Combine Discharge Route Planning for Seamless Autonomous Harvesting

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Solution Overview

Problem

Conventional combines require manual intervention to shift from reaping and traveling to discharge work after completing a field, increasing worker workload and reducing efficiency.

Innovation Solution

The combine is equipped with a travel route creation unit to plan a discharge route from the end of the reaping route to a predetermined discharge position, enabling autonomous discharge travel.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Extent of automation

If the combine stops at the end position of the travel route after autonomous reaping and traveling is finished, then the autonomous reaping and traveling can be completed, but a worker needs to manually move the combine from this stopped position to a discharge position, increasing worker workload

Engineering Contradiction:

Improveautonomous reaping and travelingVSAvoidmanual movement of combine

Core Design Contradiction:

Extent of automationVSEase of operation

Solution Approach 1:

The system pre-calculates and stores the discharge route from the end position to the discharge position before autonomous reaping and traveling is completed. This preliminary preparation enables seamless transition to discharge work without manual intervention, as the combine already has navigation instructions ready when it reaches the end position.

Inventive Principle:

Principle #10Preliminary action

2Productivity

If the combine stops at the end position of the travel route, then autonomous reaping and traveling is finished, but the combine cannot shift to discharge work right after finishing, reducing work efficiency

Engineering Contradiction:

Improvework efficiencyVSAvoidtime to shift to discharge work

Core Design Contradiction:

ProductivityVSLoss of time

Solution Approach 1:

The system ensures continuous operation by automatically transitioning the combine from reaping mode to discharge mode without interruption. The pre-calculated discharge route enables immediate navigation to the discharge position upon completing reaping, eliminating idle time and maintaining continuous productive action throughout the workflow.

Inventive Principle:

Principle #20Continuity of useful action

3Ease of operation

If manual intervention is required to move the combine to the discharge position, then the combine can be moved, but worker workload increases

Engineering Contradiction:

Improvemanual movement capabilityVSAvoidautonomous discharge travel system

Core Design Contradiction:

Ease of operationVSDevice complexity

Solution Approach 1:

The combine performs self-navigation to the discharge position using the pre-calculated discharge route. The autonomous driving control unit automatically controls the combine to travel from the end position to the discharge position without worker intervention, enabling the system to serve itself and eliminate manual movement requirements.

Inventive Principle:

Principle #25Self-service

Data Source

PatentUS12471529B2Autonomous driving method, combine, and autonomous driving system

Publication Date: 2025.11.18 YANMAR HLDG CO LTD

AI summary

A combine harvester comprises a control device. The control device functions as a travel route creation unit, a discharge route creation unit, and an autonomous driving control unit. The travel route creation unit creates a travel route R for an unharvested area of a field. The discharge route creation unit creates a discharge route D that extends from an end position E, of the travel route R, at which automatic harvesting of the unharvested area is completed, to a discharge position which is preset for the field. The autonomous driving control unit controls the automatic harvesting travel according to the travel route R or the automatic discharge travel according to the discharge route D.