of travel of the travel path within the lodged area and the direction of lodging of the grain stalks within the lodged area. If the direction of travel is the same as the direction of lodging of the grain stalks, the harvesting direction will be chasing, and if the direction of travel is opposite to the direction of lodging of the grain stalks, the harvesting direction will be facing. Also, if the direction of travel is facing a grain stalk that has lodged to the left, the harvesting direction will be left-lodged harvesting (sideways harvesting), and if the direction of travel is facing a grain stalk that has lodged to the right, the harvesting direction will be right-lodged harvesting (sideways harvesting).

[0065] For crops such as rice and wheat, the preferred and recommended harvesting direction is to cut over the crop or to cut against the lodged grain. For other crops, the recommended harvesting direction is to cut against the grain. For example, if the recommended harvesting direction for grain stalks such as rice and wheat is to cut over the crop or to cut against the lodged grain, but the harvesting direction of the path within the lodged area is to cut against the grain, then the harvesting direction will differ from the recommended harvesting direction.

[0066] The route creation unit 49 then determines whether or not to modify the route if the harvesting direction of the travel path in the lodged area differs from a predetermined recommended harvesting direction, based on the lodging level of the grain stalks in the lodged area and the harvesting level of the combine harvester 1. For example, the route creation unit 49 determines how easy it is for the combine harvester 1 to harvest the lodged area with the set travel path, based on the lodging level and the harvesting level, and determines whether or not it is necessary to modify the harvesting direction or vehicle speed of the travel path in the lodged area according to that ease of harvesting. The route creation unit 49 may also quantify the level (degree) of how easy it is for the combine harvester 1 to harvest the lodged area with the set travel path, based on the lodging level and the harvesting level.

[0067] Specifically, the harvesting direction of the combine harvester 1 is optimized for harvesting in the order of chasing, crossing, and facing, and the path creation unit 49 modifies the travel path so that the harvesting direction is optimized for the lodged area. In addition, the vehicle speed of the combine harvester 1 is optimized for harvesting in the order of low speed and high speed, and the path creation unit 49 modifies the travel path so that the vehicle speed is optimized for the lodged area. Furthermore, if an auxiliary divider is installed, the path creation unit 49 modifies the travel path by adjusting the lifting speed to efficiently lift the lodged grain stalks, for example, if the lodging angle is relatively large, the lifting speed is adjusted to be relatively fast.

[0068] If the route creation unit 49 determines that it is necessary to correct the harvesting direction in the lodged area, it corrects the travel route so that the harvesting direction becomes the recommended harvesting direction. When correcting the harvesting direction of a travel route for harvesting rice, wheat, etc., the route creation unit 49 often prioritizes setting over-harvesting, and may also set left-lodged harvesting instead of over-harvesting to further shorten the free-travel distance. For example, if the harvesting direction in the lodged area is forward harvesting, the route creation unit 49 can correct the harvesting direction in the lodged area to over-harvesting by correcting the travel route so that the direction of travel is in the opposite direction.

[0069] For example, if the harvesting direction in a lodged area is against the current, the harvestable level is 2, and the lodging level is 5, the path creation unit 49 determines that it is necessary to correct the harvesting direction in the lodged area because it is difficult to harvest the lodged grain stalks in this area, and modifies the travel path so that the harvesting direction in the lodged area becomes against the current. On the other hand, if the harvesting direction in a lodged area is against the current, but the harvestable level is 5 and the lodging level is 2, the path creation unit 49 determines that it is not necessary to correct the harvesting direction in the lodged area because it is easy to harvest the lodged grain stalks in this area, but determines that it is necessary to correct the vehicle speed in the lodged area, and modifies the travel path to slow down the vehicle speed without correcting the harvesting direction in the lodged area.

[0070] Furthermore, the route creation unit 49 acquires, in addition to field information, lodging information, and machine information, load information on the combine harvester 1's travel unit 2 and harvesting unit 3, harvesting information related to harvesting and transporting operations by the harvesting unit 3, and posture information of the grain stalks relative to the harvesting unit 3. Based on the load information, harvesting information, posture information, etc., it can determine the lodging level and the level at which harvesting is possible, and whether or not to modify the travel route in the lodged area. Moreover, the route creation unit 49 modifies the harvesting conditions based on the load information, harvesting information, posture information, etc. For example, it modifies the vehicle speed to decrease if clogging occurs in the harvesting unit 3, and to increase the vehicle speed if clogging does not occur.

[0071] For example, the path creation unit 49 determines the degree of clogging during the harvesting operation of the grain stalks by the harvesting unit 3 using images captured by the machine camera 29 and the mobile camera 46 of the mobile terminal 40, as well as sensors installed in the harvesting unit 3. Based on the determination result of the degree of clogging during the harvesting operation, the path creation unit 49 determines whether the harvesting conditions such as the harvesting direction and vehicle speed are appropriate, and based on the determination result of the harvesting conditions, it determines whether or not to correct the travel path in the lodged area.

[0072] Furthermore, the route creation unit 49 determines the degree of congestion during the grain stalk transport operation by the harvesting unit 3 based on images captured by the machine camera 29 and the mobile camera 46 of the mobile terminal 40, as well as sensors installed in the harvesting unit 3. Based on the determination of the degree of congestion during the transport operation, the route creation unit 49 determines whether the harvesting conditions such as the harvesting direction and vehicle speed are appropriate, and based on the determination of the harvesting conditions, it determines whether or not to correct the travel path in the lodged area.

[0073] Furthermore, the path creation unit 49 determines the angle at which the grain stalks enter the harvesting unit 3 based on images captured by the machine camera 29 and the mobile camera 46 of the mobile terminal 40, as well as sensors installed in the harvesting unit 3. Based on the determination of the entry angle, the path creation unit 49 determines how likely the grain stalks are to become jammed during harvesting and transporting operations. Based on the determination of how likely the grain stalks are to become jammed, the path creation unit 49 determines whether the harvesting conditions, such as the harvesting direction and vehicle speed, are appropriate, and based on the determination of the harvesting conditions, it determines whether or not to correct the travel path in the lodged area.

[0074] Furthermore, the route creation unit 49 may use artificial intelligence (AI) to determine the lodging level and harvestable level based on field information, lodging information, and machine information, and to determine whether or not to modify the travel route in the lodged area based on the lodging level and harvestable level. The generation AI may then generate the lodging level and harvestable level, and the modified travel route, based on the determination results. In addition, the route creation unit 49 may use AI to modify the harvesting conditions and the travel route based on field information, lodging information, machine information, load information, harvesting information, and attitude information. For example, the route creation unit 49 generates a machine learning model by machine learning from field information, lodging information, and machine information acquired in the past during various harvesting runs in various fields, as well as from learning images of fields taken in the past, and stores it in the terminal-side storage unit 42 and the artificial intelligence server 55. The route creation unit 49 then uses a machine learning model to analyze field information, lodging information, machine information, and captured field images acquired in real time during harvesting operations, determines the lodging level and the level at which harvesting is possible, determines whether or not the travel route in the lodged area needs to be corrected, and corrects the harvesting conditions and the travel route.

[0075] The route creation unit 49 uses artificial intelligence (AI) to determine the lodging level and the level at which harvesting is possible, and to determine whether or not to correct the travel path in the lodged area. It then sets the optimal harvesting conditions and creates the optimal travel path to perform the optimal harvesting work.

[0076] Furthermore, when the route creation unit 49 creates a travel route for harvesting a predetermined field, it is preferable to increase the importance (weight) of a machine learning model that has been accumulated by machine learning field information, lodging information, machine information, and field images acquired during past harvesting runs in the field, and to use artificial intelligence (AI) to determine the lodging level and the level at which harvesting is possible, and to determine whether or not to correct the travel route in the lodged area. As a result, the route creation unit 49 can create an optimal travel route tailored to the field and provide the combine harvester 1 with the optimal harvesting run.

[0077] Furthermore, the route creation unit 49 may refer to other parameters such as lodging sensitivity, which indicates how easy it is to determine the lodging level, when determining the lodging level and harvestable level using artificial intelligence (AI), determining whether or not to correct the travel path in the lodged area, or correcting harvesting conditions or the travel path. The route creation unit 49 inputs other parameters such as lodging sensitivity in response to arbitrary operations by the operator on the mobile terminal 40.

[0078] For example, when the lodging sensitivity is high, the path creation unit 49 tends to determine a relatively high lodging level regardless of the actual degree of lodging of the grain stalks, and sets harvesting conditions and travel routes with ample margin to match the relatively high lodging level to prevent clogging in the harvesting unit 3. Also, when the lodging sensitivity is low, the path creation unit 49 tends to determine a relatively low lodging level regardless of the actual degree of lodging of the grain stalks, and sets harvesting conditions and travel routes to match the relatively low lodging level to improve harvesting efficiency.

[0079] As described above, according to this embodiment, the combine harvester 1, which is a work vehicle that performs harvesting travel along a travel path in a field, includes a lodging information setting unit 48 that sets lodging information relating to lodging areas in the field where grain stalks have fallen over, and a route creation unit 49 that creates a travel path including harvesting grain stalks in the lodging areas based on the lodging information and the machine information of the combine harvester 1.

[0080] In other words, the present invention provides a route creation method for creating a route for a combine harvester 1, which is a work vehicle, to perform harvesting in a field, comprising: a lodging information setting step of setting lodging information relating to lodging areas in the field where grain stalks have fallen over; and a route creation step of creating a route that includes harvesting grain stalks within the lodging areas, based on the lodging information and machine information of the combine harvester 1.

[0081] As a result, according to the present invention, it is possible to create a travel path that allows for efficient and stable harvesting in a field containing lodged grain stalks, taking into account not only the lodging state of the grain stalks but also the field conditions and the condition of the machine.

[0082] Specifically, according to the combine harvester 1 of this embodiment, the lodging information setting unit 48 sets the lodging direction of the grain stalks as lodging information, and the route creation unit 49 creates a travel route so as to cut the grain stalks within the lodged area in a predetermined recommended harvesting direction relative to the lodging direction.

[0083] This allows for more effective harvesting of lodged grain stalks and the creation of efficient harvesting routes.

[0084] Furthermore, according to the combine harvester 1 of this embodiment, the route creation unit 49 determines the lodging level in the lodged area from the lodging information, determines the harvesting level of the work vehicle from the machine information, and creates a travel route based on the lodging level and the harvesting level.

[0085] As a result, according to the present invention, the ease of harvesting lodged grain stalks can be specified from lodging information and machine information, making it possible to harvest lodged grain stalks more appropriately and to create a travel path that enables efficient harvesting.

[0086] Furthermore, according to the combine harvester 1 of this embodiment, the route creation unit 49 creates a travel route based on field information of the field, in addition to lodging information and machine information.

[0087] Therefore, according to the present invention, it is possible to create a travel route that allows for efficient harvesting while taking into account the conditions of the field.

[0088] Furthermore, according to the combine harvester 1 of this embodiment, the route creation unit 49 creates a travel route based on a learning model that has been machine-learned to obtain lodging information and machine information during harvesting.

[0089] As a result, according to the present invention, it is possible to create a driving route for efficient harvesting by using artificial intelligence (AI) to make decisions based on a learning model that takes into account past harvesting results, using field information, lodging information, and machine information acquired in the past during various harvesting runs in various fields, as well as learning images of fields taken in the past.

[0090] Furthermore, according to the combine harvester 1 of this embodiment, when the route creation unit 49 creates a travel route for harvesting a predetermined field, it increases the importance of the learning model accumulated during past harvesting runs in the predetermined field and creates the travel route based on the learning model.

[0091] As a result, according to the present invention, by focusing on using a learning model that takes into account past harvesting results based on field information, lodging information, and machine information acquired in the field in the past, as well as learning images of the field taken in the past, and making a determination by artificial intelligence (AI), it is possible to create a driving route that will allow for more efficient harvesting in that field.

[0092] In the embodiments described above, examples were given in which various machine learning models are stored in the terminal-side storage unit 42 of the mobile terminal 40 or in the artificial intelligence server 55. However, the present invention is not limited to these examples. In other examples, various machine learning models may be stored in the storage unit 31 of the combine 1.

[0093] Furthermore, although the above-described embodiment explains an example in which the field information setting unit 47, lodging information setting unit 48, and route creation unit 49 operate on the computer of the terminal-side control device 41 of the mobile terminal 40, the present invention is not limited to this example. In other examples, the field information setting unit 47, lodging information setting unit 48, and route creation unit 49 may be configured to operate on the computer of the control device 30 of the combine harvester 1 or the computer of the artificial intelligence server 55. In this case, the field information setting unit 47, lodging information setting unit 48, and route creation unit 49 may operate as artificial intelligence (AI) or generative AI on the computer of the control device 30 of the combine harvester 1 or the computer of the artificial intelligence server 55.

[0094] In other words, according to this embodiment, the route creation system of the combine harvester 1 only needs to include a field information setting unit 47, a lodging information setting unit 48, and a route creation unit 49. Here, the field information setting unit 47, the lodging information setting unit 48, and the route creation unit 49 may be executed by the terminal-side control device 41 of the mobile terminal 40, or they may be executed by the computer of the control device 30 of the combine harvester 1 or the computer of the artificial intelligence server 55.

[0095] In the embodiments described above, an example of a combine harvester 1 consisting of a self-propelled combine harvester was explained, but the present invention is not limited to this example, and the combine harvester 1 may be composed of a conventional combine harvester.

[0096] Furthermore, although the above-described embodiment illustrates an example in which the work vehicle is composed of a combine harvester 1, the present invention is not limited to this example. For example, the work vehicle of the present invention may be composed of other agricultural machinery for harvesting crops, or it may be composed of other work vehicles other than agricultural machinery.

[0097] Furthermore, the present invention may be modified as appropriate, provided that it does not contradict the gist or idea of ​​the invention as can be inferred from the claims and the specification as a whole, and a control method for a work vehicle involving such modifications is also included in the technical concept of the present invention.

[0098] [Notes on the invention] The following is an overview of the invention extracted from the above-described embodiments. Note that each configuration and processing function described below can be selected and combined as desired.

[0099] <Note 1> A method for creating a route for a work vehicle to travel in a field for harvesting, A lodging information setting process involves setting lodging information for areas in the field where grain stalks have fallen over, and A route creation method characterized by comprising a route creation step of creating the travel route, which includes harvesting the grain stalks within the lodged area, based on the lodged information and the machine information of the work vehicle.

[0100] <Note 2> The lodging information setting step involves setting the lodging direction of the grain stalk as the lodging information, The method for creating a route according to Appendix 1, characterized in that the route creation step creates a travel route such that the grain stalks within the lodged area are cut in a predetermined recommended harvesting direction relative to the lodging direction.

[0101] <Note 3> The route creation method according to Appendix 1 or 2, characterized in that the route creation step involves determining the lodging level in the lodging area from the lodging information, determining the harvesting level of the work vehicle from the machine information, and creating the travel route based on the lodging level and the harvesting level.

[0102] <Note 4> The route creation method according to any one of the appendices 1 to 3, characterized in that the route creation step creates the travel route based on the field information of the field in addition to the lodging information and the machine information.

[0103] <Note 5> The route creation method according to any one of the appendices 1 to 4, characterized in that the route creation step creates the travel route based on a learning model that has been machine-learned to obtain the lodging information and the machine information during harvesting.

[0104] <Note 6> The route creation method according to Appendix 5, characterized in that, when creating a route for harvesting a predetermined field, the importance of the learning model accumulated during past harvesting runs in the predetermined field is increased, and the route is created based on the learning model.

[0105] <Note 7> A work vehicle that creates a driving route for harvesting in a field, A lodging information setting unit sets lodging information related to the lodging area in the field where grain stalks have fallen over, A work vehicle characterized by comprising a route creation unit that creates a travel route including the harvesting of the grain stalks within the lodged area based on the lodged information and the machine information of the work vehicle.

[0106] <Note 8> The lodging information setting unit sets the lodging direction of the grain stalk as the lodging information, The work vehicle according to Appendix 7, characterized in that the route creation unit creates the travel route so as to cut the grain stalks within the lodged area in a predetermined recommended cutting direction relative to the lodging direction.

[0107] <Note 9> The work vehicle according to Appendix 7 or 8, characterized in that the route creation unit determines the lodging level in the lodging area from the lodging information, determines the level at which the work vehicle can harvest from the machine information, and creates the travel route based on the lodging level and the level at which it can harvest.

[0108] <Note 10> The work vehicle according to any one of the appendices 7 to 9, characterized in that the route creation unit creates the travel route based on the field information of the field in addition to the lodging information and the machine information.

[0109] <Note 11> The work vehicle according to any one of the appendices 7 to 10, characterized in that the route creation unit creates the travel route based on a learning model that has been machine-learned to obtain the lodging information and the machine information during harvesting.

[0110] <Note 12> The work vehicle according to Appendix 11, characterized in that when the route creation unit creates the route for harvesting a predetermined field, it increases the importance of the learning model accumulated during past harvesting runs in the predetermined field and creates the route based on the learning model.

[0111] <Note 13> A route creation system for creating a route for a work vehicle to travel for harvesting in a field, A lodging information setting unit sets lodging information related to the lodging area in the field where grain stalks have fallen over, A route creation system characterized by comprising: a route creation unit that creates the travel route, including the harvesting of the grain stalks within the lodged area, based on the lodged information and the machine information of the work vehicle.

[0112] <Note 14> The lodging information setting unit sets the lodging direction of the grain stalk as the lodging information, The route creation system according to Appendix 13, characterized in that the route creation unit creates the travel route so as to cut the grain stalks within the lodged area in a predetermined recommended harvesting direction relative to the lodging direction.

[0113] <Note 15> The route creation system according to Appendix 13 or 14, characterized in that the route creation unit determines the lodging level in the lodging area from the lodging information, determines the harvesting level of the work vehicle from the machine information, and creates the travel route based on the lodging level and the harvesting level.

[0114] <Note 16> The route creation system according to any one of appendices 13 to 15, characterized in that the route creation unit creates the travel route based on the field information of the field in addition to the lodging information and the machine information.

[0115] <Note 17> The route creation system according to any one of the appendices 13 to 16, characterized in that the route creation unit creates the travel route based on a learning model that has been machine-learned to obtain the lodging information and machine information during harvesting.

[0116] <Note 18> The route creation system according to Appendix 17, characterized in that when the route creation unit creates the route for harvesting a predetermined field, it increases the importance of the learning model accumulated during past harvesting runs in the predetermined field and creates the route based on the learning model. [Explanation of symbols]

[0117] 1. Combine harvester (work vehicle) 2. Running section 3 Reaping section 8 Power section 29. Aircraft camera 30 Control device 35. Driving control unit 40 Mobile devices 41 Terminal-side control device 46 Mobile phone camera 47 Field Information Setting Section 48 Lodging Information Setting Unit 49 Route Creation Unit 55. Artificial Intelligence Server

Claims

1. A method for creating a route for a work vehicle to travel in a field for harvesting, A lodging information setting process involves setting lodging information for areas in the field where grain stalks have fallen over, and A route creation method characterized by comprising a route creation step of creating the travel route, which includes harvesting the grain stalks within the lodged area, based on the lodged information and the machine information of the work vehicle.

2. The lodging information setting step involves setting the lodging direction of the grain stalk as the lodging information, The method for creating a path according to claim 1, characterized in that the path creation step creates a travel path such that the grain stalks in the lodged area are cut in a predetermined recommended harvesting direction relative to the lodging direction.

3. The route creation method according to claim 1, characterized in that the route creation step involves determining the lodging level in the lodging area from the lodging information, determining the harvesting level of the work vehicle from the machine information, and creating the travel route based on the lodging level and the harvesting level.

4. The route creation method according to claim 1, characterized in that the route creation step creates the travel route based on the field information of the field in addition to the lodging information and the machine information.

5. The route creation method according to claim 1, characterized in that the route creation step creates the travel route based on a learning model that has been machine-learned to obtain the lodging information and the machine information during harvesting.

6. The route creation method according to claim 5, characterized in that, when creating a route for harvesting a predetermined field, the importance of the learning model accumulated during past harvesting runs in the predetermined field is increased, and the route is created based on the learning model.

7. A work vehicle that creates a driving route for harvesting in a field, A lodging information setting unit sets lodging information related to the lodging area in the field where grain stalks have fallen over, A work vehicle characterized by comprising a route creation unit that creates a travel route including the harvesting of the grain stalks within the lodged area based on the lodged information and the machine information of the work vehicle.

8. A route creation system for creating a route for a work vehicle to travel for harvesting in a field, A lodging information setting unit sets lodging information related to the lodging area in the field where grain stalks have fallen over, A route creation system characterized by comprising: a route creation unit that creates the travel route, including the harvesting of the grain stalks within the lodged area, based on the lodged information and the machine information of the work vehicle.

Images