Travel route creation method and travel route creation system

Abstract

To provide a travel route producing method and a travel route producing system which enable producing a travel route excellent in a work efficiency.SOLUTION: A travel route producing method includes: selecting, as a travel pattern of an automatic mowing travel of a combine 1, either of a round trip mowing in which an automatic mowing travel is carried out while moving to and from in a plurality of travels in a work area, or a circulating mowing in which the automatic mowing travel is carried out while repeatedly moving along an inner periphery of the work area and toward a central side; and producing a travel route of the automatic mowing travel on the basis of a selected travel pattern.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] The present invention is a combine harvester that automatically performs reaping according to a travel route, and creates a travel route based on the number of intermediate divisions according to the condition of the field. against , a method for creating a driving route for automatic driving and automatic harvesting and driving route creation system Regarding. [Background technology]

[0002] Conventionally, combine harvesters that harvest stalks while traveling through fields can automatically harvest along a pre-set route based on their own location information obtained using a satellite positioning system such as GPS.

[0003] For example, the work vehicle automatic driving system disclosed in Patent Document 1 includes an area setting unit that sets the work area into an outer area and sections obtained by dividing the work area into multiple sections using intermediate areas, a route management unit that readably manages a large number of driving route elements that make up a driving route that covers the sections and circular route elements that make up a circular route that goes around the outer area and the intermediate area, and a route element selection unit that selects the next driving route element or next circular route element to be driven next based on the vehicle position and the work driving status of other vehicles so that each section is driven for work by at least one work vehicle. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent No. 6689738 Summary of the Invention [Problem to be solved by the invention]

[0005] When harvesting crops from culms planted in multiple rows in a field, for example, a combine harvester travels back and forth in multiple straight paths along the row direction, harvesting a predetermined number of rows in each path (reciprocating harvesting). When performing such automatic reciprocating harvesting, the combine harvester creates a travel path in advance for traveling back and forth in multiple straight paths. When creating the travel path, as described above, intermediate divisions may be set for the work area of ​​the field. For example, the worker visually determines the number and location of intermediate divisions as desired by visually inspecting the work area. The combine harvester divides the work area into multiple divided areas based on the number and location of intermediate divisions input by the worker, and creates a travel path that spans the multiple divided areas.

[0006] However, when many rows of culms are planted in a field, it is difficult for the worker to accurately visually determine the number of rows and the length of the rows just by looking at the field. Therefore, it is difficult for the worker to determine the position and direction of the start and end of the divided area in order to improve the work efficiency of the automatic reaping operation, and it is difficult to determine the number and position of the efficient intermediate divisions.

[0007] For example, if an operator determines that the number of intermediate divisions is too small, the divided areas will be longer in the direction of the row arrangement, resulting in a problem of long idle travel paths between the divided areas. Furthermore, it is difficult for operators to determine the length of the divided areas in the direction of the row arrangement as a multiple of the combine harvester's harvesting width (for example, the maximum number of harvesting rows), resulting in problems such as setting the divided areas to a number of harvesting rows that is less than the maximum number of harvesting rows, such as one or two rows. Furthermore, if operators perform harvesting work on rows with such a small number of rows, there is a risk of problems such as reduced threshing accuracy and straw getting caught in the threshing due to a reduced harvest volume and travel through the already-harvested areas.

[0008] The technology described in Patent Document 1 involves creating an in-between region, but does not take into consideration the number of lines, the length in the arrangement direction, or work efficiency, so there is a risk of the above-mentioned problems occurring.

[0009] The present invention provides a method for creating a travel route that enables the creation of a travel route with high work efficiency. and driving route creation system The purpose is to provide. [Means for solving the problem]

[0010] In order to solve the above problems, the present invention The travel path creation method selects, as a travel pattern for the automatic reaping travel of the combine harvester, either a back-and-forth mowing, in which automatic reaping travel is performed by making a plurality of trips back and forth to the work area, or a circular mowing, in which automatic reaping travel is performed by repeatedly making a circuit along the inner periphery of the work area toward the center, and creates a travel path for the automatic reaping travel based on the selected travel pattern. .

[0011] The present invention The travel route creation method displays either the reciprocating mowing or the circular mowing as the travel pattern on a display unit in a selectable manner. .

[0012] The present invention The travel route creation method selects whether or not to switch between forward and reverse as the reciprocating mowing turning method. .

[0013] The present invention The travel route creation method displays on the display unit whether or not the reciprocating mowing method involves switching between forward and reverse movement. .

[0014] The present invention The travel route creation method creates the travel route based on the set intermediate division arrangement when the back-and-forth mowing is selected as the travel pattern. .

[0015] The present invention The travel route creation method displays the number of intermediate divisions on the display unit in an adjustable manner.

[0016] In order to solve the above problems, the present invention The driving path creation system includes a selection unit that selects one of two driving patterns for the combine harvester's automatic mowing: back-and-forth mowing, in which automatic mowing is performed by making multiple trips back and forth around the work area, and circular mowing, in which automatic mowing is performed by repeatedly making a circle around the inner periphery of the work area toward the center; and a driving path creation unit that creates a driving path for the automatic mowing based on the driving pattern accepted by the selection unit. [Effects of the Invention]

[0017] According to the present invention, a travel route creation method that enables creation of a travel route with high work efficiency and driving route creation system to provide. [Brief explanation of the drawings]

[0018] [Figure 1] 1 is a side view of a combine harvester according to an embodiment of the present invention. FIG. [Figure 2] FIG. 2 is a block diagram of a mobile station and a base station of a combiner according to an embodiment of the present invention. [Figure 3] 1 is a block diagram of a combine harvester according to an embodiment of the present invention. FIG. [Figure 4] 10 is a flowchart illustrating an example of an operation for setting the number of intermediate divisions in a work area in a combine harvester according to an embodiment of the present invention. [Figure 5]FIG. 1 is a plan view showing a field in an example of operation of a combine harvester according to an embodiment of the present invention, along with the stroke. [Figure 6] FIG. 1 is a plan view showing a field in an example of operation of a combine harvester according to an embodiment of the present invention, along with strokes and divided areas. [Figure 7] 1 is a plan view showing a field in an example of operation of a combine harvester according to an embodiment of the present invention, along with divided areas and travel paths. FIG. [Figure 8] FIG. 10 is a plan view showing a middle division setting screen in a combine harvester according to an embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0019] A combine harvester 1 according to an embodiment of the present invention will be described. The combine harvester 1 travels through a target field by automatic or manual operation, and performs operations such as reaping to harvest crops from stalks planted in multiple rows in the field. The combine harvester 1 is configured to perform automatic operation in which steering is controlled by automatic operation and traveling speed is controlled in response to manual operation, or unmanned operation in which steering and traveling speed are controlled by automatic operation, and can travel, turn, and work autonomously within the field.

[0020] The combine harvester 1 harvests multiple rows of stalks while traveling a single path with a maximum number of rows that can be harvested. While the present invention does not limit the maximum number of rows that can be harvested, this embodiment describes a six-row combine harvester 1 with a maximum number of rows that can be harvested.

[0021] The combine harvester 1 is configured to create a travel route for a predetermined travel pattern in advance and automatically perform reaping travel according to that travel route. For example, the combine harvester 1 can create travel routes for travel patterns such as back-and-forth mowing, which automatically performs reaping travel by making multiple trips back and forth in a work area having multiple rows, or circular mowing, which automatically performs reaping travel by repeatedly circling the inner periphery of the work area toward the center. When creating a travel route for back-and-forth mowing, the combine harvester 1 sets a predetermined number of middle divisions along the row direction, divides the work area into multiple divided areas by the middle divisions, and creates a travel route that spans the multiple divided areas so that back-and-forth mowing of each divided area is performed in the order of the rows.

[0022] As shown in Figure 1, the combine harvester 1 is a so-called head-feeding combine harvester, and includes a traveling section 2, a reaping section 3, a threshing section 4, a sorting section 5, a storage section 6, a straw waste processing section 7, a power section 8, and a steering section 9. The combine harvester 1 travels on the traveling section 2, threshers the stalks harvested by the reaping section 3 in the threshing section 4, sorts the grain in the sorting section 5, and stores it in the storage section 6. The combine harvester 1 processes the straw waste after threshing in the straw waste processing section 7. The combine harvester 1 drives the traveling section 2, the reaping section 3, the threshing section 4, the sorting section 5, the storage section 6, and the straw waste processing section 7 using power supplied by the power section 8.

[0023] Traveling unit 2 is provided below machine frame 10 and includes a pair of left and right crawler-type traveling devices 11 and a transmission (not shown). Traveling unit 2 rotates the crawlers of crawler-type traveling devices 11 using power (e.g., rotational power) transmitted from engine 27 of power unit 8, causing combine 1 to travel in the forward / backward direction and turn left and right. The transmission transmits the power (rotational power) of power unit 8 to crawler-type traveling devices 11 and can also change the speed of the rotational power.

[0024] The reaping unit 3 is provided in front of the traveling unit 2 and performs reaping work on rows within the maximum number of reaping rows included in the specified reaping width. The reaping unit 3 is equipped with a divider 13, a raising device 14, a cutting device 15, and a conveying device 16. The divider 13 separates the stalks in the field row by row and guides a specified number of stalks within the maximum number of reaping rows to the raising device 14. The raising device 14 raises the stalks guided by the divider 13. The cutting device 15 cuts the stalks raised by the raising device 14. The conveying device 16 conveys the stalks cut by the cutting device 15 to the threshing unit 4.

[0025] The threshing unit 4 is provided behind the reaping unit 3. The threshing unit 4 includes a feed chain 18 and a threshing drum 19. The feed chain 18 transports the stalks transported from the transport device 16 of the reaping unit 3 for threshing, and further transports the threshed stalks, i.e., waste straw, to the straw waste processing unit 7. The threshing drum 19 threshes the stalks transported by the feed chain 18.

[0026] The sorting section 5 is provided below the threshing section 4. The sorting section 5 comprises a oscillating sorting device 21, a wind sorting device 22, a grain conveying device (not shown), and a straw dust discharge device (not shown). The oscillating sorting device 21 sifts the threshed grains that have fallen from the threshing section 4 to separate them into grains, straw dust, etc. The wind sorting device 22 further separates the threshed grains sorted by the oscillating sorting device 21 into grains, straw dust, etc. by blowing air. The grain conveying device transports the grains sorted by the oscillating sorting device 21 and the wind sorting device 22 to the storage section 6. The straw dust discharge device discharges the straw dust, etc. sorted by the oscillating sorting device 21 and the wind sorting device 22 outside the machine.

[0027] The storage section 6 is provided to the right of the threshing section 4. The storage section 6 comprises a grain tank 24 and a discharge device 25. The grain tank 24 stores the grains transported from the sorting section 5. The discharge device 25 is composed of an auger or the like, and discharges the grains stored in the grain tank 24 to any desired location.

[0028] The straw waste processing section 7 is provided behind the threshing section 4. The straw waste processing section 7 is equipped with a straw waste conveying device (not shown) and a straw waste cutting device (not shown). The straw waste conveying device transports the straw transported from the feed chain 18 of the threshing section 4 to the straw waste cutting device. The straw waste cutting device cuts the straw transported by the straw waste conveying device and discharges it outside the machine, for example, to the rear right side of the combine 1.

[0029] The power unit 8 is provided above the traveling unit 2 and in front of the storage unit 6. The power unit 8 is equipped with an engine 27 that generates rotational power. The power unit 8 transmits the rotational power generated by the engine 27 to the traveling unit 2, the reaping unit 3, the threshing unit 4, the sorting unit 5, the storage unit 6, and the straw waste processing unit 7.

[0030] The control unit 9 is provided above the power unit 8. The control unit 9 includes a driver's seat 29 and multiple operating tools (not shown). The driver's seat 29 is a seat where an operator sits, and is provided, for example, on the right side. The operating tools include a handle for changing the direction of travel of the combine 1, i.e., for steering the combine 1, and the operator can control the travel and operation of the combine 1 by operating the operating tools such as the handle. The operating tools also include an accelerator for adjusting the rotation speed of the engine 27, i.e., the travel speed of the traveling part 2 of the combine 1, and an elevation switch for raising and lowering the reaping part 3.

[0031] The combine harvester 1 is equipped with a machine body camera 32 (see FIG. 3) that captures images of the surroundings of the combine harvester 1. The machine body camera 32 captures images of the field to be worked on and acquires field images.

[0032] 2, the combine harvester 1 includes a mobile station 34 that acquires location information of the combine harvester 1 using a satellite positioning system such as GPS. The mobile station 34 includes, for example, a mobile communication device 35, a mobile GPS antenna 36, ​​and a data receiving antenna 37. The mobile communication device 35 acquires location information of the mobile station 34, i.e., location information of the combine harvester 1, by communicating with GPS satellites via the mobile GPS antenna 36.

[0033] As shown in FIG. 2, a base station 39 may be installed on the ridges surrounding the field where the combine harvester 1 is to work. In this embodiment, an example is described in which the base station 39 is used to correct the position information of the combine harvester 1, but the base station 39 may not be provided, and the position information may not be corrected by the base station 39. The base station 39 includes a fixed communication device 40, a fixed GPS antenna 41, and a data transmission antenna 42. The fixed communication device 40 acquires the position information of the base station 39 by communicating with GPS satellites via the fixed GPS antenna 41. The fixed communication device 40 transmits correction information based on the position information of the base station 39 to the mobile communication device 35 via the data transmission antenna 42.

[0034] The base station 39 may also be equipped with a fixed camera 43 that photographs the field. The fixed camera 43 photographs the field to be worked on and acquires field images. The fixed communication device 40 acquires the images captured by the fixed camera 43 and transmits them to the mobile communication device 35 via the data transmission antenna 42. In this embodiment, an example will be described in which the fixed camera 43 of the base station 39 is used to acquire field information, but the fixed camera 43 need not be provided, and acquisition of field information by the fixed camera 43 need not be performed.

[0035] The mobile communication device 35 of the mobile station 34 communicates wirelessly with the fixed communication device 40 of the base station 39 via a data receiving antenna 37. The mobile communication device 35 receives correction information from the fixed communication device 40 and corrects the position information of the mobile station 34, i.e., the position information of the combine harvester 1, based on the correction information. The mobile communication device 35 receives farm field images captured by the fixed camera 43 from the fixed communication device 40.

[0036] Next, the control device 50 of the combine harvester 1 will be described with reference to FIG.

[0037] The control device 50 is configured with a computer such as a CPU, and is connected to a storage unit 51 such as a ROM, RAM, hard disk drive, flash memory, etc. The storage unit 51 stores programs and data for controlling the various components and functions of the combine harvester 1, and the control device 50 controls the various components and functions by executing arithmetic processing based on the programs and data stored in the storage unit 51. For example, the control device 50 controls the mobile station 34 to obtain location information of the combine harvester 1 from the mobile communication device 35.

[0038] The combine harvester 1 is equipped with a communication unit 52, and the control device 50 communicates wirelessly with external devices such as a mobile terminal 53 held by the operator via the communication unit 52, and transmits and receives various information to and from the mobile terminal 53. The mobile terminal 53 (selection unit) and the combine harvester 1 (travel route creation unit 61) constitute a travel route creation system as shown in FIG. The mobile terminal 53 is a terminal capable of remotely controlling the combine harvester 1, and is configured, for example, as a tablet terminal with a touch panel or a notebook personal computer. An operating tool similar to the mobile terminal 53 may be provided in the control unit 9. The mobile terminal 53 may also be provided with a mobile camera 54 that takes images. The mobile camera 54, for example, takes a picture of the field to be worked on to acquire the field image. In this embodiment, an example is described in which the mobile camera 54 is used to acquire field information, but the mobile camera 54 need not be provided, and the acquisition of field information by the mobile camera 54 need not be performed.

[0039] The mobile terminal 53 is configured to accept input operations, such as touch operations on a touch panel, for field information related to the field to be worked on. The mobile terminal 53 displays a field information setting screen on which field information can be set, such as the shape of the field edge that constitutes the perimeter of the field (hereinafter referred to as the field shape), position information (coordinates, etc.) of the field edge, the shape of the uncut stalk area in the field, position information (coordinates, etc.) of the area with uncut stalks (hereinafter referred to as the uncut area), the row direction of multiple rows in the field or uncut area, the arrangement direction (width direction) of rows intersecting the row direction, the width of the field or uncut area in the arrangement direction, and the total number of rows in the multiple rows. In addition, the mobile terminal 53 can display a field map based on the field information and also display the travel path of the combine harvester 1 on the field map so that the traveling direction can be seen.

[0040] The mobile terminal 53 functions as a selection unit that accepts the selection of a travel pattern for automatic reaping travel of the combine harvester 1. For example, when creating a travel route for automatic reaping travel, the mobile terminal 53 as a selection unit displays a travel selection screen on a touch panel for selecting a travel pattern of back and forth reaping or circular reaping. (Display) The mobile terminal 53 transmits the selection information of the travel pattern (reciprocal mowing or circular mowing) input in response to the operation on the travel selection screen to the combine harvester 1, and instructs the combine harvester 1 to create a travel route.

[0041] The mobile terminal 53 also functions as an adjustment unit that accepts adjustments to the number of intermediate divisions automatically set by the combine harvester 1. The mobile terminal 53 as an adjustment unit receives, for example, data on the number of intermediate divisions set by the combine harvester 1 and the travel route for reciprocating mowing from the combine harvester 1, and displays an intermediate division setting screen 70 on the touch panel, which displays the work area, intermediate divisions, and travel route in a composite manner. (Display)The mobile terminal 53 displays the number of intermediate divisions on this intermediate division setting screen 70, and also has a decrease button 71 and an increase button 72 for the number of intermediate divisions to accept an operation to decrease or increase the number of intermediate divisions. When no intermediate division is selected by operating the no intermediate division button 73 on the intermediate division setting screen 70, the number of intermediate divisions is set to 0. The mobile terminal 53 also has a travel route creation button on this intermediate division setting screen 70 to accept an operation to create a travel route. The mobile terminal 53 transmits adjustment information for the number of intermediate divisions (the adjusted number of intermediate divisions) input in response to the operation on the intermediate division setting screen 70 to the combine harvester 1, and instructs it to reset the intermediate division and recreate a travel route.

[0042] The control device 50 may wirelessly communicate with an aerial photography device 56, such as a drone equipped with an aerial camera 57, via the communication unit 52, and the aerial photography device 56 may wirelessly communicate with the mobile terminal 53. In this embodiment, an example is described in which the aerial photography device 56 and the aerial camera 57 are used to acquire field information. However, the aerial photography device 56 and the aerial camera 57 may not be provided, and acquisition of field information by the aerial camera 57 may not be performed. The control device 50 or the mobile terminal 53 receives operation instructions for the aerial photography device 56 and instructions for photographing the field from the worker and transmits them to the aerial photography device 56. The aerial photography device 56 operates in accordance with the operation instructions and controls the aerial camera 57 in accordance with the photographing instructions to photograph the field and acquire field images. The aerial photography device 56 transmits field images captured by the aerial camera 57 to the control device 50 or the mobile terminal 53.

[0043] The control device 50 receives farm field images captured by the on-board camera 32, the fixed camera 43, the portable camera 54, or the aerial camera 57 and displays them on the monitor of the control unit 9. Alternatively, the control device 50 may transmit the captured farm field images to the portable terminal 53 and display them on the monitor of the portable terminal 53.

[0044] The combine harvester 1 also presets six rows as the maximum number of reaping rows, which is the reaping capacity value of the reaping unit 3, and stores this value in the memory unit 51. When the combine harvester 1 performs reaping operations with a number of reaping rows less than the maximum number, such as one or two rows, problems such as reduced threshing accuracy and entanglement of discarded straw may occur due to a decrease in the reaping volume and travel in the already-harvested area. However, when performing reaping operations with a number of reaping rows less than the maximum number, such as four or five rows, the reduction in the reaping volume is small and the travel width of the already-harvested area is narrow, thereby preventing such problems. Therefore, in this embodiment, the number of rows at which problems caused by reaping operations with a small number of rows are prevented is referred to as the lower limit number of reaping rows. The combine harvester 1 presets five rows as the lower limit number of reaping rows less than the maximum number of reaping rows and stores this value in the memory unit 51. The minimum number of rows to be cut may be set arbitrarily by the worker through input operations on the mobile terminal 53, and is not limited to 5 rows, which is one row less than the maximum number of rows to be cut, but may be set to 4 rows, which is two rows less than the maximum number of rows to be cut.

[0045] The combine harvester 1 presets and stores in the memory unit 51 the reaping width for each row, the reaping width per stroke (e.g., the reaping width for a row with the maximum number of reaping rows), and the number of reaping rows per stroke (e.g., the maximum number of reaping rows) as reaping information for the reaping unit 3. The reaping width per stroke may be determined based on the reaping width for each row. The combine harvester 1 also presets and stores in the memory unit 51 turning information corresponding to the inter-stroke state as the turning capacity value of the traveling unit 2 and the power unit 8. For example, the combine harvester 1 may turn not only between two adjacent strokes on the headland, but also between two strokes with one or more strokes skipped, and stores turning information for each of the various inter-stroke states. The combine harvester 1 also stores turning information, such as the turning radius and turning time between strokes, for each inter-stroke state, such as the distance between strokes and the number of skipped strokes. The combine 1 may set turning information taking into consideration the road surface condition (such as the degree of mud) between trips and the topography (such as the slope) of the headland as the inter-trip condition.

[0046] Furthermore, the control device 50 executes the programs stored in the memory unit 51 to operate as a farm field information setting unit 60, a travel route creation unit 61, and an automatic driving control unit 62. The travel route creation unit 61 realizes the travel route creation method according to the present invention.

[0047] The field information setting unit 60 automatically or manually sets field information related to the field to be worked on and stores the information in the memory unit 51. For example, the field information setting unit 60 manually sets the field information in response to an input operation of the field information on the field information setting screen of the mobile terminal 53. Alternatively, the field information setting unit 60 acquires field images of the field taken by the on-board camera 32 of the combine harvester 1, the fixed camera 43 of the base station 39, the mobile camera 54 of the mobile terminal 53, or the aerial camera 57 of the aerial photography device 56, and automatically acquires the field information by analyzing the field images. The field information setting unit 60 may analyze the field information from field images taken by one of the on-board camera 32, the fixed camera 43, the mobile camera 54, or the aerial camera 57, or may analyze the field information from field images taken by two or more cameras.

[0048] In addition, the field information setting unit 60 can obtain more accurate field information by ensuring consistency between field information manually set via the mobile terminal 53 and field information automatically set from field images taken by the airborne camera 32, fixed camera 43, mobile camera 54 or aerial camera 57.

[0049] The travel path creation unit 61 creates a travel path that the combine harvester 1 references to automatically travel and automatically reap in the field, and stores the created travel path in the memory unit 51. The travel path includes not only travel settings related to travel, but also work settings related to work such as reap. The travel settings include not only travel positions in the field, but also travel speed and direction of travel (steering direction and forward or reverse) at each travel position. The work settings include information on whether reaper is started or stopped at each travel position, reaper speed and reaper height, number of reaper rows, and other work.

[0050] The travel path creation unit 61 sets a linear path for traveling and reaping in an unmowed area of ​​the field as the work area, and sets a travel path by combining multiple linear paths for the work area. The travel path creation unit 61 creates a travel path for the travel pattern (reciprocating mowing or circular mowing) selected by a selection unit such as the mobile terminal 53. In this embodiment, the travel path creation unit 61 creates a travel path for reciprocating mowing, in which the combine travels back and forth through multiple rows in the work area in multiple linear paths along the row direction, mowing a predetermined number of rows in each path. During mowing, the work area includes an unmowed area and an area where the stalks have been mowed (hereinafter referred to as the already-mowed area). The travel path creation unit 61 positions the reciprocating mowing path so that the already-mowed area is located to the right of the combine harvester 1's body and the unmowed area is located to the left of the combine harvester 1's body, as much as possible.

[0051] Specifically, the travel path creation unit 61 creates a travel path such that the vehicle travels in one direction on one end side in the arrangement direction of the rows that intersects with the row direction, then travels over the headland to the other end side, and travels in the other direction (opposite to the one direction) on the other end side, performing a round trip. The travel path creation unit 61 also creates a travel path in which such round trip travel is performed while shifting the travel path from both ends of the arrangement direction toward the center. As a result, the starting travel path of the travel path is set on one end side in the arrangement direction of the working area, and the final travel path is set on the center side.

[0052] In addition, the travel route creation unit 61 can create a U-turn, which is a basic turning method in which the vehicle turns 180 degrees forward only, for a free travel route that travels on a headland between two journeys, or a U-turn, which is a basic turning method in which the vehicle turns 90 degrees forward, then reverses, and then turns 90 degrees forward again. Switch between forward and backward movement Any of a variety of turning methods may be configured, such as a fishtail turn.

[0053] The travel route creation unit 61 may automatically select a turning method according to the distance between two trips. For example, if the two trips are relatively far apart, a U-turn may be selected, whereas if the two trips are relatively close and a U-turn is not possible, a fishtail turn may be selected. Alternatively, the combine 1 may set a lower limit turning radius in advance, and if the turning radius between trips is equal to or greater than the lower limit turning radius, a U-turn may be set between trips, whereas if the turning radius between trips is less than the lower limit turning radius, a fishtail turn may be set between trips. Furthermore, the travel route creation unit 61 may automatically select a turning method according to the road surface condition (such as the degree of mud) and the topography of the headland (such as the slope). Alternatively, the travel route creation unit 61 may use the mobile terminal 53 Touch panel (display) etc. Alternatively, the turning method may be selected manually in response to an input operation using the arrows.

[0054] In this embodiment, an example will be described in which the travel path creation unit 61 creates a travel path by setting a predetermined number of intermediate divisions for the work area. The travel path creation unit 61 calculates a recommended number of intermediate divisions for the work area based on the size of the work area, reaping information per stroke by the reaping unit 3, and turning information according to the inter-stroke state. The travel path creation unit 61 acquires the field information set by the field information setting unit 60 from the storage unit 51 and acquires the size of the work area based on the field information. The travel path creation unit 61 acquires preset reaping information for one stroke of the reaping unit 3 from the storage unit 51 and acquires turning information according to the preset inter-stroke state from the storage unit 51.

[0055] Specifically, the travel path creation unit 61 divides the width of the work area in the row arrangement direction or the total number of rows, as the size of the work area, by the mowing width or number of mowing rows, as the mowing information for one stroke, and sets the result of this division as the total number of strokes in the work area.If the total number of strokes is less than a predetermined number of strokes (for example, 12 rows), the travel path creation unit 61 sets the recommended number of intermediate divisions to 0 and creates a travel path for back-and-forth mowing, without dividing the work area, with the starting stroke at one end of the work area in the arrangement direction and the final stroke in the center.

[0056] On the other hand, if the total number of routes is equal to or greater than a predetermined number of routes (e.g., 12 routes), the travel path creation unit 61 calculates one or more recommended intermediate divisions based on the total number of routes and the turning information. As a premise, when a work area is divided into multiple divided areas by intermediate divisions, the allocation of routes in each divided area differs depending on the intermediate divisions and the layout of the intermediate divisions. Therefore, the combination of free running paths between routes within each divided area and the combination of free running paths between divided areas differ. Therefore, the total turning time and total turning distance required for the multiple divided areas differ depending on the intermediate divisions and the layout of the intermediate divisions. Therefore, the travel path creation unit 61 calculates and sets the number of intermediate divisions that results in the shortest total turning time or the shortest total turning distance as the optimal recommended intermediate divisions for the work area or the recommended intermediate divisions for the work area.

[0057] For example, the travel path creation unit 61 pre-sets a lower limit number of strokes (e.g., six), and provisionally divides the work area into a plurality of divided areas each having a stroke number equal to or greater than the lower limit number. The travel path creation unit 61 provisionally creates a travel path for back-and-forth mowing, each having a start stroke and a final stroke, for each provisionally divided divided area. Note that the travel path creation unit 61 may provisionally divide the work area so that each divided area has an even number of strokes; if the total number of strokes is odd, the last divided area among the plurality of divided areas is assigned an odd-numbered stroke, and the other divided areas are assigned even-numbered strokes.

[0058] As described above, it is preferable to set the travel path so that the already-mowed area is located to the right of the combine 1's body, and therefore the travel path creation unit 61 sets the starting travel path of the next divided area so that the first divided area, which is the already-mowed area, is located to the right of the combine 1's body. Furthermore, for multiple divided areas, it is preferable to make the free travel path between the final travel path of one divided area and the starting travel path of the next divided area as short as possible. Therefore, the travel path creation unit 61 sets the travel directions of the final travel path of one divided area and the starting travel path of the next divided area to be opposite directions, and sets the starting travel path of the next divided area to the first divided area side. For these reasons, the travel path creation unit 61 sets even-numbered travel paths for the divided areas.

[0059] The travel path creation unit 61 provisionally divides the above-mentioned multiple divided areas and provisionally creates travel paths for various intermediate division patterns that differ in the number of intermediate divisions and the layout of the intermediate divisions, and calculates the total turning time or total turning distance for each intermediate division pattern.The travel path creation unit 61 then compares the total turning time or total turning distance between the intermediate division patterns and selects the intermediate division pattern that results in the shortest total turning time or total turning distance.The travel path creation unit 61 subtracts 1 from the number of multiple divided areas divided by the selected intermediate division pattern and sets the result as the recommended intermediate division number.Alternatively, the travel path creation unit 61 may set the intermediate division number of the selected intermediate division pattern as the recommended intermediate division number.

[0060] For example, if the total number of steps in the working area is 24, possible middle division patterns include dividing the area into two divided areas with 12 steps by setting the middle division number to 1, dividing the area into three divided areas with 8 steps by setting the middle division number to 2, and dividing the area into four divided areas with 6 steps by setting the middle division number to 3. Of these middle division patterns, the travel route creation unit 61 selects the middle division pattern that results in the shortest total turning time or total turning distance.

[0061] Note that as the number of divisions decreases, the travel distance between the divided areas increases, which tends to increase the total turning time or total turning distance. Therefore, the travel path creation unit 61 may optimize the number of divisions and the travel distance between the divided areas to reduce the total turning time or total turning distance. Near the final step of each divided area, the turning radius between steps becomes shorter, and a fishtail turn tends to be set. Since a fishtail turn takes longer to turn than a U-turn, as the number of divisions increases, the number of fishtail turns increases and the total turning time increases. Therefore, the travel path creation unit 61 may optimize the number of divisions to reduce the number of fishtail turns and reduce the total turning time.

[0062] Furthermore, the travel path creation unit 61 sets the work area to the in-between division of the recommended in-between division number and in-between division pattern set as described above, divides the work area into multiple divided areas using the in-between division, sets multiple journeys in each divided area, and creates a travel path that spans the multiple journeys within each divided area.The travel path creation unit 61 also connects the journeys between the divided areas by setting a free travel path that travels over the headland between the final journey of one divided area and the start journey of the next divided area.In this way, the travel path creation unit 61 creates a travel path that spans the multiple divided areas.

[0063] The travel path creation unit 61 preferably sets the maximum number of reaping rows to each trip (assigns rows with the maximum number of reaping rows) whenever possible, but creates a travel path by setting a minimum number of reaping rows or more for each trip based on the total number of rows in each divided area and the maximum number of reaping rows and the minimum number of reaping rows, which are the reaping capacity values ​​of the reaping unit 3. The travel path creation unit 61 may set the maximum number of reaping rows for a trip that has only reaped rows, regardless of whether the left and right sides of the combine 1 body are reaped or unreaped areas. For example, in divided areas other than the final one, trips along the middle division have an unreaped area to the right of the combine 1 body, so the travel path creation unit 61 sets a fixed maximum number of reaping rows for such middle division trips.

[0064] The travel path creation unit 61 may also set a lower limit number of cutting rows for a trip that has cut rows and uncut rows. In this case, the travel path creation unit 61 sets the trip with the lower limit number of cutting rows for the travel path so that the cut rows are located on the right side of the front of the combine 1 body and the uncut rows are located on the left side of the front of the combine 1 body, that is, so that the cut area is located to the right of the combine 1 body.

[0065] When multiple journeys are set in a divided area, the travel route creation unit 61 first divides the total number of rows in the divided area by the maximum number of reaping rows as a first setting operation. Hereinafter, this division will be referred to as the first division. If there is no remainder as a result of this first division, that is, if the total number of rows is a multiple of the maximum number of reaping rows, the travel route creation unit 61 sets the maximum number of reaping rows for each journey in the divided area and creates a travel route.

[0066] On the other hand, if there is a remainder as a result of the first division, the travel path creation unit 61 performs a second setting operation by provisionally setting the maximum number of reaping rows for each step other than the final step of the divided area, provisionally setting the minimum number of reaping rows for the final step as an adjustment step, and dividing the remaining number of rows for the rows other than the final step by the maximum number of reaping rows. Hereinafter, this division will be referred to as the second division.

[0067] If the remainder (number of remaining rows) as a result of this second division is within the difference between the maximum number of mowing rows and the lower limit number of mowing rows, the driving route creation unit 61 sets the added number of rows obtained by adding the lower limit number of mowing rows and the remaining number of rows as the final journey of the divided area, and creates a driving route by setting the maximum number of mowing rows for the remaining journeys other than the final journey.

[0068] Furthermore, if the remainder (remaining number of rows) as a result of the second division exceeds the difference between the maximum number of mowing rows and the lower limit number of mowing rows, the travel path creation unit 61 provisionally sets the lower limit number of mowing rows for the adjustment process including the final process of the divided area and other processes as a third setting operation, and divides the remaining number of rows in the rows other than the adjustment process by the maximum number of mowing rows, i.e., performs the second division again.

[0069] If the remainder (number of remaining rows) as a result of this second division is within the difference between the maximum number of mowing rows and the lower limit number of mowing rows, the travel route creation unit 61 sets the added number of rows obtained by adding the lower limit number of mowing rows and the remaining number of rows as the adjustment process, and creates a travel route by setting the maximum number of mowing rows for the remaining processes other than the adjustment process.

[0070] If the remainder (number of remaining rows) from the second division exceeds the difference between the maximum number of mowing rows and the lower limit number of mowing rows, the travel route creation unit 61 performs the third setting operation again. In other words, the travel route creation unit 61 repeats the third setting operation until the number of remaining rows becomes within the difference between the maximum number of mowing rows and the lower limit number of mowing rows.

[0071] When adding another step to the adjustment step in the third setting operation, the travel route creation unit 61 may add a predetermined number of steps going back from the final step. For example, in the first third setting operation, the travel route creation unit 61 sets an adjustment step that includes not only the final step but also the step before the final step. In addition, in the second third setting operation, the travel route creation unit 61 resets the adjustment step to further include the first adjustment step (the final step and the step before the final step) as the step two steps before the final step. In this way, each time the travel route creation unit 61 performs the third setting operation, it adds steps one by one to the adjustment step going back from the step before the final step.

[0072] The automatic driving control unit 62 controls the power unit 8, the traveling unit 2, and the reaping unit 3 based on the travel settings and work settings of the travel route created by the travel route creation unit 61, to perform automatic traveling and automatic reaping according to the travel route. The automatic driving control unit 62 automatically reaps uncut stalks on the travel route using the reaping unit 3. In addition, in conjunction with the automatic reaping, the automatic driving control unit 62 controls the threshing unit 4, the sorting unit 5, the storage unit 6, and the straw waste processing unit 7 to automatically thresh the stalks after reaping, sort the grains and straw chips after threshing, store the sorted grains, and process the straw waste after threshing. The combine harvester 1 may be equipped with a gyro sensor and a direction sensor to acquire displacement information and direction information of the combine harvester 1, and the automatic driving control unit 62 may adjust the automatic traveling of the combine harvester 1 based on the displacement information and direction information.

[0073] Next, an example of the operation of setting the number of intermediate divisions in the work area by the combine harvester 1 will be described with reference to the flowchart of FIG.

[0074] First, as shown in Fig. 5, the field information setting unit 60 automatically or manually sets field information such as the size of the work area A in order to perform automatic mowing travel in the unmowed area of ​​the field F as the work area A. The field F has a headland H around the work area A that provides a turning space during back and forth mowing travel.

[0075] Next, the travel path creation unit 61 acquires the size of the work area from the field information set by the field information setting unit 60, and acquires the preset reaping information for one stroke of the reaping unit 3 (step S1). Then, the travel path creation unit 61 divides the width of the work area A, which is the size of the work area A, by the reaping width, which is the reaping information per stroke, and calculates the division result as the total number of strokes R of the work area A (step S2). In the example shown in Fig. 5, the total number of strokes is calculated as 19 from the work area A.

[0076] If the calculated total number of steps is less than a predetermined number of steps (e.g., 12 steps) (step S3: NO), the travel path creation unit 61 sets the recommended number of intermediate divisions to 0 (step S4) and creates a travel path for back-and-forth mowing for the work area A (step S6).

[0077] On the other hand, if the total number of routes is equal to or greater than a predetermined number of routes (for example, 12 routes) (step S3: YES), the travel route creation unit 61 calculates one or more recommended intermediate divisions based on the total number of routes and the turning information (step S5). Then, as shown in Fig. 6, the travel route creation unit 61 divides the working area A into a plurality of divided areas D using intermediate divisions C of the calculated recommended intermediate divisions, and creates a travel route P spanning the plurality of divided areas D as shown in Fig. 7 (step S6). In the example shown in Fig. 6, the working area A is divided into three divided areas Da, Db, and Dc using two intermediate divisions Ca and Cb.

[0078] The travel route creation unit 61 also transmits the set recommended number of intermediate divisions and data on the travel route to the mobile terminal 53, which serves as a unit for adjusting the number of intermediate divisions. Based on this data, the mobile terminal 53 displays a middle division setting screen 70 on the touch panel, as shown in FIG. 8, and accepts an adjustment operation to decrease or increase the number of intermediate divisions or to eliminate the middle division via the middle division setting screen 70 (step S7). If an operation to decrease or increase the number of intermediate divisions or to eliminate the middle division is performed (step S7: YES), the mobile terminal 53 transmits adjustment information for the number of intermediate divisions to the combine harvester 1 in response to the operation for creating the travel route, thereby instructing the combine harvester 1 to reset the middle division and recreate the travel route. Note that if the decrease button 71 or increase button 72 for the number of intermediate divisions or the no middle division button 73 or the travel route creation button on the middle division setting screen 70 is not operated (step S7: NO), it is not necessary to reset the middle division C or recreate the travel route P.

[0079] When the combine harvester 1 receives from the mobile terminal 53 the adjustment information for the number of intermediate divisions and instructions to reset the intermediate divisions and recreate the travel route, the travel route creation unit 61 sets the adjusted number of intermediate divisions, divides the working area A into multiple divided areas D using the intermediate division C of the adjusted number of intermediate divisions, and recreates the travel route P that spans the multiple divided areas D (step S8).

[0080] In the above embodiment, an example has been described in which the selection unit that accepts the selection of a travel pattern and the adjustment unit that accepts the adjustment of the number of intermediate divisions are provided in the mobile terminal 53, but the present invention is not limited to this example. For example, in another embodiment, the combine harvester 1 may be provided with a selection unit that accepts the selection of a travel pattern and an adjustment unit that accepts the adjustment of the number of intermediate divisions, and in this case, the travel selection screen linked to the selection unit and the intermediate division setting screen 70 linked to the adjustment unit may be displayed on either the operating tool of the control unit 9 or the mobile terminal 53.

[0081] In the above-described embodiment, an example has been described in which the combine harvester 1 calculates the recommended number of intermediate divisions while provisionally creating a travel path for the work area, but the present invention is not limited to this example. For example, in another embodiment, the travel path creation unit 61 of the combine harvester 1 may calculate the recommended number of intermediate divisions for the work area based on the size of the work area, reaping information per stroke by the reaping unit 3, and turning information according to the inter-stroke state, without provisionally creating a travel path. In this case, the travel path creation unit 61 may create travel paths by dividing the work area into multiple divided areas based on the calculated recommended number of intermediate divisions or the number of intermediate divisions after adjusting the recommended number of intermediate divisions.

[0082] According to this embodiment, the driving path creation method selects either a back-and-forth mowing, in which automatic mowing is performed by making multiple trips back and forth around the work area, or a circular mowing, in which automatic mowing is performed by repeatedly making a circle around the inner periphery of the work area toward the center, as the driving pattern for the automatic mowing of the combine 1, and creates a driving path for the automatic mowing based on the selected driving pattern.

[0083] The driving path creation system also includes a selection unit in the combine 1 or the mobile terminal 53 that selects, as the driving pattern for the combine 1's automatic harvesting, either back-and-forth harvesting, in which automatic harvesting is performed by making multiple trips back and forth around the work area, or circular harvesting, in which automatic harvesting is performed by repeatedly making circles around the inner periphery of the work area toward the center, and a driving path creation unit 61 in the control device 50 of the combine 1 that creates a driving path for the automatic harvesting based on the driving pattern accepted by the selection unit.

[0084] As described above, according to this embodiment, the combine harvester 1 is equipped with the control device 50, which functions as a travel path creation unit 61 that creates a travel path in a work area of ​​a field and an automatic driving control unit 62 that controls automatic travel and automatic reaping in accordance with the travel path. When creating a travel path for automatic reaping travel by making multiple round trips along the row direction in a work area having multiple rows of a field, the travel path creation unit 61 calculates a recommended number of intermediate divisions for the work area based on the size of the work area, reaping information per stroke by the reaping unit 3, and turning information according to the inter-stroke state, divides the work area into multiple divided areas based on the recommended number of intermediate divisions, and creates a travel path that spans the multiple divided areas.

[0085] The combine harvester 1 of this embodiment is provided with a selection unit in the combine harvester 1 or the mobile terminal 53 that selects whether to create a travel route for automatic reaping travel: back-and-forth mowing, in which automatic reaping travel is performed by making multiple trips back and forth around the work area, or circular mowing, in which automatic reaping travel is performed by repeatedly making circles around the inner periphery of the work area toward the center. When back-and-forth mowing is selected by the selection unit, the travel route creation unit 61 calculates the recommended number of intermediate divisions and creates a travel route for back-and-forth mowing based on the recommended number of intermediate divisions. 。

[0086] According to the combine harvester 1 of this embodiment, the recommended number of intermediate divisions appropriate for the working area is automatically set taking into consideration the size of the working area, the cutting information per stroke, and the turning information according to the state between strokes, so that a travel route with good working efficiency such as working time and working distance can be created.

[0087] In the combine harvester 1 of this embodiment, the travel route creation unit 61 calculates a turning time, which is turning information, according to an inter-trip distance, which is an inter-trip state.

[0088] This automatically sets the recommended number of intermediate divisions appropriate for the work area by taking into account the turning time between journeys, making it possible to create a travel route that is efficient in terms of work time.

[0089] In the combine harvester 1 of this embodiment, the travel route creation unit 61 determines the turning method, which is the turning information, according to the inter-thrust distance, which is the inter-thrust state, and calculates the turning time based on the inter-thrust distance and the turning method.

[0090] This allows for the creation of a travel route that allows safe and smooth automatic mowing travel by setting a turning method that is appropriate for the journey.

[0091] Furthermore, in the combine harvester 1 of this embodiment, the travel route creation unit 61 calculates the recommended number of turns so as to minimize the total turning time.

[0092] This allows for the creation of a travel route that is efficient in terms of work time throughout the entire work area.

[0093] In the combine harvester 1 of this embodiment, the travel route creation unit 61 creates a travel route by setting an even number of strokes for the divided area.

[0094] This allows the entrance and exit of each divided area to be located on the same side, thereby shortening the idle running path between the divided areas.

[0095] The combine harvester 1 of this embodiment also includes an adjustment unit in the combine harvester 1 or the mobile terminal 53 that accepts adjustment of the recommended number of intermediate divisions calculated by the travel route creation unit 61. Then, the travel route creation unit 61 recreates a travel route based on the number of intermediate divisions adjusted by the adjustment unit.

[0096] This allows the combine 1 to reset the intermediate division in accordance with the operator's intention, and to recreate a travel route in accordance with the operator's intention.

[0097] In the above-described embodiment, the combine harvester 1 sets the lower limit number of reaping rows for the final journey or a predetermined number of journeys preceding the final journey, but the present invention is not limited to this example. For example, in another embodiment, the combine harvester 1 may set the lower limit number of reaping rows for a journey in the first half or middle of the automatic reaping journey, rather than being limited to a journey in the vicinity of the final journey (the latter half of the automatic reaping journey), as long as the journey is one in which the already-mowed area is located to the right of the combine harvester 1's body, or one in which the already-mowed rows are located to the front right of the combine harvester 1's body.

[0098] The combine harvester 1 can also realize a process in which it performs reaping operations with the maximum number of reaping rows in the first half of each divided area, and then performs reaping operations with a lower limit number of reaping rows that is less than the maximum number of reaping rows in the second half. When the combine harvester 1 automatically performs reaping operations in each divided area while taking into account the remaining fuel in the engine 27 of the power unit 8 and the amount of grain stored in the grain tank 24 of the storage unit 6, the combine harvester 1 performs reaping operations with the maximum number of reaping rows in each divided area in succession, making it easy to grasp the remaining fuel amount and the amount of stored grain. The combine harvester 1 can also adjust the remaining fuel amount and the amount of stored grain in the final process in which it performs reaping operations with the lower limit number of reaping rows in each divided area.

[0099] In the above embodiment, an example of the combine harvester 1 configured as a head-feeding combine harvester has been described, but the present invention is not limited to this example, and the combine harvester 1 may be configured as a normal combine harvester. Also, in the above embodiment, an example in which the free running path between strokes is turned by a U-turn in Figure 7 has been shown, but the present invention is not limited to this example, and the free running path between strokes may be turned by other turning methods such as a fishtail turn.

[0100] The present invention can be modified as appropriate within the scope of the claims and the entire specification without departing from the gist or concept of the invention, and the present invention is not limited to the above. Travel route creation method and travel route creation system are also included in the technical concept of the present invention. [Explanation of symbols]

[0101] 1. Combine 2 Running part 3 Reaping section 34 Mobile Station 39 Base station 50 Control device 51 Storage section 52 Communications Department 53 Mobile terminal (selection section) 60 Field information setting section 61 Travel route creation unit 62 Automatic driving control unit

Claims

1. As a travel pattern for the automatic reaping travel of the combine harvester, either a reciprocating reaping in which automatic reaping travel is performed by going back and forth in a plurality of steps in the working area, or a circular reaping in which automatic reaping travel is performed by repeatedly going around the inner periphery of the working area toward the center, is selected; creating a travel route for automatic mowing based on the selected travel pattern; when the back-and-forth mowing is selected as the travel pattern, a predetermined number of intermediate divisions is set, and the travel path for the back-and-forth mowing is created based on the arrangement of the intermediate divisions set based on the number of intermediate divisions; The number of intermediate divisions is displayed on a display unit in an adjustable manner.

2. 2. The travel route creation method according to claim 1, wherein either the reciprocating mowing or the circular mowing is displayed on a display unit as the travel pattern so that the travel pattern can be selected.

3. The travel route creation method according to claim 1 or 2, wherein whether or not the reciprocating mowing method involves switching between forward and reverse movement is selected.

4. The travel route creation method according to claim 3, wherein a display unit displays whether or not the reciprocating mowing method involves switching between forward and reverse movement.

5. A selection unit that selects, as a travel pattern for the automatic reaping travel of the combine harvester, either a reciprocating reaping in which automatic reaping travel is performed by making a plurality of reciprocating trips to and from the work area, or a circular reaping in which automatic reaping travel is performed by repeatedly traveling around the inner periphery of the work area toward the center; a travel route creation unit that creates a travel route for automatic mowing travel based on the travel pattern accepted by the selection unit, when the back-and-forth mowing is selected as the travel pattern, the travel path creation unit sets a predetermined number of intermediate divisions and creates the travel path for the back-and-forth mowing based on the arrangement of the intermediate divisions set based on the number of intermediate divisions; A driving route planning system that displays the number of intermediate divisions on a display unit in an adjustable manner.

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