Harvesting machine and method for controlling the harvesting machine

Abstract

Improve the function of automatically operating harvesting machines to discharge straw without cutting it. [Solution] The control device for the harvester can operate in a cutting mode, which cuts and discharges the harvested straw, and a non-cutting mode, which discharges the straw without cutting it. The control device determines the area inside the travel trajectory when the harvester performs one round of harvesting by manual operation along the outer perimeter of the crop area in the field where the crops are planted, as the automatic operation area, and sets a first circular route, a second circular route, and a U-turn route within the automatic operation area. The U-turn route includes multiple straight sections and multiple turn sections. The control device operates in cutting mode in the area of ​​the first circular route and the area of ​​the second circular route that overlaps with the U-turn route, and operates in non-cutting mode in the area of ​​the second circular route that does not overlap with the U-turn route, and at least a portion of the multiple straight sections included in the U-turn route.

Description

Technical Field

[0001] The present invention relates to a harvesting machine and a method for controlling the harvesting machine.

Background Art

[0002] The development of harvesting machines such as combine harvesters (hereinafter also simply referred to as "combines") that travel by automatic driving while harvesting crops in a field is underway. Patent Document 1 discloses an example of such a harvesting machine.

[0003] The harvesting machine (self-threshing combine) disclosed in Patent Document 1 includes a threshing device, a straw processing device that cuts the straw processed by the threshing device, and a switching plate provided above the cutting device. When the switching plate is open, the straw is introduced into the straw processing device and falls onto the field in a cut state. When the switching plate is closed, the straw is not introduced into the straw processing device and falls onto the field in an uncut state. The straw that has fallen onto the field in an uncut state is collected and used as feed, fertilizer, fuel, or the like.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] An exemplary embodiment of the present invention provides a harvesting machine capable of appropriately switching between a cutting mode in which the straw of the harvested crop is cut and discharged and a non-cutting mode in which the straw is discharged without being cut, according to the area in the field.

Means for Solving the Problems

[0006] The present disclosure provides the solution means described in the following items.

[0007] [Item 1] A harvesting machine capable of automatic operation, A harvesting device for harvesting crops that have grains, A threshing device that separates the harvested crop into grain and straw, A cutting device for cutting and discharging the aforementioned waste straw, A switching device capable of switching between a first state in which the waste straw is supplied to the cutting device and a second state in which the waste straw is discharged without being supplied to the cutting device, A positioning device that acquires the position information of the harvesting machine, Control device and Equipped with, The control device is The switching device operates in a cutting mode, where the harvester is made to cut when the switching device is in the first state, and a non-cutting mode, where the harvester is made to cut when the switching device is in the second state. Based on the trajectory of the harvester when it performs a round harvesting run by manual operation along the outer perimeter of the crop area in the field where the crop is planted, the area inside the trajectory is determined as the automatic operation area. Within the aforementioned automated driving area, the system is configured to include a first circular route, a second circular route connected to the first circular route, and a U-turn route connected to the second circular route. The first circular route is one or more circular routes on the outermost edge of the automated driving area, The second circular route is one or more circular routes located inside the first circular route. The U-turn route includes a plurality of straight sections for harvesting crops in the area inside the second circular route, and a plurality of turn sections connecting the plurality of straight sections, wherein at least a portion of the plurality of turn sections overlaps with a portion of the area where the second circular route is set. The control device is When the harvesting machine is made to cut along the first circular path, it operates in the cutting mode, When the harvester is made to cut along the second circular path, it operates in the cutting mode in sections that overlap with the multiple turn sections, and operates in the non-cutting mode in at least a portion of sections that do not overlap with the multiple turn sections. When the harvester is made to harvest along the U-turn path, it is configured to operate in the non-cutting mode in at least a portion of the multiple straight sections and in the cutting mode in the multiple turn sections. Harvesting machine.

[0008] [Item 2] The harvesting machine according to item 1, wherein the control device is configured to determine, based on user input, which of the plurality of straight sections operates in the non-disconnecting mode.

[0009] [Item 3] The harvesting machine according to item 2, wherein the control device is configured to operate in the non-cutting mode for a number of straight sections specified by the user, starting from the rightmost or leftmost of the plurality of straight sections, and to operate in the cutting mode for the remaining straight sections.

[0010] [Item 4] The harvester according to any one of items 1 to 3, wherein the control device is configured to determine, based on user input, whether or not to operate in the non-cutting mode in a section of the second circular path that does not overlap with the plurality of turn sections.

[0011] [Item 5] The harvesting machine according to any one of items 2 to 4, further comprising an operating terminal having a graphical user interface (GUI) for receiving input from the user.

[0012] [Item 6] The aforementioned GUI is (a) Of the plurality of straight sections, how many columns of the straight section from either the rightmost or leftmost end will operate in the non-disconnected mode, and / or (b) Whether to operate in the non-cutting mode in a section of the second circuit path that does not overlap with the plurality of turn sections The harvesting machine according to item 5, which provides a function of setting

[0013] [Item 7] When the control device moves the harvesting machine to a predetermined discharge position for discharging the grains, the harvesting machine is moved along a path that does not pass through a non-cutting area where the straw is discharged without being cut, according to any one of items 1 to 5.

[0014] [Item 8] A method executed by a computer for controlling a harvesting machine capable of automatic operation, The harvesting machine includes a cutting device for cutting a crop having grains, a threshing device for separating the cut crop into grains and straw, a cutting device for cutting and discharging the straw, a switching device capable of switching between a first state of supplying the straw to the cutting device and a second state of discharging the straw without supplying it to the cutting device, and a positioning device for acquiring position information of the harvesting machine. The method includes Operating in a cutting mode in which the switching device is in the first state and the harvesting machine performs a cutting operation, and a non-cutting mode in which the switching device is in the second state and the harvesting machine performs a cutting operation, Based on the travel locus of the harvesting machine when the harvesting machine performs a one-round cutting operation manually along the outer periphery of the crop area where the crop is planted in the field, determining the area inside the travel locus as an automatic operation area, Setting a first circuit path, a second circuit path connected to the first circuit path, and a U-turn path connected to the second circuit path within the automatic operation area, including The first circuit path is a circuit path of one or more rounds at the outermost periphery of the automatic operation area, The second circuit path is a circuit path of one or more rounds inside the first circuit path, The U-turn path includes a plurality of straight sections for directly harvesting crops within the area inside the second circular path, and a plurality of turn sections connecting the plurality of straight sections. At least a part of the plurality of turn sections overlaps with a part of the area where the second circular path is set. The method further includes When causing the harvester to perform a harvesting run along the first circular path, operating in the cutting mode; When causing the harvester to perform a harvesting run along the second circular path, operating in the cutting mode in a section overlapping with the plurality of turn sections, and operating in the non-cutting mode in at least a part of a section not overlapping with the plurality of turn sections; When causing the harvester to perform a harvesting run along the U-turn path, operating in the non-cutting mode in at least a part of the plurality of straight sections, and operating in the cutting mode in the plurality of turn sections; A method including the above.

[0015] [Item 9] A computer program executed by a computer that controls a harvester capable of autonomous driving, The harvester includes a harvesting device for harvesting crops having grains, a threshing device for separating the harvested crops into grains and straw, a cutting device for cutting and discharging the straw, a switching device capable of switching between a first state of supplying the straw to the cutting device and a second state of discharging the straw without supplying it to the cutting device, and a positioning device for acquiring position information of the harvester. The computer program causes the computer to Operate in a cutting mode of setting the switching device to the first state and causing the harvester to perform a harvesting run, and a non-cutting mode of setting the switching device to the second state and causing the harvester to perform a harvesting run; Based on the travel locus of the harvester when the harvester performs a one-round harvesting run manually along the outer periphery of the crop area where the crops are planted in the field, determine the area inside the travel locus as the autonomous driving area; Within the aforementioned automated driving area, a first circular route, a second circular route connected to the first circular route, and a U-turn route connected to the second circular route are set up. Make it run, The first circular route is one or more circular routes on the outermost edge of the automated driving area, The second circular route is one or more circular routes located inside the first circular route. The U-turn path includes a plurality of straight sections for harvesting crops in a straight line within the area inside the second circular path, and a plurality of turn sections connecting the plurality of straight sections, wherein at least a portion of the plurality of turn sections overlaps with a portion of the area where the second circular path is set. The aforementioned computer program, further, When the harvesting machine is made to cut along the first circular path, it operates in the cutting mode, When the harvester is made to cut along the second circular path, it operates in the cutting mode in sections that overlap with the multiple turn sections, and operates in the non-cutting mode in at least a portion of sections that do not overlap with the multiple turn sections. When the harvesting machine is made to harvest along the U-turn path, it operates in the non-cutting mode in at least a portion of the multiple straight sections and in the cutting mode in the multiple turn sections. A computer program that causes the aforementioned computer to execute the following.

[0016] [Item 10] A harvesting machine capable of automatic operation, A harvesting device for harvesting crops that have grains, A threshing device that separates the harvested crop into grain and straw, A cutting device for cutting and discharging the aforementioned waste straw, A switching device capable of switching between a first state in which the waste straw is supplied to the cutting device and a second state in which the waste straw is discharged without being supplied to the cutting device, A positioning device that acquires the position information of the harvesting machine, Control device and Equipped with, The control device is The switching device operates in a cutting mode, where the harvester is made to cut when the switching device is in the first state, and a non-cutting mode, where the harvester is made to cut when the switching device is in the second state. Based on the position information of the harvester, the harvester is driven automatically to harvest along a target path set within the field. During the harvesting operation under the aforementioned automated driving system, the system is configured to switch between the cutting mode and the non-cutting mode according to instructions input by the user. Harvesting machine.

[0017] [Item 11] A method performed by a computer that controls an autonomous harvesting machine, The harvester comprises a harvesting device for cutting crops containing grain, a threshing device for separating the harvested crops into grain and straw, a cutting device for cutting and discharging the straw, a switching device capable of switching between a first state in which the straw is supplied to the cutting device and a second state in which the straw is discharged without being supplied to the cutting device, and a positioning device for acquiring the position information of the harvester. The aforementioned method, The switching device operates in a cutting mode, where the harvester is made to cut when the switching device is in the first state, and in a non-cutting mode, where the harvester is made to cut when the switching device is in the second state. Based on the position information of the harvester, the harvester is driven automatically to harvest along a target path set within the field. During the harvesting operation under the aforementioned automated driving system, the system switches between the cutting mode and the non-cutting mode according to instructions input by the user. A method that includes this.

[0018] [Item 12] A computer program executed by a computer that controls an autonomous harvesting machine, The harvester comprises a harvesting device for cutting crops containing grain, a threshing device for separating the harvested crops into grain and straw, a cutting device for cutting and discharging the straw, a switching device capable of switching between a first state in which the straw is supplied to the cutting device and a second state in which the straw is discharged without being supplied to the cutting device, and a positioning device for acquiring the position information of the harvester. The computer program is installed on the computer. The switching device operates in a cutting mode, where the harvester is made to cut when the switching device is in the first state, and in a non-cutting mode, where the harvester is made to cut when the switching device is in the second state. Based on the position information of the harvester, the harvester is driven automatically to harvest along a target path set within the field. During the harvesting operation under the aforementioned automated driving system, the system switches between the cutting mode and the non-cutting mode according to instructions input by the user. A computer program that executes something.

[0019] Comprehensive or specific embodiments of the present invention may be realized by apparatus, systems, methods, integrated circuits, computer programs, or computer-readable non-temporary storage media, or any combination thereof. The computer-readable storage media may include volatile storage media or non-volatile storage media. The apparatus may consist of multiple devices. If the apparatus consists of two or more devices, these two or more devices may be located in a single device or in two or more separate devices. [Effects of the Invention]

[0020] According to an exemplary embodiment of the present invention, it becomes possible to appropriately switch between a cutting mode, in which harvested crop straw is cut and discharged, and a non-cutting mode, in which the straw is discharged without being cut, depending on the area within the field. [Brief explanation of the drawing]

[0021] [Figure 1] Figure 1 is a schematic side view showing a harvesting machine according to an exemplary embodiment of the present invention. [Figure 2] Figure 2 is a block diagram showing an example of the configuration of a harvesting machine. [Figure 3] Figure 3 is a flowchart showing an example of a process performed by the control device. [Figure 4] Figure 4 schematically shows examples of manual and automatic driving areas set in a crop area where crops are planted in a field. [Figure 5] Figure 5 shows an example of the driving trajectory of a harvesting machine operated manually during the initial circuit run. [Figure 6] Figure 6 shows an example of the first circular route in the outermost region of the autonomous driving area. [Figure 7] Figure 7 shows an example of the second loop route. [Figure 8] Figure 8 shows an example of a U-turn route. [Figure 9A] Figure 9A shows an example of a graphical user interface (GUI) displayed on an operating terminal. [Figure 9B] Figure 9B shows another example of a GUI displayed on an operating terminal. [Figure 9C] Figure 9C shows yet another example of a GUI displayed on an operating terminal. [Figure 9D] Figure 9D shows yet another example of a GUI displayed on an operating terminal. [Figure 10] Figure 10 shows an example of the path a harvester takes when it automatically moves to a predetermined discharge position. [Figure 11] Figure 11 shows another example of the path a harvester takes when it automatically moves to the discharge position. [Modes for carrying out the invention]

[0022] (Definition of terms) "Automated driving" means controlling the movement of a vehicle (e.g., a combine harvester or other harvesting machine) by the action of a control device, without manual operation by a driver. During automated driving, not only the movement of the vehicle but also the actions of harvesting and other operations may be controlled automatically. The movement of a vehicle under automated driving is called "automated driving." Furthermore, the movement of a harvesting machine while harvesting crops is called "harvesting driving." The control device can control at least one of the following necessary functions for the movement of the vehicle: steering, adjustment of the movement speed, starting and stopping of movement. Movement under automated driving may include not only movement of the vehicle along a predetermined route toward a destination, but also movement following a target. A vehicle performing automated driving may move partially based on user instructions. In addition to the automated driving mode, a vehicle performing automated driving may also operate in a manual driving mode in which it is moved by manual operation by a driver. Steering the vehicle by the action of a control device without manual operation is called "automatic steering." Part or all of the control device may be located outside the vehicle. Communication, such as control signals, commands, or data, may take place between the vehicle and a control device located outside the vehicle. An autonomously driven vehicle may move autonomously while sensing its surrounding environment, without human intervention in controlling its movement. An autonomously mobile vehicle can travel unmanned within or outside a field (e.g., on a road). Obstacle detection and obstacle avoidance maneuvers may be performed during autonomous movement.

[0023] One example of a “controller” in this disclosure is a computing device comprising at least one processor and at least one memory for storing a computer program (code) that defines a control process to be executed by the processor. Another example of a “controller” is a computing device comprising a hardware accelerator such as an FPGA (Field-Programmable Gate Array), ASSP (Application Specific Standard Product), or ASIC (Application-Specific Integrated Circuit) configured to execute the control process.

[0024] In this disclosure, “processor” refers to hardware electronic circuits such as a CPU (Central Processing Unit), GPU (Graphics Processing Unit), DSP (Digital Signal Processor), ISP (Image Signal Processor), or NPU (Neural Network Processing Unit). “Memory” refers to hardware electronic circuits such as ROM (Read Only Memory) or RAM (Random Access Memory). Part of the memory may be a storage medium connected to the processor by wiring or a network. These hardware electronic circuits may be implemented by one or more integrated circuits (ICs) or large-scale integrated circuits (LSIs). Each functional unit or block and associated component within the electronic circuit may be manufactured individually as separate integrated circuit chips, or some or all of these functional units or blocks may be combined and manufactured as a single integrated circuit chip.

[0025] A program defining the operation of the processor is designed to cause the processor to perform one or more functions, operations, steps, or processes in embodiments of the present invention.

[0026] The following describes exemplary embodiments of the present invention. However, unnecessary details may be omitted. For example, detailed descriptions of already well-known matters and redundant descriptions of substantially identical configurations may be omitted. This is to avoid the following description becoming unnecessarily verbose and to facilitate understanding for those skilled in the art. The inventors provide the accompanying drawings and the following description to enable those skilled in the art to fully understand the present invention, and not to limit the subject matter described in the claims. In the following description, components having the same or similar function are denoted by the same reference numerals.

[0027] The following embodiments are illustrative, and the technology of this disclosure is not limited to these embodiments. For example, the numerical values, shapes, materials, steps, order of steps, and display screen layouts shown in the following embodiments are merely examples, and various modifications are possible as long as they do not result in technical inconsistencies. Furthermore, it is possible to combine one embodiment with another.

[0028] (Embodiment) [1. Structure] Figure 1 is a schematic side view showing a harvester 100 according to an exemplary embodiment of the present invention. The harvester 100 in this embodiment is a head-feeding combine harvester. The harvester 100 performs tasks such as cutting crops, threshing the cut crops, and discharging the harvested material after threshing in a field. The crops are plants from which grains can be harvested, such as rice or wheat. The symbols F, B, U, and D shown in Figure 1 represent front, back, top, and bottom, respectively.

[0029] The harvesting machine 100 comprises a body 101 and a running gear 102. The running gear 102 shown in Figure 1 is equipped with multiple wheels (crawlers) fitted with tracks. A cabin 110 is provided above the body 101.

[0030] A harvesting device 103 for cutting crops is located in front of the traveling device 102. A threshing device 105 and a tank 106 for storing harvested material are located behind the cabin 110. The threshing device 105 threshes the harvested crops, separating them into grains and straw. The tank 106 stores the harvested material, such as grains, obtained by threshing. A cutting device (cutter) 108 is located behind the machine body 101. The cutting device 108 finely cuts the stem portion after the harvested material, such as grains, has been removed and discharges it to the outside. The cutting device 108 is also called a "straw disposal device". A switching device 109 is located above the cutting device 108. The switching device 109 switches between a first state in which straw is supplied to the cutting device 108 and a second state in which the straw is discharged without being supplied to the cutting device 108. The switching device 109 includes, for example, a switching plate. When the switching plate is open, the discarded straw is fed into the cutting device 108, and the shredded discarded straw is discharged. When the switching plate is closed, the discarded straw is not fed into the discarded straw processing device 16, and the discarded straw is discharged without being cut. The opening and closing of the switching plate is controlled by a control device installed in the harvesting machine 100.

[0031] A conveying device 104 for transporting the harvested crops is provided between the harvesting device 103 and the threshing device 105. The tank 106 is equipped with a discharge device 107 for discharging the harvested material from the tank 106. The harvested material is discharged to the outside from a discharge port 117 at the tip of the cylindrical discharge device 107. The discharge device 107 is capable of raising and lowering and rotating, and the position of the discharge port 117 can be changed.

[0032] In this embodiment, the harvester 100 can operate in both manual and automatic modes. In automatic mode, the harvester 100 can travel unmanned while performing the operation of harvesting crops in the field.

[0033] As shown in Figure 1, the harvester 100 is equipped with a prime mover (engine) 111 and a transmission 112. Inside the cabin 110 are a driver's seat, operating levers, operating terminals, and a group of switches for operation.

[0034] The harvester 100 further includes a positioning device 120. The positioning device 120 includes a GNSS receiver and acquires positioning data including the position information of the harvester 100. The GNSS receiver may include an antenna that receives signals from GNSS satellites and a processor that calculates the position of the harvester 100 based on the signals received by the antenna. The positioning device 120 receives satellite signals transmitted from multiple GNSS satellites and performs positioning based on the satellite signals. GNSS is a general term for satellite positioning systems such as GPS (Global Positioning System), QZSS (Quasi-Zenith Satellite System, e.g., Michibiki), GLONASS, Galileo, and BeiDou. In this embodiment, the positioning device 120 is located on top of the cabin 110, but it may be located in other locations.

[0035] The positioning device 120 may include an inertial measuring unit (IMU). The signal from the IMU can be used to supplement the position data. The IMU can measure the tilt and minute movements of the harvester 100. By using the data acquired by the IMU to supplement the position data based on satellite signals, the positioning performance can be improved. The IMU may be located at a different position from the positioning device 120.

[0036] The prime mover 111 may be, for example, a diesel engine. An electric motor may be used instead of a diesel engine. The transmission 112 can change the thrust and speed of the harvester 100 by shifting gears. The transmission 112 can also switch the harvester 100 between forward and reverse.

[0037] In a configuration where the harvester 100 is equipped with a crawler-type running gear 102, the direction of travel of the harvester 100 can be changed by making the rotational speeds of the left and right wheels, which are fitted with continuous tracks, different from each other, or by making the rotational directions of the left and right wheels different from each other. In a configuration where the harvester 100 is equipped with a running gear including wheels with tires, the control device of the harvester 100 can change the direction of travel of the harvester 100 by controlling the power steering device to change the angle of the steering wheels.

[0038] The harvester 100 may be equipped with multiple sensing devices for sensing the environment around the harvester 100. The sensing devices may include, for example, laser sensors, cameras, and / or millimeter-wave radar. These sensors may be used to detect crops or obstacles located around the harvester 100.

[0039] The harvester 100 shown in Figure 1 is capable of human operation, but may also be designed for unmanned operation only. In that case, components necessary only for human operation, such as the cabin 110, steering system, and driver's seat, do not need to be provided in the harvester 100. The unmanned harvester 100 can be driven autonomously or by remote control by a user.

[0040] Figure 2 is a block diagram showing an example configuration of the harvesting machine 100. The harvesting machine 100 illustrated in Figure 2 includes components such as a positioning device 120, a laser sensor 125, a camera 126, a millimeter-wave radar 127, a sensor group 150, an operating terminal 131, an operating switch group 132, a communication device 190, a storage device 170, a control device 160, a drive device 140, a power transmission mechanism 141, a cutting device 108, and a switching device 109. These components can be connected to each other via a bus so as to be able to communicate with one another.

[0041] The positioning device 120 includes a GNSS receiver 121, an RTK receiver 122, an inertial measurement unit (IMU) 123, and a processing circuit 124. The sensor group 150 includes various sensors such as a vehicle speed sensor 151 and a steering angle sensor 152. The control device 160 includes multiple electronic control units (ECUs) such as 165 and 166. Figure 2 shows the components that are relatively highly relevant to the operation of the harvester 100's automatic driving, and other components are not shown.

[0042] The GNSS receiver 121 of the positioning device 120 receives satellite signals transmitted from multiple GNSS satellites and generates GNSS data based on the satellite signals. The GNSS data is generated in a predetermined format, such as NMEA-0183 format. The GNSS data may include, for example, the identification number, elevation angle, azimuth angle, and received signal strength of each satellite from which the satellite signal was received.

[0043] The positioning device 120 illustrated in Figure 2 is capable of positioning the harvester 100 using RTK (Real Time Kinematic)-GNSS. RTK-GNSS positioning utilizes satellite signals transmitted from multiple GNSS satellites, as well as correction signals transmitted from a reference station. The reference station can be installed near the field where the harvester 100 operates (for example, within 10 km of the harvester 100). The reference station generates a correction signal, for example in RTCM format, based on satellite signals received from multiple GNSS satellites and transmits it to the positioning device 120. The RTK receiver 122 includes an antenna and a modem and receives the correction signal transmitted from the reference station. The processing circuit 124 of the positioning device 120 corrects the positioning result from the GNSS receiver 121 based on the correction signal. Using RTK-GNSS, positioning can be performed with an accuracy of, for example, a few centimeters. Position data, including latitude, longitude, and altitude information, is acquired through high-precision positioning using RTK-GNSS. The positioning device 120 calculates the position of the harvesting machine 100 at a frequency of, for example, 1 to 10 times per second.

[0044] Furthermore, the positioning method is not limited to RTK-GNSS; any positioning method that can obtain position data with the required accuracy (such as interferometric positioning or relative positioning) can be used. For example, positioning may be performed using VRS (Virtual Reference Station) or DGPS (Differential Global Positioning System). If position data with the required accuracy can be obtained without using correction signals transmitted from a reference station, the position data may be generated without using correction signals. In that case, the positioning device 120 does not need to be equipped with an RTK receiver 122.

[0045] The IMU123 may be equipped with a 3-axis accelerometer and a 3-axis gyroscope. The IMU123 may also be equipped with an orientation sensor such as a 3-axis geomagnetic sensor. The IMU123 functions as a motion sensor and can output signals indicating various quantities such as the acceleration, velocity, displacement, and attitude of the harvester 100. The processing circuit 124 can estimate the position and orientation of the harvester 100 with higher accuracy based on the signals output from the IMU123 in addition to the satellite signals and correction signals. The signals output from the IMU123 can be used to correct or complement the position calculated based on the satellite signals and correction signals. The IMU123 outputs signals at a higher frequency than the GNSS receiver 121. Using these high-frequency signals, the processing circuit 124 can measure the position and orientation of the harvester 100 at a higher frequency (e.g., 10 Hz or higher). Instead of the IMU123, a 3-axis accelerometer and a 3-axis gyroscope may be provided separately. Also, the IMU123 may be provided as a separate device from the positioning device 120. The IMU123 may also function as a tilt sensor to measure the amount of inclination (e.g., pitch angle, roll angle, yaw angle) of the harvester 100 relative to its reference posture.

[0046] The laser sensor 125 is a distance measuring device that emits laser light and detects the reflected light to measure the distance to the reflection point, and is also called a LiDAR sensor. By changing the direction of the laser light emission, the laser sensor 125 can obtain information on the distance distribution to surrounding objects. The laser sensor 125 can be installed at any position on the harvester 100, such as the front, side, or rear. The laser sensor 125 can be configured to generate sensor data such as point cloud data showing the distance and direction to each measurement point of objects in the environment surrounding the harvester 100, or the 3D or 2D coordinate values ​​of each measurement point. The sensor data output from the laser sensor 125 is processed by the control device 160. Based on the sensor data, the control device 160 can be configured to measure the height or degree of lodging of crops in the vicinity of the harvester 100, and to adjust the height of the harvesting device 103 or the vehicle speed according to the height or degree of lodging of the crops. The point cloud data output from the laser sensor 125 can also be used to detect objects.

[0047] Camera 126 is an imaging device that captures the environment around the harvesting machine 100 and generates image data. While the harvesting machine 100 is in motion, Camera 126 captures the environment around the harvesting machine 100 and generates image (e.g., video) data. Camera 126 can capture video at a frame rate of, for example, 3 frames per second (fps) or higher. The images generated by Camera 126 can be used, for example, to detect obstacles such as people, to position them, or for remote monitoring. Multiple cameras 126 may be installed at different positions on the harvesting machine 100.

[0048] The millimeter-wave radar 127 may be provided to detect obstacles, including metal objects such as vehicles, that are present around the harvesting machine 100. The millimeter-wave radar 127 outputs a signal indicating the presence of an obstacle when an object is closer than a predetermined distance from the millimeter-wave radar 127. Multiple millimeter-wave radars 127 may be provided at different locations on the harvesting machine 100. By providing multiple millimeter-wave radars 127, blind spots in monitoring obstacles around the harvesting machine 100 can be reduced.

[0049] The drive unit 140 includes various devices necessary for driving the harvester 100, such as a prime mover 111 and a transmission 112. The prime mover 111 may be an internal combustion engine, such as a diesel engine. The drive unit 140 may also be equipped with an electric motor for traction, either in place of the internal combustion engine or together with the internal combustion engine.

[0050] The power transmission mechanism 141 transmits the power generated by the prime mover 111 to various devices that perform harvesting operations. These devices include a cutting device 103, a conveying device 104, a threshing device 105, a discharge device 107, a cutting device 108, a switching device 109, etc. The harvester 100 may also be equipped with a power source (such as an electric motor) separate from the prime mover 111 to supply power to at least one of these harvesting devices.

[0051] The vehicle speed sensor 151 is a sensor that measures the travel speed of the harvesting machine 100. The vehicle speed sensor 151 measures, for example, the rotational speed of the wheels or axles and calculates the vehicle speed based on the measured value. The steering angle sensor 152 is a sensor that measures the steering angle of the steering wheel.

[0052] The storage device 170 includes one or more storage media, such as flash memory or a magnetic disk. The storage device 170 stores various data generated by the positioning device 120, laser sensor 125, camera 126, millimeter-wave radar 127, sensor group 150, and ECUs 165 and 166. The data stored in the storage device 170 may include map data of the area including the field where agricultural work is performed by the harvesting machine 100, and target route data for autonomous driving.

[0053] The ECU165 controls the overall operation of the harvester 100. The ECU165 controls the operation of the harvester 100 by controlling the prime mover 111, transmission 112, running gear 102, power transmission mechanism 141, etc., which are included in the drive unit 140.

[0054] The ECU 166 performs calculations and controls to achieve autonomous driving based on data output from the positioning device 120, laser sensor 125, camera 126, millimeter-wave radar 127, and sensor group 150. For example, the ECU 166 determines the position and orientation of the harvester 100 based on data output from the positioning device 120. During autonomous driving, the ECU 166 performs calculations necessary for the harvester 100 to travel along a set target path based on its position and orientation. The ECU 166 may also be configured to perform a process to generate a target path from the starting point to the destination point of the harvester 100's movement.

[0055] These ECUs enable the control unit 160 to perform automatic driving and crop harvesting operations. During automatic driving, the control unit 160 controls the drive unit 140 based on the measured position and orientation of the harvester 100 and the target path. This allows the control unit 160 to drive the harvester 100 along the target path.

[0056] Multiple ECUs included in the control unit 160 can communicate with each other according to a vehicle bus standard such as CAN (Controller Area Network). Instead of CAN, a faster communication method such as Automotive Ethernet (registered trademark) may be used. In Figure 2, ECUs 165 and 166 are shown as separate blocks, but their respective functions may be implemented by multiple ECUs. An on-board computer integrating at least some of the functions of ECUs 165 and 166 may be provided. The control unit 160 may also include ECUs other than ECUs 165 and 166, and any number of ECUs can be provided depending on their function. Each ECU includes a processing circuit containing one or more processors.

[0057] The communication device 190 is a device that includes a circuit for communicating with an external device. The communication device 190 includes a circuit for wireless communication. The communication device 190 may include an antenna and communication circuit for transmitting and receiving signals over a network, for example, with an external terminal device or an external server computer. The network may include, for example, a cellular mobile communication network such as 3G, 4G, or 5G and the Internet. The communication device 190 may also have the function of communicating with a mobile terminal used by a monitor near the harvester 100. Communication with such a mobile terminal may be conducted in accordance with any wireless communication standard, such as Wi-Fi®, cellular mobile communication such as 3G, 4G, or 5G, or Bluetooth®.

[0058] The operation terminal 131 is a terminal for the user to perform operations related to the driving and operation of the harvester 100. The operation terminal 131 is also called a "terminal monitor". The operation terminal 131 may be equipped with a display such as a touchscreen and / or one or more buttons. The display may be, for example, a liquid crystal display or an organic light-emitting diode (OLED) display. By operating the operation terminal 131, the user can perform various operations such as switching the automatic driving mode on / off, recording or editing field map data, setting a target route, setting the crop type, and setting the type of work. At least some of these operations can also be achieved by operating the operation switch group 132. The operation terminal 131 may be configured to be detachable from the harvester 100. A user located away from the harvester 100 may control the operation of the harvester 100 by operating the detached operation terminal 131. Instead of the operation terminal 131, the user may control the operation of the harvester 100 by operating a computer such as a smartphone or tablet computer with the necessary application software installed.

[0059] The operation switch group 132 includes a plurality of switches for operating the harvester 100. In this specification, “switch” broadly means a device used by the operator for operation, such as levers, pedals, and buttons. The operation switch group 132 may include, for example, a switch for switching between automatic and manual driving modes, a switch for switching between forward and reverse, an accelerator pedal, a brake pedal, a lever for switching gears, a switch for switching the lights on and off, and the like.

[0060] [2. Operation] Next, we will explain the operation of the harvesting machine 100.

[0061] In this embodiment, the control device 160 of the harvester 100 can switch between a "cutting mode," in which the straw generated from the threshing device 105 is cut by the cutting device 108 and discharged, and a "non-cutting mode," in which the straw is discharged without being cut. In cutting mode, the straw is shredded by the cutting device 108 (cutter) and discharged into the field. For this reason, cutting mode is sometimes referred to as "cutter mode." In non-cutting mode, the straw is not cut and is discharged into the field in the form of so-called "loose straw." For this reason, non-cutting mode is sometimes referred to as "loose straw mode." The straw discharged into the field without being cut (loose straw) is later collected and used as feed, fertilizer, or fuel.

[0062] As described above, the switching device 109 can switch between a first state in which the straw is supplied to the cutting device 108 and a second state in which the straw is discharged without being supplied to the cutting device 108. The control device 160 is configured or programmed to operate by switching between a cutting mode (cutter mode) in which the switching device 109 is in the first state and the harvester 100 is made to run in the harvesting direction, and a non-cutting mode (barrel-dropping mode) in which the switching device 109 is in the second state and the harvester 100 is made to run in the harvesting direction. Before the harvester 100 starts harvesting crops in the field, the control device 160 sets an automatic operation area within the crop area in the field and sets a target path within the automatic operation area. Furthermore, the control device 160 decides whether to operate in cutting mode or non-cutting mode for each of the multiple sections included in the target path. This operation will be described below with reference to Figures 3 and 4.

[0063] Figure 3 is a flowchart showing an example of a process performed by the control device 160. The process shown in Figure 3 is performed by the ECU 166 in the control device 160 when the harvester 100 starts harvesting crops in the field.

[0064] Figure 4 schematically shows examples of manual operation areas 52 and automatic operation areas 53, 54, and 55 set up in a crop area 50 where crops are planted in a field. The arrows in Figure 4 schematically show a part of the path that the harvester 100 travels. In Figure 4, among the automatic operation areas 53, 54, and 55, the areas that operate in cutting mode are shown with a light dot pattern, and the areas that operate in non-cutting mode are shown with a dark dot pattern. In the example in Figure 4, the outline of the crop area 50 in the field is rectangular, but it may be other shapes.

[0065] As shown in Figure 3, the control device 160 first acquires information on the trajectory of the harvester 100 when it performs a one-round harvesting run along the outer perimeter (e.g., the outermost perimeter) of the crop area 50 in the field by manual operation (step S110). The control device 160 repeatedly acquires position information output from the positioning device 120 while the user is manually operating the harvester 100 to harvest crops located on the outer perimeter of the crop area 50. The control device 160 determines the trajectory of the harvester 100 based on this position information. This one-round harvesting run by manual operation is sometimes referred to as the "initial lap run". Before the initial lap run, the control device 160 may display information (e.g., a message) on the operation terminal 131 prompting the user to operate the harvester 100 along the outermost perimeter of the crop area 50 to perform a one-round harvesting run.

[0066] When information on the trajectory of one lap driven by manual operation is acquired, the control device 160 determines the area inside the said trajectory as the automatic operation area (step S120). More specifically, based on the information on the trajectory and the pre-set information on the harvesting width of the harvester 100, the control device 160 identifies the manual operation area 52 on the field map and determines the area enclosed by the manual operation area 52 as the automatic operation area. In this embodiment, as shown in Figure 4, the automatic operation area is classified into three areas 53, 54, and 55. The way the switching device 109 is controlled during automatic operation differs in these areas.

[0067] The control device 160 sets a first circular route of one or more laps in area 53, which is the outermost part of the automatic driving area (step S130). The control device 160 operates in cutting mode when the harvester 100 is made to harvest along the first circular route. That is, in area 53 where the first circular route is set, the straw is finely cut and discharged by the cutting device 108.

[0068] Next, the control device 160 sets up a second circular route of one or more laps in the area 54 inside the first circular route (step S140). When the control device 160 causes the harvester 100 to harvest along the second circular route, it operates in cutting mode for a portion of the second circular route and in non-cutting mode for the remaining portion. More specifically, the control device 160 may be configured to operate in cutting mode for the portion within area 54a that overlaps with the U-turn route described later, and in non-cutting mode for at least a portion of the portion within area 54b that does not overlap with the U-turn route.

[0069] The control device 160 further sets a U-turn route for harvesting crops in the area 55 inside the area 54 where the second circular route is set (step S150). The U-turn route is a route that alternates between going straight and making U-turns. The U-turn route includes a plurality of straight sections 61 for harvesting crops in the area 55 and a plurality of turn sections 62 connecting the plurality of straight sections. Figure 4 illustrates two straight sections 61 and two turn sections 62. The U-turn route is set up so that all crops in the area 55 can be harvested in a relatively short time. When the control device 160 causes the harvester 100 to travel along the U-turn route to harvest, it operates in cutting mode for some sections of the U-turn route and in non-cutting mode for the remaining sections. More specifically, the control device 160 may be configured to operate in non-cutting mode for at least some of the plurality of straight sections 61 and in cutting mode for the plurality of turn sections 62. In the example shown in Figure 4, the control device 160 operates in non-disconnection mode throughout the entirety of the multiple straight sections 61 and in disconnection mode throughout the entirety of the multiple turn sections 62. As will be described later, the control device 160 may be configured or programmed to determine which sections or areas operate in disconnection mode and which operate in non-disconnection mode, according to information input by the user.

[0070] The following will provide a more detailed explanation of the routes taken by the harvester 100 in the manual operation area 52 and the automatic operation areas 53, 54, and 55, with reference to Figures 5 to 8.

[0071] Figure 5 shows an example of the manual driving trajectory of the harvester 100 during the initial circuit run. During the initial circuit run, the harvester 100 travels through the manual driving area 52 on the outermost perimeter of the crop area 50. In the example shown in Figure 5, when the harvester 100 changes direction, it moves in the order of forward → backward with a curve → forward, drawing a trajectory like "α". Such a turn is sometimes called an "α turn". The method of changing direction is not limited to the α turn shown in the figure, but may be done by other methods. During the initial circuit run, the user operates the harvester 100 in cutting mode, which finely cuts and discharges the straw generated after harvesting and threshing using the cutting device 108. This is because the harvester 100 may pass through a part of the manual driving area 52 during the subsequent automatic driving run. In the manual driving area 52, it is recommended that the user operate the harvester 100 in cutting mode to prevent the loosely cut straw from being trampled by the harvester 100.

[0072] Once the initial circuit run is completed and the process shown in Figure 3 is finished, it becomes possible to start automatic operation. When the control device 160 receives an instruction to start automatic operation from the user via the operation terminal 131, it starts controlling the automatic operation. The control device 160 makes the harvester 100 automatically travel within areas 53, 54, and 55, as illustrated by the arrows in Figures 6, 7, and 8, and performs crop harvesting.

[0073] Figure 6 shows an example of a first circular route in the outermost region 53 of the automated driving area. In the example shown in Figure 6, the first circular route is a two-lap route. The first circular route is not limited to two laps; it may be one lap or three or more laps. The control device 160 causes the harvester 100 to perform harvesting along the first circular route. At this time, the control device 160 operates in cutting mode. That is, no loose straw is removed in region 53. This is to prevent the loosely removed straw from being trampled when the harvester 100 later passes through a part of region 53.

[0074] Once harvesting along the first circular path shown in Figure 6 is complete, the control device 160 instructs the harvester 100 to perform harvesting along the second circular path in region 54, as shown in Figure 7.

[0075] Figure 7 shows an example of a second circular route in region 54. In the example shown in Figure 7, the second circular route is a two-loop route. The second circular route is not limited to two loops; it may be one loop or three or more loops. The control device 160 causes the harvester 100 to perform harvesting along the second circular route. At this time, the control device 160 switches between cutting mode and non-cutting mode depending on which part of region 54 the harvester 100 is traveling through. In the example in Figure 7, the control device 160 operates in cutting mode in the section of the second circular route that overlaps with multiple turn sections in the harvesting run along the subsequent U-turn route (region 54a), and in non-cutting mode in the section that does not overlap with multiple turn sections (region 54b). That is, in region 54a, which the harvester 100 may pass through when making a turn during the harvesting run along the subsequent U-turn route, the straw is cut and discharged, while in the other regions 54b, the straw is dropped loosely without being cut. In the example in Figure 7, region 54a is the region of region 54 that extends in a direction that intersects (e.g., perpendicular to) the direction of the crop rows. Region 54b is the region of region 54 that extends parallel to the direction of the rows. In this way, by setting a non-cutting mode in a portion of region 54b, the area in which loose plants are removed can be increased compared to when the entire region 54 is operated in cutting mode. The user may also be able to set which part of region 54 is to be treated with loose plants using an input device such as an operation terminal 131.

[0076] Once the harvesting run along the second circular path shown in Figure 7 is completed, the control device 160 causes the harvester 100 to perform a harvesting run along a U-turn path for harvesting crops in area 55, as shown in Figure 8.

[0077] Figure 8 shows an example of a U-turn path in area 55. As shown in Figure 8, the U-turn path includes a plurality of straight sections 61 parallel to the rows and a plurality of turn sections 62 connecting the plurality of straight sections 61. In the example in Figure 8, the turn sections 62 include a straight section extending in a direction perpendicular to the rows (the vertical direction in Figure 8). Thus, each turn section 62 may be set to connect two relatively far-away straight sections 61. Such turns are also referred to as "U-turns" in this specification. In the example in Figure 8, the U-turn path is set so that the harvester 100 sequentially harvests the crops in area 55 in a spiral pattern from the outer rows to the inner rows. This is just one example. For example, as shown in Figure 4, turn sections 62 may be set to connect two relatively close straight sections 61. In that case, the U-turn path may be a path in which the harvester 100 travels in a zigzag pattern. The control device 160 determines the U-turn path to ensure the most efficient harvesting, based on the size of the field and the capacity of the tank 106 of the harvester 100.

[0078] In this specification, a section connecting a straight section parallel to a rule with a straight section moving in the opposite direction is referred to as a "turn section." Note that the straight section 61 does not have to be perfectly straight and may include curved sections. In this specification, even if a section includes curved sections, a section that generally follows the rule is considered a "straight section."

[0079] The control device 160 causes the harvester 100 to perform harvesting along the U-turn path. At this time, the control device 160 switches between cutting mode and non-cutting mode depending on which part of the region 55 the harvester 100 is traveling through. In the example shown in Figure 8, the control device 160 operates in non-cutting mode in multiple straight sections 61 of the U-turn path and in cutting mode in multiple turn sections 62. That is, the straw generated from threshing after harvest is dropped loosely throughout the entire region 55, but not loosely dropped in regions 54a and 53 which overlap with the turn sections 62. This operation maximizes the area in which loose straw is dropped.

[0080] The control device 160 may operate in non-disconnection mode only in some of the straight sections 61, rather than operating in non-disconnection mode in all of the straight sections 61. For example, the user may be able to set which columns to operate in non-disconnection mode using the operation terminal 131. The control device 160 may be configured to determine which of the multiple straight sections 61 will operate in non-disconnection mode based on input from the user. In this way, the control device 160 is configured to operate in non-disconnection mode in at least some of the multiple straight sections 61.

[0081] Figures 9A and 9B show examples of graphical user interfaces (GUIs) displayed on the display of the operating terminal 131. In this example, the control device 160 displays the manually operated area 52 and the automatically operated areas (areas 53, 54, and 55) included in the crop area 50 of the field on the operating terminal 131. By operating the operating terminal 131, the user can set which of the multiple crop rows (rows) in area 55 where the U-turn route is set will be pruned. For example, the user can select the rows to be pruned using an input device built into or connected to the operating terminal 131 (e.g., a touchscreen or pointing device). In the example in Figure 9A, seven rows from the left are selected. On the other hand, in the example in Figure 9B, fourteen rows from the right are selected. After the user selects the rows to be pruned and presses the "OK" button, the control device 160 determines the areas corresponding to the selected rows as areas to operate in non-cutting mode. Thus, the control device 160 can be configured or programmed to operate in non-disconnect mode for a number of straight sections specified by the user, starting from the rightmost or leftmost of the multiple straight sections in the region 55 where the U-turn path is set, and to operate in disconnect mode for the remaining straight sections. Here, "rightmost" or "leftmost" means being located at the rightmost or leftmost position in the direction of travel when the harvester 100 travels through a certain reference straight section (e.g., the first straight section).

[0082] In the examples in Figures 9A and 9B, the user selects the columns to be randomly removed by tapping or clicking. The GUI may be configured to allow selection in other ways, not just this method. For example, as shown in Figure 9C, the GUI may be configured to provide a function to set how many columns in a straight line section from either the rightmost or leftmost edge will operate in non-disconnection mode (random removal mode). Furthermore, the GUI may be configured to allow setting any area within area 55 as an area to be randomly removed (hereinafter also referred to as the "random removal area"), rather than being limited to column-level settings.

[0083] Furthermore, as shown in Figure 9D, the GUI may be configured to allow setting a rose-cutting area not only in area 55 but also in area 54. In the example in Figure 9D, the user can set one or both of the areas 54b that extend parallel to the crop rows (rows) within area 54 as the rose-cutting area. In this example, the control device 160 determines, based on user input, whether to operate in non-cutting mode in the sections of the second circular path set in area 54 that do not overlap with the multiple turn sections included in the U-turn path (i.e., sections within area 54b). In the example in Figure 9D, the left area 54b and the 10 columns from the left within area 55 are selected as areas to operate in non-cutting mode. The GUI may be configured to allow setting any area within area 54 as the rose-cutting area, rather than being limited to selecting one or both of the two areas 54b.

[0084] The GUIs shown in Figures 9A to 9D are merely examples, and user interfaces providing similar functionality can be designed arbitrarily.

[0085] In each of the above examples, the control device 160 determines, before the start of the harvesting run by automatic operation, which sections will operate in cutting mode and which sections will operate in non-cutting mode. This determination may be changed after the start of the harvesting run by automatic operation, according to instructions from the user (e.g., operator). That is, the control device 160 may be configured to switch between cutting mode and non-cutting mode according to instructions from the user while the harvester 100 is performing a harvesting run by automatic operation. Instructions from the user can be input to the control device 160, for example, by using the operation terminal 131 or other input device. Such a function allows the user to flexibly switch the straw discharge state during a harvesting run by automatic operation. In this case, the control device 160 does not necessarily have to generate the route for automatic operation in the manner shown in Figure 3. The control device 160 may be configured to make the harvester 100 perform a harvesting run by automatic operation along a target route set in the field in any way, and to switch between cutting mode and non-cutting mode according to instructions from the user during the harvesting run by automatic operation.

[0086] Next, an example of the operation for discharging the grain accumulated in the tank 106 after harvesting in the crop area 50 will be described.

[0087] Figure 10 shows an example of the path the harvester 100 automatically takes when it moves to a predetermined discharge position 90 after the harvesting run is completed. A transport vehicle 300 is parked near the discharge position 90. In the example in Figure 10, part of area 55 is a cutting area 55a (also called the "cutter area") where the straw is cut and discharged, and the rest of area 55 is an uncut area 55b (also called the "loose straw area") where the straw is discharged without being cut. Also, of area 54, only area 54b located on the upper side in Figure 10 is an uncut area, and the rest is a cutting area. In this example, after harvesting the crop rows near the center of area 55, the harvester 100 moves towards the predetermined discharge position where the transport vehicle 300 is located. The timing of the movement to the discharge position can be determined by the control device 160 based on signals from sensors that measure the amount of grain in the tank 106, or based on prior predictions.

[0088] In the example shown in Figure 10, if the harvester 100 is driven along a path 82 that connects the position of the harvester 100 at the end of the harvesting run to the discharge position 90 in the shortest distance or shortest time, the harvester 100 will run over the loose straw that has fallen into the non-cutting area 55b. In such a case, the control device 160 determines a path 81 that does not run over the straw in the non-cutting area 55b and drives the harvester 100 along the path 81. The control device 160 may be configured to determine a path 81 that, for example, does not pass through the non-cutting area 55b and can reach the discharge position 90 as quickly as possible.

[0089] Figure 11 shows another example of a path when the harvester 100 automatically moves to the discharge position 90. In the example in Figure 11, the area of ​​the cutting region 55a is larger compared to the example in Figure 10. Therefore, even if the harvester 100 travels along path 82, the loosely detached straw will not be trampled. In such cases, the control device 160 moves the harvester 100 to the discharge position 90 along path 82 which connects the harvester 100 to the discharge position 90 in the shortest distance or shortest time.

[0090] Thus, when the control device 160 moves the harvester 100 to a predetermined discharge position for discharging grain, it may be configured to move the harvester 100 along a path that does not pass through the uncut area where the straw is discharged without being cut. Information indicating which areas in the field correspond to the cut area (cutting area) and which areas correspond to the uncut area (loosening area) is stored in the storage device 170 shown in Figure 2 or in a storage device within the control device 160. Based on this information, the control device 160 may be configured to determine a path that does not pass through the uncut area and reaches the discharge position 90 in the shortest possible time, and to move the harvester 100 to the discharge position 90 along that path.

[0091] The computer programs executed by one or more computers included in the control devices of the above embodiments may be manufactured and sold independently of the computing devices. The computer programs may be provided, for example, by being stored in a computer-readable, non-temporary storage medium. The computer programs may also be provided by download via a telecommunications line (e.g., the Internet). [Industrial applicability]

[0092] The technology disclosed herein can be applied to harvesting machines such as combine harvesters that are capable of operating in a mode that cuts and discharges the straw and a mode that discharges the straw without cutting it. [Explanation of symbols]

[0093] 50: Crop area, 52: Manual driving area, 53, 54, 55: Automatic driving area, 61: Straight section, 62: Turn section, 81, 82: Route, 90: Discharge position, 100: Harvester, 101: Machine body, 102: Driving device, 103: Cutting device, 104: Conveying device, 105: Threshing device, 106: Tank, 107: Discharge device, 108: Cutting device, 109: Switching device, 110: Cabin, 111: Prime mover, 112: Transmission, 117: Discharge port, 120: Positioning device, 121: GNSS receiver, 122: RTK receiver, 123: Inertial Measurement Unit (IMU), 124: Processing circuit, 125: Laser sensor, 126: Camera, 127: Millimeter-wave radar, 131: Operating terminal, 132: Operating switch group, 140: Drive unit, 141: Power transmission mechanism, 150: Sensor group, 151: Vehicle speed sensor, 152: Steering angle sensor, 160: Control unit, 165, 166: ECU, 170: Memory device, 190: Communication device, 300: Transport vehicle

Claims

1. A harvesting machine capable of automatic operation, A harvesting device for harvesting crops that have grains, A threshing device that separates the harvested crop into grain and straw, A cutting device for cutting and discharging the aforementioned waste straw, A switching device capable of switching between a first state in which the waste straw is supplied to the cutting device and a second state in which the waste straw is discharged without being supplied to the cutting device, A positioning device that acquires the position information of the harvesting machine, Control device and Equipped with, The control device is The switching device operates in a cutting mode, where the harvester is made to cut when the switching device is in the first state, and a non-cutting mode, where the harvester is made to cut when the switching device is in the second state. Based on the trajectory of the harvester when it performs a one-circle harvesting run by manual operation along the outer perimeter of the crop area in the field where the crop is planted, the area inside the trajectory is determined as the automatic operation area. Within the aforementioned automated driving area, a first circular route, a second circular route connected to the first circular route, and a U-turn route connected to the second circular route are configured to be set. The first circular route is one or more circular routes on the outermost edge of the automated driving area, The second circular route is one or more circular routes located inside the first circular route. The U-turn route includes a plurality of straight sections for harvesting crops in the area inside the second circular route, and a plurality of turn sections connecting the plurality of straight sections, and at least a portion of the plurality of turn sections overlaps with a portion of the area where the second circular route is set. The control device is When the harvesting machine is made to cut along the first circular path, it operates in the cutting mode, When the harvester is made to cut along the second circular path, it operates in the cutting mode in sections that overlap with the multiple turn sections, and operates in the non-cutting mode in at least a portion of sections that do not overlap with the multiple turn sections. When the harvesting machine is made to harvest along the U-turn path, it is configured to operate in the non-cutting mode in at least a portion of the multiple straight sections and in the cutting mode in the multiple turn sections. Harvesting machine.

2. The harvesting machine according to claim 1, wherein the control device is configured to determine, based on user input, which of the plurality of straight sections operates in the non-disconnecting mode.

3. The harvesting machine according to claim 2, wherein the control device is configured to operate in the non-cutting mode for a number of straight sections specified by the user, starting from the rightmost or leftmost of the plurality of straight sections, and to operate in the cutting mode for the remaining straight sections.

4. The harvesting machine according to any one of claims 1 to 3, wherein the control device is configured to determine, based on user input, whether or not to operate in the non-cutting mode in a section of the second circular path that does not overlap with the plurality of turn sections.

5. The harvesting machine according to claim 2 or 3, further comprising an operating terminal having a graphical user interface (GUI) for receiving input from the user.

6. The GUI is, (a) Of the plurality of straight sections, how many columns of the straight section from either the right end or the left end will operate in the non-disconnected mode, and / or (b) Whether or not the second circular route operates in the non-disconnected mode in sections that do not overlap with the multiple turn sections. The harvesting machine according to claim 5, which provides a function to set the settings.

7. The harvester according to any one of claims 1 to 3, wherein the control device moves the harvester to a predetermined discharge position for the discharge of grains, and moves the harvester along a path that does not pass through an uncut area where the discharged straw is discharged without being cut.

8. A method performed by a computer that controls an autonomous harvesting machine, The harvester comprises a harvesting device for cutting crops containing grain, a threshing device for separating the harvested crops into grain and straw, a cutting device for cutting and discharging the straw, a switching device capable of switching between a first state in which the straw is supplied to the cutting device and a second state in which the straw is discharged without being supplied to the cutting device, and a positioning device for acquiring the position information of the harvester. The aforementioned method, The switching device operates in a cutting mode, where the harvester is made to cut when the switching device is in the first state, and in a non-cutting mode, where the harvester is made to cut when the switching device is in the second state. Based on the trajectory of the harvester when it performs a one-circle harvesting run by manual operation along the outer perimeter of the crop area in the field where the crop is planted, the area inside the trajectory is determined as the automatic operation area, Within the aforementioned automated driving area, a first circular route, a second circular route connected to the first circular route, and a U-turn route connected to the second circular route are set up. Includes, The first circular route is one or more circular routes on the outermost edge of the automated driving area, The second circular route is one or more circular routes located inside the first circular route. The U-turn path includes a plurality of straight sections for harvesting crops in a straight line within the area inside the second circular path, and a plurality of turn sections connecting the plurality of straight sections, wherein at least a portion of the plurality of turn sections overlaps with a portion of the area where the second circular path is set. The above method further, When the harvesting machine is made to cut along the first circular path, it operates in the cutting mode, When the harvester is made to cut along the second circular path, it operates in the cutting mode in the sections that overlap with the multiple turn sections, and operates in the non-cutting mode in at least a portion of the sections that do not overlap with the multiple turn sections. When the harvesting machine is made to harvest along the U-turn path, it operates in the non-cutting mode in at least a portion of the multiple straight sections, and in the cutting mode in the multiple turn sections. A method that includes this.

9. A computer program executed by a computer that controls an autonomous harvesting machine, The harvester comprises a harvesting device for cutting crops containing grain, a threshing device for separating the harvested crops into grain and straw, a cutting device for cutting and discharging the straw, a switching device capable of switching between a first state in which the straw is supplied to the cutting device and a second state in which the straw is discharged without being supplied to the cutting device, and a positioning device for acquiring the position information of the harvester. The computer program is installed on the computer. The switching device operates in a cutting mode, where the harvester is made to cut when the switching device is in the first state, and in a non-cutting mode, where the harvester is made to cut when the switching device is in the second state. Based on the trajectory of the harvester when it performs a one-circle harvesting run by manual operation along the outer perimeter of the crop area in the field where the crop is planted, the area inside the trajectory is determined as the automatic operation area, Within the aforementioned automated driving area, a first circular route, a second circular route connected to the first circular route, and a U-turn route connected to the second circular route are set up. Make it run, The first circular route is one or more circular routes on the outermost edge of the automated driving area, The second circular route is one or more circular routes located inside the first circular route. The U-turn path includes a plurality of straight sections for harvesting crops in a straight line within the area inside the second circular path, and a plurality of turn sections connecting the plurality of straight sections, wherein at least a portion of the plurality of turn sections overlaps with a portion of the area where the second circular path is set. The aforementioned computer program, further, When the harvesting machine is made to cut along the first circular path, it operates in the cutting mode, When the harvester is made to cut along the second circular path, it operates in the cutting mode in the sections that overlap with the multiple turn sections, and operates in the non-cutting mode in at least a portion of the sections that do not overlap with the multiple turn sections. When the harvesting machine is made to harvest along the U-turn path, it operates in the non-cutting mode in at least a portion of the multiple straight sections, and in the cutting mode in the multiple turn sections. A computer program that causes the aforementioned computer to execute the following.

10. A harvesting machine capable of automatic operation, A harvesting device for harvesting crops that have grains, A threshing device that separates the harvested crop into grain and straw, A cutting device for cutting and discharging the aforementioned waste straw, A switching device capable of switching between a first state in which the waste straw is supplied to the cutting device and a second state in which the waste straw is discharged without being supplied to the cutting device, A positioning device that acquires the position information of the harvesting machine, Control device and Equipped with, The control device is The switching device operates in a cutting mode, where the harvester is made to cut when the switching device is in the first state, and a non-cutting mode, where the harvester is made to cut when the switching device is in the second state. Based on the position information of the harvester, the harvester is driven automatically to harvest along a target path set within the field. During the harvesting operation under the aforementioned automated driving system, the system is configured to switch between the cutting mode and the non-cutting mode according to instructions input by the user. Harvesting machine.

Images