Autonomous Driving Control System

Abstract

To provide an automatic driving control system capable of suppressing a decrease in work efficiency. [Solution] An automatic driving control system for controlling the automatic driving of a combine harvester that harvests crops on unworked land includes an expected total yield acquisition unit that acquires an expected total yield of grains that will be obtained by harvesting crops on the unworked land A1, and a driving path generation unit that generates a driving path for the combine harvester on the unworked land A1. If the expected total yield acquired by the expected total yield acquisition unit exceeds a specific amount, the driving path generation unit sets a partial work area D1 that is a portion of the unworked land A1, and generates driving paths L11-L17 for the combine harvester within the partial work area D1. The partial work area D1 is set so that the expected total yield of grains that will be obtained by harvesting crops in the partial work area D1 does not exceed the specific amount.

Description

[Technical field]

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

[0002] Patent Document 1 describes an automatic driving system for a harvester that travels while harvesting crops in a field. In harvesting work using this automatic driving system, first, three to four laps are made along the boundary line of the field. This work is called perimeter mowing, and the area in which the work vehicle traveled during this time is set as the outer perimeter area. Then, the area inside the outer perimeter area is set as the work target area, and work travel by automatic driving is performed in this work target area. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2018-73399 A Summary of the Invention [Problem to be solved by the invention]

[0004] Before the harvester's tank becomes full, it is necessary to stop the harvester near the transport vehicle parked on the edge of the field and unload the crops into the transport vehicle. If the work area is large, it is necessary to leave the work area during harvesting work and drive toward the transport vehicle. Depending on the shape of the work area and the position of the transport vehicle, leaving the work area to unload the crops may reduce work efficiency.

[0005] An object of the present invention is to provide an automatic driving control system capable of suppressing a decrease in work efficiency. [Means for solving the problem]

[0006] A characteristic configuration of an automatic driving control system for achieving the above-mentioned objective is an automatic driving control system that controls the automatic driving of a combine that harvests crops in unworked land, and comprises a driving path generation unit that generates a driving path for the combine in the unworked land, a discharge control unit that sets the grain discharge timing and harvesting interruption position based on the amount of grain stored in the grain tank of the combine, a path calculation unit that calculates the discharge driving path that is a path connecting the harvesting interruption position and the discharge position, and a driving control unit that controls the traveling device of the combine to automatically drive the combine along the discharge driving path, wherein the driving path generation unit generates a plurality of parallel driving paths that do not intersect with each other within the unworked land, and the discharge control unit sets the end of the driving path that is closer to the discharge position as the harvesting interruption position.

[0007] According to the above characteristic configuration, a decrease in work efficiency during harvesting work can be suppressed.

[0008] In the present invention, it is preferable that the discharge control unit controls a discharge device of the combine to discharge the grains stored in the grain tank when the combine reaches the discharge position.

[0009]

[0010] In the present invention, it is preferable that the discharge control unit sets an end point of the travel route as the harvesting interruption position.

[0011]

[0012]

[0013]

[0014] In the present invention, it is preferable that the path calculation unit calculates a return travel path which is a path connecting the discharge position and the harvesting resume position, and that the travel control unit, when discharge of grains from the grain tank is completed, controls the travel device to automatically travel the combine along the return travel path.

[0015]

[0016] In the present invention, it is preferable that the discharge control unit sets a start point of the travel path as the harvesting resume position.

[0017]

[0018] In the present invention, it is preferable that the discharge control unit sets one of the ends of the travel path that is closer to the discharge position as the harvesting resume position.

[0019]

[0020] A characteristic configuration of an automatic driving control system for achieving the above-mentioned objective is an automatic driving control system that controls the automatic driving of a combine that harvests crops on unworked land, and comprises a driving path generation unit that generates a driving path for the combine in the unworked land, a discharge control unit that sets the grain discharge timing and harvesting interruption position based on the amount of grain stored in the grain tank of the combine, a path calculation unit that calculates the discharge driving path that is a path connecting the harvesting interruption position and the discharge position, and a driving control unit that controls the traveling device of the combine to automatically drive the combine along the discharge driving path, wherein the driving path generation unit sets a partial work area that is a part of the unworked land, and generates a driving path for the combine within the partial work area, and the discharge control unit sets the harvesting interruption position within the partial work area.

[0021]

[0022] In the present invention, the discharge control unit is located inside a partial work area other than the partial work area in which the harvesting interruption position is set. , collection It is preferable to set a restart position for harvesting.

[0023]

[0024]

[0025] [Brief description of the drawings]

[0026] [Figure 1] FIG. [Diagram 2] FIG. 13 is a diagram showing an initial circuit run in a farm field. [Diagram 3] FIG. 13 is a diagram showing automatic driving according to an α-turn circular driving pattern. [Figure 4] FIG. 13 is a diagram showing automatic driving in a U-turn circular driving pattern in a partial work area. [Diagram 5] FIG. 13 is a diagram showing automatic driving in a U-turn circular driving pattern in a partial work area. [Figure 6] FIG. 13 is a diagram showing automatic driving using a U-turn circular driving pattern in the remaining unworked land. [Figure 7] FIG. 13 is a diagram showing automatic driving in a U-turn circular driving pattern in a partial work area. [Figure 8] FIG. 2 is a block diagram showing a configuration relating to a control unit. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0027] An example of an automatic driving control system that controls the automatic driving of a combine harvester that harvests crops on untouched land will be described below with reference to the drawings. In the following description, the direction of arrow F is the "front side of the machine body," the direction of arrow B is the "rear side of the machine body," the direction of arrow U is the "upper side," and the direction of arrow D is the "lower side." When indicating left and right, the right hand side when facing the front side of the machine body is the "right" and the left hand side is the "left."

[0028] [Overall configuration of the combine] A head-feeding combine, which is an example of a combine harvester, is shown in Fig. 1. This combine harvester 1 is equipped with a machine body 10 and a crawler-type traveling device 11. A harvesting section 12 that cuts and harvests planted culms in a field is provided at the front of the machine body 10.

[0029] A driving unit 13 is provided behind the harvesting unit 12 in the machine body 10. The driving unit 13 is located on the right side at the front of the machine body 10. A transport unit 14 that transports the crop harvested by the harvesting unit 12 is provided to the left of the driving unit 13.

[0030] A threshing device 15 that threshes the harvested crop transported by the transporting device 14 is provided behind the transporting device 14. A straw waste processing device 16 that cuts the straw waste is provided behind the threshing device 15.

[0031] A grain tank 17 (an example of a "grain storage section") that stores grains obtained by the threshing device 15 is provided behind the driving section 13 and to the right of the threshing device 15. The grain tank 17 is provided with a storage amount sensor 17a (see FIG. 8) that detects the amount of grains stored in the grain tank 17.

[0032] A discharge device 18 that discharges the grains stored in the grain tank 17 to the outside is provided behind the grain tank 17. The discharge device 18 is rotatable about a rotation axis that extends in the vertical direction.

[0033] A satellite positioning module 19 is provided in the front left portion of the driver's unit 13. The satellite positioning module 19 receives signals from GPS (Global Positioning System) satellites and generates positioning data indicating the position of the combine harvester 1 based on the signals.

[0034] A control terminal 21 (see FIG. 8) is disposed in the driving section 13. The control terminal 21 is configured to be capable of displaying various information. The control terminal 21 may be configured to be capable of receiving input operations for various settings related to the automatic traveling of the combine harvester 1 (such as setting a discharge position PP, which will be described later, and setting a preferred traveling pattern).

[0035] A communication unit 23 (see FIG. 8) that can be connected to an external communication network is provided. The communication unit 23 is configured to be able to communicate with an external server or the like through the communication network.

[0036] The combine harvester 1 is configured to be self-propelled by a traveling device 11, and is configured to be capable of harvesting traveling by traveling on the traveling device 11 while harvesting planted culms in a field with a harvesting section 12.

[0037] [Harvesting with a combine] Harvesting work in a farm field using a head-feeding combine harvester 1 will be described with reference to Figs. 2 to 6. In this embodiment, an example will be described in which the outline of the farm field is rectangular as shown in Fig. 2. In the illustrated example, the long sides of the farm field are parallel to the east-west direction, the short sides of the farm field are in the north-south direction, and the row direction is in the north-south direction. A transport vehicle CV that transports grains discharged from the combine harvester 1 is parked on the north side of the field, and a discharge position PP (see Figs. 3 to 6) is set in the field near the transport vehicle CV.

[0038] First, as shown in Fig. 2, 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. 3), and the unworked area inside the outer periphery area SA is set as the work target area CA (see Fig. 3).

[0039] The outer peripheral area SA is used as a space for the combine 1 to change direction (to make a turn, which will be described later) when automatically traveling to harvest the planted stalks in the work area CA. The outer peripheral area SA is also used as a space for moving to the discharge position PP or to a fuel supply location.

[0040] The initial lap travel is performed about two to four times in order to ensure a relatively wide width of the outer peripheral area SA. The initial lap travel may be performed manually or automatically. The initial lap travel is performed so that one side (preferably two opposing sides) of the work target area CA is parallel to the strip direction. In this embodiment, a case will be described in which the work target area CA is rectangular and the two opposing short sides of the work target area CA are parallel to the strip direction.

[0041] 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.

[0042] 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. 3 and the U-turn circular travel pattern shown in Figs.

[0043] The α-turn circular driving pattern (Fig. 3) is a driving pattern in which the harvesting driving path L parallel to the four sides of the rectangular work target area CA is driven in sequence, and the turning driving is performed by α-turn driving. The α-turn driving is performed by forward driving along the direction in which the previous harvesting driving path L extends, reverse driving including turning driving, and forward driving along the direction in which the next harvesting driving path L extends. Automatic driving according to the α-turn circular driving pattern is a spiral driving as shown in Fig. 3.

[0044] The U-turn circular driving pattern (FIGS. 4-6) is a driving pattern in which the harvesting driving path L parallel to two opposing sides of a rectangular area is driven alternately from the outside, and the turning driving is performed by U-turn driving. In this embodiment, automatic driving by the U-turn circular driving pattern is performed for the rectangular partial working area D1 (FIG. 4), partial working area D2 (FIG. 5), and area A2 (FIG. 6) that are generated by dividing the rectangular work target area CA by straight lines NS1 and NS2 parallel to the row direction. The U-turn driving is performed only by forward driving including turning driving. The automatic driving by the U-turn circular driving pattern is a spiral driving like the α-turn circular driving pattern, as shown in FIG. 4-6.

[0045] In this embodiment, 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. That is, in the automatic travel by the U-turn circular travel pattern, the automatic harvesting travel is performed only on the path parallel to the row direction. Therefore, the threshing process is appropriately performed in the combine 1, which is a head-feeding type combine, which is preferable.

[0046] 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.

[0047] When the amount of grains stored in the grain tank 17 becomes large, a discharge run is executed in which the machine automatically travels from the harvest interruption position IP (Figs. 5 and 6) to a discharge position PP for discharging the grains, and the grains are discharged at the discharge position PP by the discharge device 18. After the discharge of the grains is completed, if there is unworked land remaining in the work target area CA, a return run is executed in which the machine automatically travels from the discharge position PP to a harvest resume position RP (Figs. 5 and 6) where harvesting of the planted culms is resumed. If there is no unworked land remaining in the work target area CA, the harvesting work ends.

[0048] As shown in Figures 5 and 6, the discharge travel may be performed after automatic travel on one harvesting travel route L is completed. In this case, the harvesting resume position RP becomes the starting point of the next harvesting travel route L. The discharge travel may be performed by interrupting automatic travel on the harvesting travel route L. In this case, the harvesting resume position RP becomes the position on the harvesting travel route L where automatic travel was interrupted.

[0049] [Control configuration] As shown in Figure 8, the control unit 80 of the combine 1 (an example of a "driving route generation unit") includes a vehicle position calculation unit 81, an area calculation unit 82, a route calculation unit 83, a driving control unit 84, an expected total yield acquisition unit 85, and a discharge control unit 86.

[0050] The vehicle position calculation unit 81 calculates the position coordinates of the combine 1 over time based on the positioning data generated by the satellite positioning module 19.

[0051] 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 harvester 1 over time calculated by the vehicle position calculation unit 81. Specifically, the area calculation unit 82 calculates the travel path of the combine harvester 1 during a circular run (initial circular run) on the outer periphery of the field based on the position coordinates of the combine harvester 1 over time calculated by the vehicle position calculation unit 81. Then, based on the calculated travel path of the combine harvester 1, the area calculation unit 82 sets the outer periphery area SA as the outer periphery area SA, which is the area on the outer periphery of the field where the combine harvester 1 traveled while harvesting the planted stalks. Furthermore, the area calculation unit 82 sets an area inside the field relative to the calculated outer periphery area SA as the work target area CA.

[0052] For example, in Fig. 2, the route traveled by the combine harvester 1 during a circular run (initial circular run) on the outer periphery of the field is indicated by an arrow. In the illustrated example, the combine harvester 1 performs three circular runs. When this initial circular run is completed, the field becomes as shown in Fig. 3.

[0053] As shown in Figure 3, the area calculation unit 82 calculates the area on the outer periphery of the field through which the combine 1 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.

[0054] 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. 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. The path calculation unit 83 also calculates a turn travel path T connecting the two harvesting travel paths L for turn travel (α-turn travel, U-turn travel). The path calculation unit 83 also calculates a discharge travel path UL for discharge travel and a return travel path RL for return travel based on a harvesting interruption position IP and a harvesting restart position RP set by the discharge control unit 86. The discharge travel path UL is a path connecting the harvesting interruption position IP and the discharge position PP. The return travel path RL is a path connecting the discharge position PP and the harvesting restart position RP.

[0055] In addition, when the expected total yield acquired by the expected total yield acquisition unit 85 exceeds the specific amount, the path calculation unit 83 sets a partial work area that is a part of the unworked land, and calculates the harvesting travel path L within the partial work area. In the example shown in Figs. 4 to 6, the path calculation unit 83 sets the partial work areas D1 and D2, and calculates the harvesting travel paths L11 to L24 within these areas. The path calculation unit 83 sets the partial work areas so that the expected total yield of grains that will be obtained by harvesting the crops in the partial work areas does not exceed the specific amount. Here, the specific amount is a predetermined amount set in advance, or a predetermined amount minus the amount of grains stored in the grain tank 17 of the combine harvester 1. For example, the specific amount is a predetermined amount set in advance, which is 90% of the full amount of the grain tank 17. For example, the specific amount is a predetermined amount set in advance (for example, 90% of the full amount of the grain tank 17) minus the amount of grains stored in the grain tank 17 of the combine harvester 1.

[0056] Furthermore, the path calculation unit 83 sets the partial working area so that the width (widths W1, W2; see FIGS. 4 to 6) of the partial working area in a direction perpendicular to the stripe direction is smaller than a predetermined threshold width.

[0057] The travel control unit 84 is configured to be able to control the travel device 11 and the harvesting unit 12. The travel control unit 84 sets a next travel path from among the travel paths (harvesting travel path L, turn travel path T, discharge travel path UL, return travel path RL, etc.) calculated 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 discharge timing (described later) set by the discharge control unit 86. In this embodiment, when a partial work area is set by the path calculation unit 83, the travel control unit 84 sets a next travel path from among the harvesting travel path L inside the partial work area. Then, the travel control unit 84 controls the automatic travel of the combine harvester 1 based on the position coordinates of the combine harvester 1 calculated by the vehicle position calculation unit 81 and the set travel path. Specifically, the travel control unit 84 controls the travel device 11 of the combine harvester 1 so that the combine harvester 1 travels along the set travel path. The travel control unit 84 operates the harvesting unit 12 when the combine 1 travels along the harvesting travel path L.

[0058] The expected total yield acquisition unit 85 acquires the expected total yield of grains that will be obtained by harvesting crops in unworked land.

[0059] The expected total yield acquisition unit 85 includes a yield rate acquisition unit 85a and an area acquisition unit 85b. The yield rate acquisition unit 85a acquires the yield rate, which is the yield of grains per unit area in the unworked land. Specifically, the yield rate acquisition unit 85a calculates the area of ​​the unworked land on which the harvesting trip has been made based on the change over time of the position coordinates of the combine 1 calculated by the vehicle position calculation unit 81, and calculates the amount of grains obtained from the unworked land based on the change over time of the amount of grains stored in the grain tank 17 detected by the storage amount sensor 17a. 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. The calculation of the yield rate by the yield rate acquisition unit 85a may be performed each time a harvesting trip of a predetermined area (or distance) is made, or may be performed for the entire predetermined area. For example, the yield rate may be calculated for the outer peripheral area SA, or for the work target area CA, partial work areas D1, D2, etc.

[0060] The area acquisition unit 85b acquires the area of ​​the unworked land. Specifically, the area acquisition unit 85b calculates the area of ​​the unworked land for which the expected total yield is calculated based on the setting results (the work target area CA, the partial work areas D1, D2, etc.) by the area calculation unit 82 or the path calculation unit 83.

[0061] The expected total yield acquisition unit 85 then calculates the expected total yield based on the yield rate acquired by the yield rate acquisition unit 85a and the area of ​​the unworked land acquired by the area acquisition unit 85b. Specifically, the expected total yield acquisition unit 85 multiplies the yield rate acquired by the yield rate acquisition unit 85a by the area of ​​the unworked land acquired by the area acquisition unit 85b to calculate the expected total yield.

[0062] The discharge control unit 86 controls the discharge of grains stored in the grain tank 17. Specifically, the discharge control unit 86 sets the timing of grain discharge based on the amount of grains stored in the grain tank 17 detected by the storage amount sensor 17a. Then, based on the set discharge timing, it sets a harvest interruption position IP and a harvest resumption position RP. When the combine harvester 1 is in the discharge position PP, the discharge control unit 86 controls the discharge device 18 to discharge the grains stored in the grain tank 17.

[0063] For example, the discharge control unit 86 sets the discharge timing to "after the end of the currently running automatic harvesting travel" in response to the amount of grains stored in the grain tank 17 exceeding a predetermined threshold. In this case, the discharge control unit 86 sets the end point of the currently traveling harvesting travel path L as the harvesting interruption position IP, and sets the start point of the next traveling harvesting travel path L as the harvesting resume position RP.

[0064] For example, if the amount of storage in the grain tank 17 when harvesting of crops in a partial work area is completed exceeds a predetermined amount (or there is a high possibility that this will be exceeded), the discharge control unit 86 sets the discharge timing to "after completion of automatic harvesting travel in that partial work area." In this case, the discharge control unit 86 sets the end point of the final harvesting travel path L in the partial work area as the harvest interruption position IP, and sets the start point of the first harvesting travel path L in the next partial work area as the harvesting resume position RP.

[0065] The discharge control unit 86 may set the discharge timing based on the position coordinates of the combine harvester 1 calculated by the vehicle position calculation unit 81, the travel route set by the travel control unit 84, the set discharge position PP, etc. For example, when the end point of the currently traveled harvesting travel route L is far from the discharge position PP, the discharge control unit 86 may set the discharge timing to "after the end of the next automatic harvesting travel." In this case, the discharge control unit 86 sets the end point of the next harvesting travel route L to be traveled as the harvest interruption position IP, and sets the start point of the next harvesting travel route L to be traveled as the harvesting restart position RP.

[0066] For example, when the distance between the current position of the combine harvester 1 and the discharge position PP is smaller than the distance between the end point of the currently traveling harvesting travel path L and the discharge position PP, the discharge control unit 86 may set the discharge timing to "present". In this case, the discharge control unit 86 sets the harvest interruption position IP and the harvest resumption position RP to the current position of the combine harvester 1.

[0067] The fact that the discharge control unit 86 has set the discharge timing may be notified to the operator via the management terminal 21. The route calculation unit 83, the travel control unit 84, and the discharge control unit 86 may be configured to execute the discharge travel in response to an operation button (not shown) arranged on the driving unit 13 or a manual operation by the operator via the management terminal 21.

[0068] [Flow of harvesting work using a combine harvester] The flow of harvesting work performed by the combine harvester 1 in the field shown in FIG. 2 will be described below.

[0069] First, the operator manually operates the combine harvester 1 to perform harvesting travel in a circle along the boundary line of the field in the outer periphery of the field (initial round travel) as shown in Fig. 2. In the illustrated example, the combine harvester 1 performs three rounds. When this initial round travel is completed, the field is in the state shown in Fig. 3.

[0070] The area calculation unit 82 calculates the travel path of the combine harvester 1 during the initial circular travel in Fig. 2 based on the time-dependent position coordinates of the combine harvester 1 calculated by the vehicle position calculation unit 81. Then, as shown in Fig. 3, the area calculation unit 82 sets the area on the outer periphery side of the field where the combine harvester 1 has traveled while harvesting the planted stalks as an outer periphery area SA based on the calculated travel path of the combine harvester 1. The area calculation unit 82 also sets the area of ​​the field inside the calculated outer periphery area SA as a work target area CA.

[0071] Next, the path calculation unit 83 calculates the harvesting travel path L in the work target area CA based on the calculation result of the area calculation unit 82, as shown in Fig. 3. In the illustrated example, multiple harvesting travel paths L parallel to the short sides of the work target area CA and multiple harvesting travel paths L parallel to the long sides are calculated. The harvesting travel paths L parallel to the short sides of the work target area CA are parallel to the row direction.

[0072] Then, the operator presses an automatic travel start button (not shown), and automatic travel along the harvesting travel path L is started. In this example, first, automatic travel by an α-turn circular travel pattern (FIG. 3) is performed. The travel control unit 84 sets the harvesting travel paths L01, L02, L03, and L04 located on the outermost periphery of the work target area CA as travel paths. The path calculation unit 83 calculates the turn travel paths T01, T02, and T03 for α-turn travel. The travel control unit 84 controls the travel device 11 to automatically travel the combine harvester 1 in the order of the harvesting travel path L01, the turn travel path T01, the harvesting travel path L02, the turn travel path T02, the harvesting travel path L03, the turn travel path T03, and the harvesting travel path L04.

[0073] When the already worked area on the outer periphery of the field expands due to the automatic harvesting travel in a circular manner using the α-turn circular travel pattern, and automatic travel using the U-turn circular travel pattern (FIGS. 4-6) becomes possible, the travel control unit 84 switches the travel pattern to the U-turn circular travel pattern. The unworked area inside the work target area CA where automatic travel using the U-turn circular travel pattern is performed is hereinafter referred to as area A1 (FIG. 4).

[0074] The expected total yield acquisition unit 85 acquires the expected total yield of grains that will be obtained by harvesting the crops in the area A1. First, the yield rate acquisition unit 85a acquires the yield rate in the harvest run of the outer circumferential area SA. Specifically, the yield rate acquisition unit 85a calculates the amount of grains obtained from the outer circumferential area SA based on the grain storage amount in the grain tank 17 detected by the storage amount sensor 17a, calculates the area of ​​the outer circumferential area SA set by the area calculation unit 82, and calculates the yield rate in the outer circumferential area SA by dividing the amount of grains by the area. Next, the area acquisition unit 85b calculates the area of ​​the area A1 based on the calculation result of the area calculation unit 82. Then, the expected total yield acquisition unit 85 multiplies the yield rate in the outer circumferential area SA calculated by the yield rate acquisition unit 85a by the area of ​​the area A1 calculated by the area acquisition unit 85b to calculate the expected total yield of the area A1.

[0075] The path calculation unit 83 compares the expected total yield of the area A1 acquired by the expected total yield acquisition unit 85 with a preset specific amount V1. In the following description, it is assumed that the specific amount V1 is 90% of the full amount of the grain tank 17, and the expected total yield of the area A1 exceeds the specific amount V1. In response to the expected total yield of the area A1 exceeding the specific amount V1, the path calculation unit 83 sets a partial work area D1, which is a part of the area A1, as shown in FIG. 4. In this embodiment, the path calculation unit 83 sets the eastern area of ​​the area obtained by dividing the area A1 by a straight line NS1 parallel to the north-south direction (row direction) as the partial work area D1. Here, the path calculation unit 83 sets the partial work area D1 under the conditions that the expected total yield of grains to be obtained by harvesting the crop in the partial work area D1 does not exceed the specific amount V1, and that the width W1 of the partial work area D1 in the east-west direction (direction perpendicular to the row direction) does not exceed a predetermined threshold width. The expected total yield of the partial work area D1 is calculated by the expected total yield acquisition unit 85 by multiplying the area of ​​the partial work area D1 set by the path calculation unit 83 by the yield rate in the outer circumferential area SA calculated by the yield rate acquisition unit 85a. Then, the path calculation unit 83 calculates harvesting travel paths L11-L17 so as to be parallel to the north-south direction (row direction) inside the partial work area D1.

[0076] The travel control unit 84 sets the harvesting travel routes L11-L17 of the partial working area D1 in this order as travel routes. The route calculation unit 83 calculates a turn travel route T for U-turn travel as a route connecting the end points and start points of the harvesting travel routes L11-L17. Note that in FIG. 4, the turn travel route T subsequent to the turn travel route T connecting the harvesting travel route L13 and the harvesting travel route L14 is omitted from the illustration. The travel control unit 84 controls the travel device 11 to cause the combine harvester 1 to automatically travel along the harvesting travel routes L11-L17 with the turn travel route T sandwiched between them.

[0077] The travel path of the combine harvester 1 is a path that alternates between the east and west ends of the unworked land of the partial working area D1 while rotating in a spiral shape, as shown in Fig. 4. That is, the travel control unit 84 sets the travel path so that the combine harvester 1 travels on the harvesting travel path L11 located at the east end (one end in the direction perpendicular to the row direction) of the partial working area D1, followed by the harvesting travel path L12 located at the west end (the other end in the direction intersecting with the row direction) of the partial working area D1, and then travels on the harvesting travel path L13 located at the east end of the unworked land of the partial working area D1, and then travels on the harvesting travel path L14 located at the west end of the unworked land of the partial working area D1.

[0078] The discharge control unit 86 sets the timing for discharging grains based on the amount of grains stored in the grain tank 17 detected by the storage amount sensor 17a while traveling along the final travel path (harvesting travel path L17) of the partial work area D1. In this example, it is assumed that the amount of grains stored in the grain tank 17 exceeds a predetermined storage amount V2 (e.g., 95% of the full amount of the grain tank 17) when the harvest of the crops in the partial work area D1 is completed. The discharge control unit 86 sets the discharge timing to "after the end of automatic harvesting travel in the partial work area D1" and sets the end point of the harvesting travel path L17 as a harvest interruption position IP (FIG. 5) as shown in FIG. 5.

[0079] As shown in Fig. 5, the path calculation unit 83 calculates a discharge travel path UL which is a path connecting the harvest interruption position IP and the discharge position PP set by the discharge control unit 86. When the combine harvester 1 completes the automatic harvesting travel on the harvesting travel path L17, the travel control unit 84 controls the travel device 11 to automatically travel on the discharge travel path UL calculated by the path calculation unit 83. When the combine harvester 1 reaches the discharge position PP, the discharge control unit 86 controls the discharge device 18 to discharge the grains stored in the grain tank 17.

[0080] Upon completion of the automatic harvesting run of the partial work area D1, the expected total yield is obtained, a determination is made as to whether it exceeds a specific amount V1, and a partial work area is set for the remaining area A2 (unworked area in area A1, Figures 4 and 5) excluding the partial work area D1 from area A1.

[0081] The expected total yield acquisition unit 85 acquires the expected total yield of grains for the region A2. Specifically, the expected total yield acquisition unit 85 multiplies the yield rate in the partial working region D1 calculated by the yield rate acquisition unit 85a by the area of ​​the region A2 calculated by the area acquisition unit 85b to calculate the expected total yield of the region A2.

[0082] The path calculation unit 83 compares the expected total yield of the area A2 acquired by the expected total yield acquisition unit 85 with the specific amount V1, and sets a partial working area D2, which is a part of the area A2, as shown in FIG. 5, in response to the expected total yield of the area A2 exceeding the specific amount V1. In this embodiment, the path calculation unit 83 sets the eastern area of ​​the area obtained by dividing the area A2 by a straight line NS2 parallel to the north-south direction (row direction) as the partial working area D2. Here, the path calculation unit 83 sets the partial working area D2 under the conditions that the expected total yield of grains to be obtained by harvesting the crop in the partial working area D2 does not exceed the specific amount V1, and that the width W2 of the partial working area D2 in the east-west direction (direction perpendicular to the row direction) does not exceed a predetermined threshold width, as in the case of the partial working area D1. Then, the path calculation unit 83 calculates the harvesting travel paths L18 to L24 so as to be parallel to the north-south direction (row direction) inside the partial working area D2.

[0083] The travel control unit 84 sets the harvesting travel paths L18 to L24 of the partial working area D2 in this order as travel paths. The discharge control unit 86 sets the start point of the harvesting travel path L18, which is the first travel path of the partial working area D2, as the harvesting restart position RP. The path calculation unit 83 calculates a return travel path RL connecting the discharge position PP and the harvesting restart position RP. The path calculation unit 83 also calculates a turn travel path T for U-turn travel as a path connecting the end point and the start point of the harvesting travel paths L18 to L24. Note that in FIG. 5, the turn travel path T subsequent to the turn travel path T connecting the harvesting travel path L20 and the harvesting travel path L21 is omitted from the illustration. The travel control unit 84 controls the travel device 11 to first automatically travel the return travel path RL, and then automatically travel the harvesting travel paths L18 to L24 with the turn travel path T sandwiched between them.

[0084] The discharge control unit 86 sets the timing of grain discharge based on the amount of grains stored in the grain tank 17 detected by the storage amount sensor 17a while traveling along the final travel path (harvesting travel path L24) of the partial work area D2. In this example, it is assumed that the amount of grain stored in the grain tank 17 does not exceed a predetermined storage amount V2 when the harvest of the crops in the partial work area D2 is completed. In this case, the discharge control unit 86 does not set the discharge timing at this point. Then, in response to the completion of the automatic harvesting travel of the partial work area D2, the expected total yield is obtained and a determination is made as to whether or not it exceeds a specific amount V1 for the area A3 (unworked area in area A2, Figures 5 and 6) excluding the partial work area D2 from the area A2.

[0085] The expected total yield acquisition unit 85 acquires the expected total yield of grains for the area A3. Specifically, the expected total yield acquisition unit 85 multiplies the yield rate in the partial working area D2 calculated by the yield rate acquisition unit 85a by the area of ​​the area A3 calculated by the area acquisition unit 85b to calculate the expected total yield of the area A3. In the illustrated example of FIG. 5, the area of ​​the area A3 is smaller than the areas A1 and A2, and the expected total yield of the area A3 does not exceed the specific amount V1. In this case, the path calculation unit 83 calculates the harvesting travel paths L25 to L31 so that they are parallel to the north-south direction (row direction) inside the area A3, as shown in FIG. 6.

[0086] The travel control unit 84 sets the harvesting travel routes L25 to L31 of the area A3 in this order as travel routes. The route calculation unit 83 calculates a turn travel route T for U-turn travel as a route connecting the end points and start points of the harvesting travel routes L25 to L31. Note that in FIG. 6, the turn travel route T subsequent to the turn travel route T connecting the harvesting travel route L27 and the harvesting travel route L28 is omitted from the illustration. The travel control unit 84 controls the travel device 11 to automatically travel the combine harvester 1 along the harvesting travel routes L25 to L31 with the turn travel route T sandwiched between them.

[0087] Suppose that the amount of grain stored in the grain tank 17 exceeds a predetermined amount V2 during automatic harvesting travel on the harvesting travel path L25. In response to the amount of grains stored in the grain tank 17 detected by the storage amount sensor 17a exceeding the predetermined amount V2, the discharge control unit 86 sets the discharge timing to "after the end of automatic harvesting travel on the harvesting travel path L25", sets the end point of the harvesting travel path L25 as a harvest interruption position IP, and sets the start point of the harvesting travel path L26 as a harvesting restart position RP.

[0088] As shown in FIG. 6, the path calculation unit 83 calculates a discharge travel path UL connecting the harvest interruption position IP and the discharge position PP, and a return travel path RL connecting the discharge position PP and the harvest restart position RP. When the combine harvester 1 completes the automatic harvesting travel on the harvesting travel path L25, the travel control unit 84 controls the travel device 11 to automatically travel on the discharge travel path UL. When the combine harvester 1 reaches the discharge position PP, the discharge control unit 86 controls the discharge device 18 to discharge the grains stored in the grain tank 17. When the grain discharge is completed, the travel control unit 84 controls the travel device 11 to automatically travel on the return travel path RL. Then, the travel control unit 84 executes the automatic harvesting travel on the harvesting travel path L26 and onward.

[0089] In the example of FIG. 5, after the automatic harvesting travel in the partial work area D1 is completed, the travel control unit 84 controls the travel device 11 to automatically travel the combine harvester 1 along the discharge travel path UL, and grains are discharged. Here, when the storage amount in the grain tank 17 when the harvesting of the crop in the partial work area is completed is equal to or less than a predetermined storage amount, the control unit 80 is configured to generate a travel path for the combine harvester 1 in the next partial work area, and automatic harvesting travel is performed in the next partial work area. In the example of FIG. 7, after the automatic harvesting travel in the harvesting travel path L17 in the partial work area D1 is completed, in response to the storage amount in the grain tank 17 detected by the storage amount sensor 17a being equal to or less than a predetermined storage amount V2, the travel control unit 84 controls the travel device 11 to automatically travel the combine harvester 1 along the turn travel path T, the harvesting travel path L18, the turn travel path T, and the harvesting travel path L19.

[0090] Then, in the middle of the automatic harvesting travel on the harvesting travel path L19, when the amount of grains stored in the grain tank 17 detected by the storage amount sensor 17a exceeds the predetermined storage amount V2, the discharge control unit 86 sets the discharge timing to "after the end of the automatic harvesting travel on the harvesting travel path L19", sets the end point of the harvesting travel path L19 as the harvest interruption position IP, and sets the start point of the harvesting travel path L20 as the harvesting restart position RP. The path calculation unit 83 calculates the discharge travel path UL and the return travel path RL. When the combine harvester 1 completes the automatic harvesting travel on the harvesting travel path L19, the travel control unit 84 controls the travel device 11 to automatically travel the combine harvester 1 along the discharge travel path UL. Grains are discharged at the discharge position PP, automatic travel on the return travel path RL is performed, automatic harvesting travel on the harvesting travel path L20 is started, and the harvesting work in the partial work area D2 is resumed.

[0091] Here, after the completion of the automatic harvesting travel of the harvesting travel path L17 in the partial working area D1, the fact that the storage amount of the grain tank 17 detected by the storage amount sensor 17a is equal to or less than the predetermined storage amount V2 means that the harvest amount of grains from the partial working area D1 was less than the expected amount (the expected total yield calculated by the expected total yield acquisition unit 85). In this embodiment, the path calculation unit 83 sets the next partial working area based on the actual yield of grains obtained by harvesting the crop in the partial working area. In the example of FIG. 7, the calculated yield rate of the partial working area D1 is smaller than that in the above embodiment, so the area and width W2 of the partial working area D2 to be set next are larger than the partial working area D2 (FIG. 5) in the above embodiment. Accordingly, the harvesting travel path L (harvesting travel paths L19-L25) generated in the partial working area D2 in the example of FIG. 7 is larger than the harvesting travel path L (harvesting travel paths L19-L24) generated in the partial working area D2 in the example of FIG. 5.

[0092] [Other embodiments] [1] In the above embodiment, the expected total yield acquisition unit 85 acquires the expected total yield based on the yield rate acquired by the yield rate acquisition unit 85a and the area of ​​the unworked land acquired by the area acquisition unit 85b. However, the expected total yield, yield rate, and area may be acquired by other methods. For example, actual values ​​at the time of past harvesting in the same field or estimated values ​​from actual values ​​in similar fields may be acquired and used as the expected total yield, yield rate, and area of ​​the unworked land. In addition, the expected total yield, yield rate, and area may be acquired by downloading from a data server or another combine through the communication unit 23, or by operation input from the management terminal 21.

[0093] [2] In the above embodiment, the partial work area is set in response to the expected total yield exceeding the specific amount V1, but the partial work area may be set even if the expected total yield does not exceed the specific amount V1. For example, the partial work area may be set in response to the width of the east-west direction (direction perpendicular to the row direction) of the unworked area (work target area CA, area A1, area A2, etc.) exceeding a predetermined threshold width.

[0094] [3] In the above embodiment, the yield rate that is referred to when setting the partial working area is the yield rate calculated for the most recent harvesting run, but is not limited to this. For example, the yield rate calculated for the initial lap run may always be referred to. In addition, the average value of the yield rates calculated for multiple areas may be referred to when setting the partial working area.

[0095] [4] In the above embodiment, an example was described in which two partial work areas (partial work areas D1, D2) are set, but the number of partial work areas is not limited to this and may be one, or three or more.

[0096] [5] In the above embodiment, the next partial work area is set each time harvesting is completed for one partial work area. When automatic driving using the α-turn circular driving pattern ends and automatic driving using the U-turn circular driving pattern in the unworked area (area A1) starts, multiple partial work areas may be set at once for the entire unworked area (area A1).

[0097] [6] In the above embodiment, an example has been described in which the discharge control unit 86 sets the discharge timing and the discharge travel is performed. The discharge travel may be performed based on an operation input from an operator. For example, the control unit 80 may be configured so that the discharge control unit 86 turns on a button switch (not shown) provided on the operation unit 13 in response to the amount of storage in the grain tank 17 exceeding a predetermined threshold, and the discharge travel is performed in response to the operator pressing the button switch.

[0098] [7] In the above embodiment, an example was described in which the outer shape of the field and the work area CA are rectangular. The outer shape of the field is not limited to a rectangle, and may be a polygon such as a triangle or a pentagon, or the outer periphery may be partially or entirely curved. From the standpoint of work efficiency, the work area CA is preferably rectangular, but may be a polygon such as a triangle or a pentagon, or the outer periphery may be partially or entirely curved.

[0099] [8] In the above embodiment, an example was described in which the harvesting travel path L was a straight line, but part or all of the harvesting travel path L may be curved. [Industrial Applicability]

[0100] The present invention can be used in various harvesting machines, such as not only head-feeding combine harvesters but also normal combine harvesters. [Explanation of symbols]

[0101] 1: Combine 17: Grain tank (grain storage section) 80: Control unit (driving route generation unit) 85: Total expected yield acquisition section 85a: Yield rate acquisition section 85b: Area acquisition part A1: Area (unworked area) A2: Area (unworked area) D1: Partial work area D2: Partial work area L: Harvesting route (route) NS1: Straight line NS2: Straight line PP: Discharge position UL: Discharge route (route) W1: Width W2:Width

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 discharge control unit that sets a grain discharge timing and a harvest interruption position based on the amount of grain stored in the grain tank of the combine; A route calculation unit that calculates a discharge travel route that is a route connecting the harvesting interruption position and the discharge position; A travel control unit that controls a travel device of the combine to automatically travel the combine along the discharge travel path, The travel route generation unit generates a plurality of parallel travel routes that do not intersect with each other within the unworked area, The discharge control unit is an automatic driving control system that sets one of the ends of the driving path that is closer to the discharge position as the harvesting interruption position.

2. The automatic driving control system according to claim 1 , wherein the discharge control unit controls a discharge device of the combine to discharge the grains stored in the grain tank when the combine reaches the discharge position.

3. The automatic driving control system according to claim 1 or 2, wherein the discharge control unit sets an end point of the driving route as the harvesting interruption position.

4. The path calculation unit calculates a return travel path that is a path connecting the discharge position and the harvesting restart position, The automatic driving control system according to any one of claims 1 to 3, wherein the driving control unit, when the discharge of grains from the grain tank is completed, controls the driving device to automatically drive the combine along the return driving path.

5. The automatic driving control system according to claim 4 , wherein the discharge control unit sets a start point of the driving path as the harvesting restart position.

6. The automatic driving control system according to claim 4 , wherein the discharge control unit sets one of the ends of the travel path that is closer to the discharge position as the harvesting restart position.

7. 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 discharge control unit that sets a grain discharge timing and a harvest interruption position based on the amount of grain stored in the grain tank of the combine; A route calculation unit that calculates a discharge travel route that is a route connecting the harvesting interruption position and the discharge position; A travel control unit that controls a travel device of the combine to automatically travel the combine along the discharge travel path, The travel path generating unit sets a partial work area which is a part of the unworked land, and generates a travel path for the combine within the partial work area, The discharge control unit is an automatic driving control system that sets the harvesting interruption position within the partial work area.

8. The automatic driving control system according to claim 7 , wherein the discharge control unit sets a harvesting restart position within the partial work area different from the partial work area in which the harvesting interruption position is set.

Images