Autonomous Driving Control System

Abstract

To improve work efficiency of crop harvest by automatic travel of a combine.SOLUTION: An automatic travel control system includes: a yield rate acquisition part 85a for acquiring a yield rate which is a yield of grain per unit area in an unworked ground; a calculation part 85b for calculating, based on the yield rate, an estimated storage amount which is a total amount of grain stored in a grain storage part of a combine in the case where the combine has completed travelling on a next travel path; a setting part 85c for setting a discharge movement target amount based on manual operation; and a determination part 85d for determining whether or not to execute discharge movement travel which is automatic travel to a discharge vehicle stop position, by comparing the estimated storage amount and the discharge movement target amount.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to an automatic cruise control system. [Background technology]

[0002] Patent Document 1 discloses an automatically traveling combine harvester. This combine harvester is equipped with a grain amount detection means for detecting the amount of grain in the grain tank. When the grain amount detection means detects an amount of grain equal to or greater than a preset value, the combine harvester is configured to stop harvesting and automatically move to the truck. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2001-69836 A Summary of the Invention [Problem to be solved by the invention]

[0004] As shown in Fig. 7, the combine harvester of Patent Document 1 automatically moves to the track when the grain amount detection means detects a set value or more, even during harvesting work. In the illustrated example, the grain amount detection means detects a set value or more at point A while traveling along the long side of the uncut stalk area. If the combine harvester moves forward from point A, it will crush the unharvested stalks, so it moves backward from point A to point B, and then forward to point C. In other words, the technology of Patent Document 1 has the possibility of reducing work efficiency by moving backward.

[0005] An object of the present invention is to improve the work efficiency of crop harvesting using an automatically traveling combine harvester. [Means for solving the problem]

[0006] As a means for solving the above-mentioned problems, the automatic driving control system of the present invention is an automatic driving control system that controls the automatic driving of a combine harvester that harvests crops on unworked land, and includes a driving path generation unit that generates a driving path for the combine harvester on the unworked land, a driving path selection unit that selects a next driving path to be driven from the driving paths generated by the driving path generation unit, a yield rate acquisition unit that acquires a yield rate that is the yield of grains per unit area on the unworked land, a calculation unit that calculates an expected storage amount that is the total amount of grains to be stored in a grain storage unit of the combine harvester when the combine harvester has completed traveling the next driving path based on the yield rate, and The value obtained by multiplying the full storage volume by the ratio entered by Emission transfer target amount As a setting unit that sets the expected storage amount and a decision unit that compares the expected storage amount with the discharge movement target amount and decides whether or not to execute discharge movement travel, which is automatic travel to a discharge stopping position; A change unit that changes the full storage amount based on an output of a flow rate sensor that measures a flow rate of grains supplied to the grain storage unit of the combine; The present invention is characterized by comprising:

[0007] According to this configuration, the expected storage amount and the target discharge amount are compared to determine whether or not to perform the discharge travel. In other words, it is determined whether or not to perform the discharge travel before traveling the next travel path, so that the grain storage section is prevented from becoming full during travel on the travel path, and the efficiency of the harvesting work by the automatic travel can be improved.

[0008] In addition, since the discharge movement target amount is set based on manual operation, the discharge movement target amount can be appropriately adjusted, and the efficiency of the harvesting work by the automatic traveling can be further improved. For example, if the amount of grains actually stored in the grain storage section when the discharge movement travel is performed according to the decision of the determination unit is less than expected, the discharge movement target amount can be increased. In this case, more grains can be stored in the grain storage section in the subsequent automatic traveling, and the number of discharge movement travels can be reduced to improve the work efficiency. For example, if a situation occurs in which the grain storage section becomes full during traveling on the traveling route, the discharge movement target amount can be decreased. In this case, it is determined that the discharge movement travel is to be performed at an earlier timing in the subsequent automatic traveling, so that the grain storage section can be appropriately prevented from becoming full during traveling on the traveling route. Furthermore, according to this configuration, the value obtained by multiplying the input ratio by the full storage amount is set as the discharge transfer target amount, which is preferable because the discharge transfer target amount can be set easily and intuitively. In addition, the way in which grains are stored in the grain storage section changes depending on the flow rate of grains supplied to the grain storage section. For example, when the flow rate is high, more grains are stored in a position away from the supply port. When the flow rate is low, more grains are stored in a position close to the supply port. If a sensor for detecting fullness in the grain storage section is arranged at a position where more grains are stored, the sensor detects grains relatively quickly, so the amount of grains actually stored in the grain storage section at the time of sensor detection is relatively small. If the sensor is arranged away from a position where more grains are stored, the sensor detects grains relatively slowly, so the amount of grains actually stored in the grain storage section at the time of sensor detection is relatively large. According to this configuration, the full storage amount is changed depending on the output of the flow sensor, so the decision to perform the discharge travel is appropriately made.

[0009] In the present invention, it is preferable that the decision unit decides to execute the discharge movement run when the expected storage amount is greater than the discharge movement target amount, the travel route generation unit generates a discharge movement travel route from the current position of the combine to the discharge stop position in response to the decision by the decision unit to execute the discharge movement run, and the travel route selection unit selects the discharge movement travel route as the next travel route.

[0010] According to this configuration, when the expected storage amount is larger than the target discharge amount, the discharge travel is performed, so that it is possible to appropriately prevent the grain storage section from becoming full during travel on the travel path. Also, when it is decided to perform the discharge travel, a discharge travel path is generated and the discharge travel path is selected as the next travel path, so that the discharge of grains from the grain storage section can be appropriately performed.

[0011]

[0012]

[0013]

[0014]

[0015] In the present invention, it is preferable that the change unit changes the full storage volume so that the full storage volume becomes larger as the output of the flow rate sensor becomes larger.

[0016] This configuration is preferably used when the grain supply port of the grain storage unit and the sensor that detects fullness are close to each other. When the flow rate of grains supplied to the grain storage unit is large, a large amount of grains accumulates at a position away from the supply port and the sensor. Therefore, it is preferable that the full storage amount is large because the sensor detects the grains relatively late. With this configuration, the decision to perform the discharge travel can be made more appropriately. [Brief description of the drawings]

[0017] [Figure 1] FIG. 2 is a diagram illustrating an outline of the operation of the automatic driving control system. [Diagram 2] FIG. [Diagram 3] FIG. 13 is a diagram showing an initial circuit run in a farm field. [Figure 4] FIG. 13 is a diagram showing automatic driving according to an α-turn circular driving pattern. [Diagram 5] FIG. 13 is a diagram showing automatic driving in a U-turn circular driving pattern and discharge transfer driving. [Figure 6] FIG. 2 is a control block diagram showing a configuration related to control. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0018] Hereinafter, an embodiment of an automatic cruise control system according to the present invention will be described with reference to the drawings. Note that the present invention is not limited to the following embodiment, and various modifications are possible without departing from the spirit of the present invention.

[0019] An overview of the operation of the automatic travel control system is shown in Figure 1. This system controls the automatic travel of a combine harvester that harvests crops on unworked land. In this system, a decision unit 85d compares the expected storage volume with the target discharge movement volume and decides whether or not to have the combine harvester perform discharge movement, which is automatic travel to the discharge stop position PP (Figure 5). The decision unit 85d decides to perform discharge movement when the expected storage volume is greater than the target discharge movement volume.

[0020] The expected storage amount is calculated by the calculation unit 85b. The expected storage amount is the total amount of grains stored in the grain tank 7 (an example of a grain storage unit) of the combine when the combine completes traveling along the next traveling route. The next traveling route is the route along which the combine will travel next, selected by the traveling control unit 84 (an example of a traveling route selection unit, see FIG. 6). In the example of FIG. 1 and FIG. 5, the next traveling route is the harvesting traveling route L07.

[0021] The expected storage volume is calculated based on the yield rate. More specifically, the expected storage volume is the sum of the current yield and the expected increase calculated based on the yield rate.

[0022] The current yield is the amount of grain stored in the grain tank 7 at the current time (before the start of travel on the next travel path). The current yield is calculated based on the output of the load sensor 10 that receives a load from the grain tank 7. In this embodiment, the current yield is calculated based on the output of the load sensor 10 and the flow rate of grain supplied to the grain tank 7 measured by the flow rate sensor 50.

[0023] The expected increase is the expected increase in the amount of stored grain in the grain tank 7 due to travel along the next travel path (harvesting travel path L07). The expected increase is calculated by multiplying the area of ​​the field where harvesting will be performed by travel along the next travel path by the yield rate. The yield rate is the yield of grains per unit area in untouched land. The yield rate is calculated during the initial circular travel described below.

[0024] The discharge movement target amount is a value that is a criterion for determining whether or not to execute a discharge movement run. The discharge movement target amount is set by the setting unit 85c based on manual operation. In detail, the discharge movement target amount is set to a value obtained by multiplying the full storage amount by a ratio input by manual operation. The ratio is input by manual operation through the management terminal 60. The ratio can be changed within a range from 50% to 150%.

[0025] The full storage amount is the weight of grains stored in the grain tank 7 when the grain tank 7 is full of grains. The full storage amount is the weight of grains stored in the grain tank 7 when the uppermost rice sensor 11a of the rice sensors 11 provided in the grain tank 7 detects the grains. In this embodiment, the full storage amount is changed by the change unit 85e based on the output of the flow sensor 50 that measures the flow rate of grains supplied to the grain tank 7. Specifically, the full storage amount is changed based on the flow rate of grains supplied to the grain tank 7 measured by the flow sensor 50.

[0026] The reason why the full storage amount is changed based on the flow rate of grain supplied to the grain tank 7 will be explained. In this embodiment, as shown in Fig. 1 and Fig. 2, a grain discharge device 13 that diffuses and discharges grains into the grain tank 7 is disposed at an upper part of the front end inside the grain tank 7. A rough rice sensor 11 is disposed toward the front inside the grain tank 7.

[0027] When the flow rate of grains discharged from the grain discharge device 13 is relatively small, the grains fall toward the front of the grain tank 7, as shown in the upper left illustration of FIG. 1. Then, as shown by the two-dot chain line in the upper left illustration of FIG. 1, the grains accumulate toward the front of the grain tank 7. When the uppermost rice sensor 11a detects grains, the upper surface of the accumulated grains has the shape shown by the thick solid line. In this state, there is room for grains to be stored at the rear of the grain tank 7, but since the rice sensor 11a detects grains, the grain tank 7 is determined to be full. In other words, when the flow rate of grains discharged from the grain discharge device 13 is relatively small, the full storage amount becomes relatively small.

[0028] When the flow rate of grains discharged from the grain discharge device 13 is relatively large, the grains fall toward the rear of the grain tank 7. As a result, the grains accumulate toward the rear of the grain tank 7. Unlike the above-mentioned case, when the uppermost rice sensor 11a detects the grains, there is no (or only a small) room for grains to be stored in the rear of the grain tank 7. Since the rice sensor 11a detects the grains, the grain tank 7 is determined to be full. In this case, the amount of grains stored in the grain tank 7 is larger than when the flow rate of grains discharged from the grain discharge device 13 is small. In other words, when the flow rate of grains discharged from the grain discharge device 13 is relatively large, the full storage amount is relatively large. In view of the above reasons, in this embodiment, the change unit 85e changes the full storage amount so that the full storage amount becomes larger as the output of the flow sensor 50 becomes larger.

[0029] [Overall configuration of the combine] A standard combine harvester equipped with an automatic driving control system is shown in Figure 2. The combine harvester is equipped with a traveling body 2 that is self-propelled by a pair of left and right crawler-type traveling devices 1, and a harvesting device 3 that harvests planted culms. The harvesting device 3 is provided at the front of the traveling body 2.

[0030] A driving section 5 surrounded by a cabin 4 is provided on the front right side of the traveling body 2. Behind the driving section 5, a threshing device 6 that threshes the stalks harvested by the harvesting device 3, and a grain tank 7 that stores the grains obtained by the threshing process are arranged side by side. The grain tank 7 is located on the right side of the machine body, and the threshing device 6 is located on the left side of the machine body. In other words, the driving section 5 is located in front of the grain tank 7.

[0031] A grain discharge device 9 that discharges grains stored in the grain tank 7 to the outside of the machine is provided at the rear of the traveling body 2, behind the grain tank 7. The threshed grains are transported from the threshing device 6 to the inside of the grain tank 7 by a grain transport mechanism 16. A grain discharge device 13 that disperses and discharges the grains transported by the grain transport mechanism 16 into the inside of the grain tank 7 is provided at the front end part inside the grain tank 7.

[0032] A load sensor 10 that measures the load is provided under the grain tank 7. The load sensor 10 detects and outputs the load received from the grain tank 7. Based on the output of the load sensor 10, the mass of grains stored in the grain tank 7 (current yield) is calculated.

[0033] The combine harvester is equipped with a flow rate sensor 50 that measures the flow rate of grain supplied to the grain tank 7. In this embodiment, the flow rate sensor 50 includes a temporary storage unit 51 and a measurement unit 52, and also serves as a quality measurement device that measures the quality of the grain.

[0034] The temporary storage unit 51 receives and stores some of the grains discharged from the grain discharge device 13 as grains to be measured. The measurement unit 52 irradiates light onto the grains stored in the temporary storage unit 51 and analyzes the transmitted light to measure the quality (moisture content, etc.) of the grains.

[0035] The temporary storage unit 51 stores a certain amount of grains. The flow rate (amount supplied per unit time) of grains supplied to the grain tank 7 is calculated by measuring the time until the certain amount of grains is stored in the temporary storage unit 51. The flow sensor 50 outputs the calculated grain flow rate to a control device 80 (described later).

[0036] A control terminal 60 is disposed in the driving unit 5. The control terminal 60 is a device that can receive manual operations and display information. In this embodiment, the control terminal 60 is fixed to the driving unit 5. The control terminal 60 may be configured to be detachable from the driving unit 5, or the control terminal 60 may be located outside the combine harvester.

[0037] A satellite positioning module 70 is attached on the driving unit 5. The satellite positioning module 70 receives GNSS (Global Navigation Satellite System) signals from artificial satellites, generates positioning data indicating the position of the combine harvester based on the received signals, and sends the positioning data to a vehicle position calculation unit 81. As the GNSS, GPS, QZSS, Galileo, GLONASS, BeiDou, etc. can be used.

[0038] [Harvesting with a combine] Harvesting work in a farm field using a combine harvester will be described with reference to Figures 3, 4, and 5. In this embodiment, an example will be described in which the outline of the farm field is rectangular, as shown in Figure 2. In the illustrated example, the long sides of the farm field are parallel to the east-west direction, and the short sides of the farm field are parallel to the north-south direction. A transport vehicle CV that transports grains discharged from the combine harvester is parked on the north side of the field, and a discharge parking position PP is set in the field near the transport vehicle CV.

[0039] First, as shown in Fig. 3, the harvesting vehicle travels around the outer periphery of the field, circling the field boundary (initial circling). The area that has been worked as a result of this initial circling is set as the outer periphery area SA (see Fig. 4), and the unworked area inside the outer periphery area SA is set as the work target area CA (see Fig. 4).

[0040] The outer periphery area SA is used as a space for the combine to change direction (turn driving, described later) when automatically traveling to harvest the planted stalks in the work area CA. The outer periphery area SA is also used as a space for moving to the discharge stop position PP and to a fuel supply location.

[0041] The initial circumnavigation is performed about two to four times in order to ensure a relatively wide width of the outer peripheral area SA. The initial circumnavigation may be performed manually or automatically. The initial circumnavigation is performed so that one side (preferably two opposing sides) of the work target area CA is parallel to the strip direction.

[0042] Following the initial circular travel, the planted culms in the work target area CA are harvested by automatic travel. In this automatic travel, automatic harvesting travel in which the planted culms are harvested while automatically traveling on a harvesting travel route L (one example of a travel route) set in the work target area CA, and turning travel performed between one automatic harvesting travel and the next automatic harvesting travel are repeated. The turning travel is automatic travel on a turning travel route T that connects two harvesting travel routes L.

[0043] The above-mentioned automatic harvesting travel and turning travel are performed according to a predetermined travel pattern, for example, the α-turn circular travel pattern shown in FIG. 4 and the U-turn circular travel pattern shown in FIG.

[0044] The α-turn circular travel pattern (Figure 4) is a travel pattern in which the combine travels sequentially along the harvesting travel path L parallel to the four sides of the rectangular work target area CA, and performs turning travel by α-turn travel. The α-turn travel is performed by forward travel along the direction in which the previous harvesting travel path L extends, backward travel including turning travel, and forward travel along the direction in which the next harvesting travel path L extends. Automatic travel by the α-turn circular travel pattern is a spiral travel. In the illustrated example, the combine travels sequentially along the harvesting travel paths L01, L02, L03, L04, and the turning travel paths T01, T02, T03, T04.

[0045] The automatic driving according to the α-turn driving pattern is performed prior to the U-turn driving pattern when the width of the outer circumferential area SA is narrow and automatic driving according to the U-turn driving pattern is difficult to perform. When the width of the outer circumferential area SA is sufficiently large and automatic driving according to the U-turn driving pattern is possible, automatic driving according to the α-turn driving pattern does not have to be performed.

[0046] The U-turn circular driving pattern (Figure 5) is a driving pattern in which the harvesting driving path L, which is parallel to two opposing sides of a rectangular area, is driven alternately from the outside in order, and the turn driving is performed by U-turn driving. U-turn driving is performed only by forward driving, which includes turning driving. Automatic driving by the U-turn circular driving pattern is a spiral driving, similar to the α-turn circular driving pattern. In the illustrated example, the combine has completed harvesting driving on the harvesting driving path L05, U-turn driving on the turn driving path T05, and harvesting driving on the harvesting driving path L06, and is currently driving on the turn driving path T06.

[0047] When a row direction exists in a farm field, it is preferable that the harvesting travel path L traveled in the U-turn circular travel pattern is a path parallel to two sides parallel to the row direction of the work target area CA. In other words, in automatic travel using the U-turn circular travel pattern, it is preferable that automatic harvesting travel is performed only on paths parallel to the row direction.

[0048] In this embodiment, after the harvesting travel of one harvesting travel route L is completed, a decision is made as to whether or not to perform the discharging travel before starting the harvesting travel of the next harvesting travel route L. That is, each time the harvesting travel of the harvesting travel route L is completed, a decision is made as to whether or not to perform the discharging travel.

[0049] In the example of Fig. 5, the combine has finished harvesting travel on the harvesting travel path L06 and is about to start harvesting travel on the harvesting travel path L07. The calculation unit 85b calculates an expected storage amount, which is the total amount of grains to be stored in the grain tank 7 of the combine when the combine completes travel on the harvesting travel path L07, which is the next travel path, based on the yield rate. The decision unit 85d compares the expected storage amount with the discharge movement target amount, and decides whether or not to cause the combine to perform discharge movement, which is automatic travel to the discharge stop position PP.

[0050] When the expected storage amount is larger than the target discharge amount, it is determined that the discharge travel is to be performed. The reason is that when the expected storage amount is larger than the target discharge amount, there is a high possibility that the grain tank 7 will be full (the unhulled sensor 11a will detect grains) during the harvest travel on the next travel route, the harvest travel route L07.

[0051] When it is determined that the discharge travel is to be performed, a discharge travel route LU is generated, and the combine automatically travels along the discharge travel route LU to the discharge stop position PP. If the expected storage amount is equal to or less than the discharge travel target amount, it is determined that the discharge travel is not to be performed. In this case, the combine travels along the turn travel route T06 and performs harvest travel along the harvest travel route L07.

[0052] [Control configuration] The combine harvester includes a control device 80. The control device 80 is a so-called ECU, and includes a memory (such as a HDD or non-volatile RAM, not shown) that stores programs corresponding to functional units described below, and a CPU (not shown) that executes the programs. The functions of each functional unit are realized by the CPU executing the programs. In other words, the control device 80 includes a non-transitory recording medium that stores the programs.

[0053] The control device 80 includes, as functional units, a vehicle position calculation unit 81, an area calculation unit 82, a route calculation unit 83, a driving control unit 84, and a discharge control unit 85.

[0054] The vehicle position calculation unit 81 calculates the position coordinates of the combine over time based on the positioning data generated by the satellite positioning module 70.

[0055] The area calculation unit 82 calculates the outer periphery area SA and the work target area CA based on the position coordinates of the combine over time calculated by the vehicle position calculation unit 81. Specifically, the area calculation unit 82 calculates the travel path of the combine during a circular run (initial circular run) on the outer periphery of the field based on the position coordinates of the combine over time calculated by the vehicle position calculation unit 81. Then, based on the calculated travel path of the combine, the area calculation unit 82 sets the outer periphery area SA as the area on the outer periphery of the field where the combine has traveled while harvesting the planted stalks. The area calculation unit 82 also sets the area inside the field of the calculated outer periphery area SA as the work target area CA.

[0056] For example, in Fig. 3, the route manually traveled by the combine harvester during a circular run (initial run) on the outer periphery of the field is indicated by an arrow. In the illustrated example, the combine harvester makes three circular runs. When this initial run is completed, the field is in the state shown in Fig. 4.

[0057] As shown in Figure 4, the area calculation unit 82 calculates the area on the outer periphery of the field through which the combine harvester manually traveled while harvesting planted stalks as the outer periphery area SA, and calculates the area inside the field further inward than the calculated outer periphery area SA as the work target area CA.

[0058] The path calculation unit 83 calculates a harvesting travel path L for automatic harvesting travel inside the work target area CA based on the calculation result of the area calculation unit 82. That is, the path calculation unit 83 functions as a travel path generation unit that generates a travel path of the combine in the unworked land. In this embodiment, the harvesting travel path L is a plurality of mesh lines extending parallel to the four sides of the work target area CA. In addition, the path calculation unit 83 calculates a turn travel path T that connects between the two harvesting travel paths L for turn travel (α-turn travel, U-turn travel). In addition, the path calculation unit 83 calculates a discharge movement travel path LU that is a travel path of the discharge movement travel in response to the decision of the decision unit 85d to execute the discharge movement travel. The discharge movement travel path LU is a travel path from the current position of the combine to the discharge stop position PP. The discharge movement travel path LU may be a path that smoothly connects to the turn travel path T, or may be a travel path from the end point of the harvesting travel path L to the discharge stop position PP.

[0059] The travel control unit 84 is configured to be able to control the travel device 1 and the harvesting device 3. The travel control unit 84 sets a next travel path from among the travel paths (harvesting travel path L, turn travel path T, discharge movement travel path LU, etc.) calculated by the path calculation unit 83. That is, the travel control unit 84 functions as a travel path selection unit that selects a next travel path from the travel paths generated by the path calculation unit 83. The travel control unit 84 executes the setting of the travel path based on the above-mentioned travel patterns (α-turn circular travel pattern, U-turn circular travel pattern) and the decision of the discharge movement travel by the decision unit 85d of the discharge control unit 85. Then, the travel control unit 84 controls the automatic travel of the combine based on the position coordinates of the combine calculated by the vehicle position calculation unit 81 and the set travel path. Specifically, the travel control unit 84 controls the travel device 1 of the combine so that the combine travels along the set travel path. Then, the travel control unit 84 operates the harvesting device 3 when the combine travels along the harvesting travel path L.

[0060] In response to the decision by the decision unit 85d to execute the discharge movement travel, the travel control unit 84 selects the discharge movement travel route LU calculated by the route calculation unit 83 as the next travel route. Then, the travel control unit 84 causes the combine to automatically travel the discharge movement travel route LU.

[0061] The discharge control unit 85 includes a yield rate acquisition unit 85a, a calculation unit 85b, a setting unit 85c, a determination unit 85d, and a change unit 85e.

[0062] The yield rate acquisition unit 85a acquires a yield rate, which is the yield of grains per unit area in the unworked land (work target area CA). Specifically, the yield rate acquisition unit 85a calculates the area of ​​the unworked land where the harvesting run has been performed based on the time-dependent change in the position coordinates of the combine harvester calculated by the vehicle position calculation unit 81, and calculates the amount of grains obtained from the unworked land based on the time-dependent change in the amount of grains stored in the grain tank 7 detected by the load sensor 10. The yield rate acquisition unit 85a then divides the amount of grains obtained from the unworked land by the area of ​​the unworked land to calculate the yield rate. In this embodiment, the yield rate acquisition unit 85a calculates the yield rate based on the area where the initial circumnavigation has been performed and the amount of grains obtained by the initial circumnavigation. The calculation of the yield rate by the yield rate acquisition unit 85a may be performed each time a harvesting run is performed over a predetermined area (or distance), or may be performed for the entire predetermined area.

[0063] The calculation unit 85b calculates an expected storage amount, which is the total amount of grains to be stored in the grain storage unit of the combine when the combine completes traveling the next traveling route, based on the yield rate. Specifically, the calculation unit 85b calculates the sum of the current yield and the expected increase amount as the expected storage amount.

[0064] The calculation unit 85b calculates the current yield based on the output of the load sensor 10 and the flow rate of grain supplied to the grain tank 7 measured by the flow sensor 50. A table (or a function) indicating the relationship between the output of the load sensor 10 and the output of the flow sensor 50 and the current yield is stored in advance in the memory of the control device 80. The calculation unit 85b calculates the current yield by referring to the table stored in the memory of the control device 80.

[0065] The calculation unit 85b multiplies the yield rate acquired by the yield rate acquisition unit 85a by the area of ​​the field where harvesting will be performed by traveling along the next traveling path to calculate the expected increase amount. The calculation unit 85b calculates the area of ​​the field where harvesting will be performed by traveling along the next traveling path by multiplying the length of the next traveling path by the mowing width of the harvesting device 3.

[0066] The setting unit 85c sets the discharge transfer target amount based on manual operation. Specifically, the setting unit 85c sets the discharge transfer target amount to a value obtained by multiplying the ratio input by manual operation and the full storage amount. The setting unit 85c displays a screen prompting the operator to input the ratio on the display device of the management terminal 60, and accepts the input of the ratio from the operator. The setting unit 85c sets the discharge transfer target amount to a value obtained by multiplying the full storage amount changed by the change unit 85e and the input ratio.

[0067] The decision unit 85d compares the expected storage amount calculated by the calculation unit 85b with the discharge movement target amount set by the setting unit 85c to decide whether or not to execute discharge movement travel, which is automatic travel to the discharge stop position PP. The decision unit 85d decides to execute discharge movement travel when the expected storage amount is larger than the discharge movement target amount, and decides not to execute discharge movement travel when the expected storage amount is equal to or smaller than the discharge movement target amount.

[0068] The change unit 85e changes the full storage volume based on the output of the flow sensor 50 that measures the flow rate of grain supplied to the grain tank 7 of the combine. The change unit 85e changes the full storage volume so that the full storage volume increases as the output of the flow sensor 50 increases. A table (or a function) showing the relationship between the output of the flow sensor 50 and the full storage volume is stored in advance in the memory of the control device 80. The change unit 85e changes the full storage volume by referring to the table stored in the memory of the control device 80.

[0069] [Modifications] (1) The yield rate acquisition unit 85a may acquire the yield rate by other methods. For example, the yield rate acquisition unit 85a may acquire the yield rate from another combine harvester or an external farming system.

[0070] (2) The change unit 85e may be configured to change the full storage volume so that the full storage volume becomes smaller as the output of the flow rate sensor 50 becomes larger. This configuration is preferably used when the distance between the husk sensor 11a and the grain discharge device 13 is relatively large, for example, when the husk sensor 11a is provided toward the rear of the grain tank 7.

[0071] (3) The full storage amount may be a constant value that is not changed. That is, the control device 80 may be configured not to include the change unit 85e.

[0072] (4) The target discharge and transfer amount may be a fixed value that does not change. That is, the control device 80 may have a configuration in which the setting unit 85c is not provided.

[0073] (5) The form of the flow rate sensor 50 is not limited to the above-mentioned example. For example, the flow rate sensor 50 may be a sensor that detects the force exerted by the grains released from the grain release device 13 and outputs the flow rate.

[0074] (6) The discharge control unit 85 may be configured to determine to execute the discharge travel based on the detection of grains by the rice husk sensor 11a. Even if the combine is in the middle of harvesting travel on the harvesting travel path L, when the rice husk sensor 11a detects grains, the harvesting travel is interrupted and the discharge travel is executed. [Industrial Applicability]

[0075] The present invention is applicable to an automatic travel control system that controls the automatic travel of a combine harvester that harvests crops on untouched land. The combine harvester may be a normal type combine harvester or a head-feeding type combine harvester. [Explanation of symbols]

[0076] 7: Grain tank (grain storage section) 50: Flow sensor 83: Route calculation unit (driving route generation unit) 84: Driving control unit (driving route selection unit) 85a: Yield rate acquisition section 85b: Calculation part 85c: Setting section 85d: Decision section 85e: Changes CA: Area to be worked on (unworked area) LU: Discharge transport route PP: Discharge stop position

Claims

1. An automatic driving control system for controlling automatic driving of a combine harvester that harvests crops on untouched land, A travel path generating unit that generates a travel path of the combine in the unworked area; a travel route selection unit that selects a next travel route to be traveled next from the travel routes generated by the travel route generation unit; A yield rate acquisition unit that acquires a yield rate, which is a grain yield per unit area in the unworked land; A calculation unit that calculates an expected storage amount, which is a total amount of grains to be stored in the grain storage unit of the combine when the combine completes traveling on the next traveling route, based on the yield rate; a setting unit that sets a value obtained by multiplying the full storage amount by the ratio input by manual operation as a discharge / transfer target amount; A decision unit that compares the expected storage amount with the discharge movement target amount to decide whether or not to execute a discharge movement travel, which is an automatic travel to a discharge stopping position; and a change unit that changes the full storage capacity based on the output of a flow sensor that measures the flow rate of grain supplied to the grain storage section of the combine.

2. The determination unit determines to execute the discharge movement travel when the expected storage amount is greater than the discharge movement target amount, The travel path generation unit generates a discharge movement travel path from a current position of the combine to the discharge stop position in response to the determination by the decision unit to execute the discharge movement travel, The automatic driving control system according to claim 1 , wherein the driving route selection unit selects the discharge transfer driving route as the next driving route.

3. The automatic driving control system according to claim 1 or 2, wherein the change unit changes the full storage amount so that the full storage amount increases as the output of the flow rate sensor increases.

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