JP7548802B2 - Arrival information setting method and combine - Google Patents

Description

The present invention relates to a method for setting arrival information for reaching the amount of grain that can be collected by a combine harvester, and a combine harvester equipped with this arrival information setting method.

Conventionally, combine harvesters that harvest stalks while traveling in fields can perform automatic harvesting travel along a preset travel route based on the location information of the device itself obtained using a satellite positioning system such as GPS. In addition, the combine harvester stores the grains threshed from the harvested stalks, and may interrupt the harvesting travel to discharge the stored grains. The grains are discharged into a truck or the like installed on the headland or the like. For example, the grains are discharged into a tank or special bags installed on the truck, and when the grains on the truck are full, the truck is driven to a rice center or the like to transport the grains.

For example, the automatic travel device for a combine disclosed in Patent Document 1 is provided with a grain amount detection means for detecting the amount of grain in the grain tank, and is configured to interrupt harvesting operations and automatically move to the truck when the grain amount detection means detects an amount equal to or greater than a preset value.

JP 2001-69836 A

However, conventional combine harvesters do not take into consideration the transport efficiency when transporting grains obtained from the field to rice centers or the like by trucks or the like. Trucks or the like that transport grains have a predetermined maximum grain collection capacity, and generally transport the grains when the amount of grain collected from the combine harvester reaches the maximum collection capacity.

In contrast, combine harvesters of conventional technology such as those described in Patent Document 1 do not discharge stored grains into the truck unless the amount of grain stored in the tank reaches a predetermined set value. Therefore, even if the amount of grain stored on the combine side reaches the amount of grain that can be recovered on the truck side (maximum recovery capacity - grain recovery amount), the truck must wait until the amount of grain stored in the combine side tank reaches a predetermined set value. This results in longer waiting times for the truck, reducing transport efficiency.

In addition, if the amount of grain stored on the combine side exceeds the amount of grain that can be recovered on the truck side, the combine will discharge only the recoverable amount of grain onto the truck, then stop discharging the grain and have the truck transport the grain. As a result, the remaining amount of grain (storage amount of grain - recoverable amount of grain) remains stored on the combine side, reducing the efficiency of grain discharge by the combine, i.e., the efficiency of grain recovery by the truck.

The present invention aims to provide a method for setting arrival information and a combine harvester that improves the efficiency of grain discharge and the transport efficiency of discharged grain.

In order to solve the above problem, the arrival information setting method of the present invention is a method for setting arrival information for when the amount of grain stored in a combine reaches the amount of grain that can be recovered in a recovery section, and is characterized by having a recoverable amount acquisition process for acquiring the recoverable amount in the recovery section, and a arrival information setting process for setting the arrival information for when the amount of grain stored in the combine reaches the amount that can be recovered during the harvesting run of the combine, based on the amount of grain stored and the recoverable amount.

In the above-described method for setting arrival information of the present invention, the arrival information setting step may calculate an arrival position on the route of the harvesting drive where the stored amount reaches the recoverable amount, and set the calculated arrival position as the arrival information.

The above-mentioned arrival information setting method of the present invention may further include an automatic driving control step for controlling automatic mowing travel based on a predetermined travel route for unmowed areas of the field, and an interruption position setting step for setting an interruption position on the travel route at which the automatic mowing travel is interrupted based on the arrival position on the travel route.

The above-mentioned arrival information setting method of the present invention may further include a distance measuring process for measuring the distance between the combine harvester body and the collection unit, and may cancel the arrival position and the interruption position when the distance becomes equal to or greater than a predetermined distance.

In the above-described arrival information setting method of the present invention, the arrival information setting step calculates a full position on the travel route where the storage amount becomes full, the method accepts a selection of either the arrival position or the full position as a criterion for interrupting the automatic mowing travel, and the interruption position setting step may set the interruption position based on the selected arrival position or the full position.

In the above-mentioned arrival information setting method of the present invention, the interruption position setting step may set the interruption position at the end of one straight-line path in the case where the start end of one straight-line path is set at one end of the unmowed area and the end end of the one straight-line path is set at the other end of the unmowed area in the travel route composed of one or more straight-line paths, and the arrival position is midway along the one straight-line path.

In the above-mentioned arrival information setting method of the present invention, the interruption position setting step may set the interruption position to the end of a straight-line process immediately preceding the first straight-line process when the start point of one straight-line process is set to one end of the unmowed area and the end point of the first straight-line process is set to the other end of the unmowed area on the travel route composed of a plurality of straight-line processes, and the arrival position is located midway through the first straight-line process.

The above-mentioned arrival information setting method of the present invention further includes a discharge position setting step for setting a discharge position for discharging the grains to the collection unit, and when the arrival position is in the middle of a straight-line path on the travel path, the interruption position setting step may set the interruption position to the end of the straight-line path or the end of the straight-line path immediately preceding the straight-line path, whichever is closer to the discharge position.

The above-mentioned arrival information setting method of the present invention further includes a discharge position setting step for setting a discharge position for discharging the grains to the collection section, and the interruption position setting step may set the interruption position at the end of a straight-line stroke that is closest to the arrival position when the arrival position is located midway through a straight-line stroke on the travel path, the straight-line stroke preceding the first straight-line stroke such that when the machine body is located at the end of the straight-line stroke, an imaginary line extending in the direction of travel of the machine body of the combine and an imaginary line extending in the direction of extension of the pillow where the discharge position is located intersect.

To solve the above problem, the combine harvester of the present invention is characterized by being equipped with any of the above-mentioned arrival information setting methods.

The present invention provides a method for setting arrival information and a combine harvester that improves the efficiency of grain discharge and the transport efficiency of discharged grains.

FIG. 1 is a side view of a combine harvester according to an embodiment of the present invention. FIG. 2 is a block diagram of a mobile station and a base station of a combine according to an embodiment of the present invention. FIG. 1 is a block diagram of a combine harvester according to an embodiment of the present invention. 1 is a plan view showing an example of a farm field in which the arrival position and interruption position of the arrival information are set in a combine harvester according to an embodiment of the present invention. FIG. 1 is a plan view showing an example of a farm field in which the arrival position and interruption position of the arrival information are set in a combine harvester according to an embodiment of the present invention. FIG. 1 is a plan view showing an example of a farm field in which the arrival position and interruption position of the arrival information are set in a combine harvester according to an embodiment of the present invention. FIG. 1 is a plan view showing an example of a farm field in which the arrival position and interruption position of the arrival information are set in a combine harvester according to an embodiment of the present invention. FIG. 1 is a plan view showing an example of a farm field in which the arrival position and interruption position of the arrival information are set in a combine harvester according to an embodiment of the present invention. FIG. A plan view showing an example of a farm field in which the arrival position and interruption position of the arrival information are set in a combine harvester according to another embodiment of the present invention. A plan view showing an example of a farm field in which the arrival position and interruption position of the arrival information are set in a combine harvester according to another embodiment of the present invention.

A combine harvester 1 according to an embodiment of the present invention will be described. The combine harvester 1 travels through a field to be worked on, either automatically or manually, and performs work such as reaping to harvest crops from stalks planted in the field. The combine harvester 1 is configured to perform, for example, automatic work in which steering is controlled by automatic driving, while the traveling speed is controlled in response to manual operation, and unmanned work in which steering and traveling speed are controlled by automatic driving, and can travel, turn, and work autonomously within a field.

The combine harvester 1 is configured to perform automatic reaping travel according to a travel route of a predetermined travel pattern. For example, the combine harvester 1 performs automatic reaping travel with a travel pattern such as reciprocating reaping, which involves multiple trips back and forth in an area of the field that has uncut stalks (hereinafter referred to as the uncut area), and circular reaping, which involves repeating a trip around the inner circumference of the uncut area while shifting it toward the center.

The combine harvester 1 is also configured to automatically or manually perform the discharge run along a discharge path to a discharge position in order to interrupt the automatic harvesting run midway and perform grain discharge work. Near the discharge position, a recovery unit 100 such as a truck or container for recovering the discharged grain is provided on the outer bank of the headland as an external device for the discharge work (see FIG. 4, etc.). The recovery unit 100 has a predetermined maximum grain recovery capacity, and when the grain recovery amount reaches the maximum recovery capacity or a predetermined transportable amount close to the maximum recovery capacity, it becomes capable of transporting the grain.

As shown in FIG. 1, the combine harvester 1 is equipped with 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, and is configured as a so-called self-threshing combine. While traveling on the traveling section 2, the combine harvester 1 threshes the stalks harvested by the reaping section 3 in the threshing section 4, and sorts the grains in the sorting section 5 and stores them 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 with the power supplied by the power section 8.

The traveling unit 2 is provided below the machine frame 10 and includes a pair of left and right crawler-type traveling devices 11 and a transmission (not shown). The traveling unit 2 rotates the crawlers of the crawler-type traveling devices 11 using power (e.g., rotational power) transmitted from the engine 26 of the power unit 8, causing the combine 1 to travel in the forward/rearward direction and turn in the left/right direction. The transmission transmits the power (rotational power) of the power unit 8 to the crawler-type traveling devices 11, and can also change the speed of the rotational power.

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 transport device 16. The divider 13 separates the culms in the field row by row, and guides a specified number of culms within the maximum number of reaping rows to the raising device 14. The raising device 14 raises the culms guided by the divider 13. The cutting device 15 cuts the culms raised by the raising device 14. The transport device 16 transports the culms cut by the cutting device 15 to the threshing unit 4.

The threshing section 4 is provided behind the reaping section 3. The threshing section 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 section 3 for threshing, and further transports the threshed stalks, i.e., waste straw, to the straw waste processing section 7. The threshing drum 19 threshes the stalks transported by the feed chain 18.

The sorting section 5 is provided below the threshing section 4. The sorting section 5 includes an oscillating sorting device 21, a wind sorting device 22, a grain conveying device (not shown), and a straw chip 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 chips, etc. The wind sorting device 22 further separates the threshed grains sorted by the oscillating sorting device 21 into grains, straw chips, 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 chip discharge device discharges the straw chips, etc. sorted by the oscillating sorting device 21 and the wind sorting device 22 outside the machine.

The storage section 6 is provided to the right of the threshing section 4. The storage section 6 includes a grain tank 23 and a discharge device 24. The grain tank 23 stores the grains transported from the sorting section 5. The discharge device 24 is composed of an auger or the like, and discharges the grains by discharging the grains stored in the grain tank 23 to any desired location. When the combine harvester 1 reaches the discharge position and completes preparation for the discharge operation, the discharge device 24 performs the discharge operation automatically under the control of the control device 50 (see FIG. 3) or manually in response to the operation of the steering section 9.

The combine harvester 1 also includes a grain sensor 25 as a detection unit that detects the amount of grains stored in the grain tank 23 of the storage unit 6 (hereinafter referred to as the stored amount [kg]) (see FIG. 3). The grain sensor 25 may be composed of, for example, multiple rice sensors arranged at multiple positions in the height direction of the grain tank 23 at a predetermined interval. Each rice sensor turns on when there are grains at the height at which it is arranged, and turns off when there are no grains. The grain sensor 25 detects the amount of stored grains based on the height of the rice sensor that is on or the height of the rice sensor that is off. Alternatively, the grain sensor 25 may be composed of a weight sensor or other sensor to detect the amount of stored grains.

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 right side of the rear of the combine 1.

The power unit 8 is provided above the running unit 2 and in front of the storage unit 6. The power unit 8 has an engine 26 that generates rotational power. The power unit 8 transmits the rotational power generated by the engine 26 to the running 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.

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 traveling direction of the combine harvester 1, i.e., for steering the combine harvester 1, and the operator can control the travel and operation of the combine harvester 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 26, i.e., the travel speed of the traveling part 2 of the combine harvester 1, and a lift switch for raising and lowering the harvesting part 3.

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

As shown in FIG. 2, the combine harvester 1 is equipped with a mobile station 34 that acquires position 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 position information of the mobile station 34, i.e., position information of the combine harvester 1, by communicating with a GPS satellite via the mobile GPS antenna 36.

As shown in FIG. 2, a base station 39 may be installed on the ridges around 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 a GPS satellite 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.

The base station 39 also includes 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.

The mobile communication device 35 of the mobile station 34 wirelessly communicates with the fixed communication device 40 of the base station 39 via the 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.

Next, the control device 50 of the combine harvester 1 will be described with reference to FIG. 3.

The control device 50 is composed of a computer such as a CPU, and is connected to a storage unit 51 such as a ROM, RAM, a hard disk drive, or a flash memory. 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 calculations 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 position information of the combine 1 from the mobile communication device 35. The control device 50 controls the grain sensor 25 to detect the amount of grain stored in the grain tank 23 of the storage unit 6, and obtains the amount of stored grain from the grain sensor 25.

The combine harvester 1 is equipped with a communication unit 52, and the control device 50 wirelessly communicates 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 is one of the components of the combine harvester 1 and 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 be equipped with a mobile camera 54 that takes images. The mobile camera 54, for example, takes an image of the field to be worked on to obtain the field image. In this embodiment, an example is described in which the mobile camera 54 is used to obtain field information, but the mobile camera 54 need not be provided, and the field information need not be obtained by the mobile camera 54.

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, for example, the shape, size, and position information (coordinates, etc.) of the field edge that constitutes the perimeter of the field, and the shape, size, and position information (coordinates, etc.) of the uncut area of the field. The mobile terminal 53 can also display a field map based on the field information, while also displaying the travel path of the combine 1 on the field map so that the traveling direction can be seen.

Furthermore, the mobile terminal 53 functions as a discharge position setting unit that sets the discharge position where the grain discharge operation is performed as the field information. The discharge position is, for example, a coordinate for the field position information in the field information. The discharge position is set, for example, on the headland of the field, and when performing discharge operation, the combine harvester 1 stops at the discharge position with the right side of the machine body facing outward from the headland. Note that the discharge position is preferably set at a predetermined distance in the front-rear direction along the outer periphery of the headland so that the combine harvester 1 can smoothly enter and exit the discharge position.

The mobile terminal 53 has a function to accept the selection of the driving pattern for the automatic reaping driving of the combine harvester 1, and when creating a driving route for automatic reaping driving, displays on the touch panel a driving selection screen for selecting a driving pattern of reciprocating mowing or circular mowing. The mobile terminal 53 transmits the driving pattern (reciprocating mowing or circular mowing) input in response to the operation of the driving selection screen to the combine harvester 1, and instructs the creation of the driving route.

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 photography camera 57 are used to acquire field information, but the aerial photography device 56 and the aerial photography camera 57 may not be provided, and the field information may not be acquired by the aerial photography camera 57. 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 according to the operation instructions, and controls the aerial photography camera 57 according to the photographing instructions to photograph the field and acquire field images. The aerial photography device 56 transmits the field images photographed by the aerial photography camera 57 to the control device 50 or the mobile terminal 53.

The control device 50 receives field images captured by the aircraft camera 32, the fixed camera 43, the mobile 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 field images to the mobile terminal 53 and display them on the monitor of the mobile terminal 53.

The memory unit 51 prestores the maximum storage capacity of the grain tank 23 of the storage unit 6 for storing grains. Furthermore, the memory unit 51 prestores the amount of grains that can be harvested per unit distance (e.g., 0.1 m) (hereinafter referred to as unit harvest amount [kg/0.1 m]) in order to calculate the distance over which automatic reaping travel can be performed (hereinafter referred to as reaping distance). Alternatively, the memory unit 51 may prestore, as a harvest coefficient, a bale-kg conversion coefficient [kg/bale] for converting the harvest amount [kg] into bales, or a unit harvest coefficient [0.1 bale/1000 ² ] in order to calculate the unit harvest amount.

The memory unit 51 pre-sets and stores the mowing width for each row, the mowing width per stroke (e.g., the mowing width for a row with the maximum number of mowing rows), and the number of mowing rows per stroke (e.g., the maximum number of mowing rows) as the mowing capacity values of the mowing unit 3. The mowing width per stroke may be determined based on the mowing width for each row.

The control device 50 also executes the programs stored in the memory unit 51 to operate as a field information setting unit 60, a travel route creation unit 61, an automatic driving control unit 62, a recoverable amount acquisition unit 63, a reach information setting unit 64, an interruption position setting unit 65, and a distance measurement unit 66. The interruption position setting unit 65 and the distance measurement unit 66 may be included in the automatic driving control unit 62, or may be included in the reach information setting unit 64.

In addition, in the arrival information setting method for setting arrival information for the amount of storage in the combine harvester 1 reaching the amount of storage in the collection unit 100 during reaping travel, the automatic driving control step for controlling automatic reaping travel is realized by the automatic driving control unit 62, the recoverable amount acquisition step for acquiring the recoverable amount in the collection unit 100 is realized by the recoverable amount acquisition unit 63, and the arrival information setting step for setting the arrival information is realized by the arrival information setting unit 64. In addition, in the arrival information setting method, the detection step for detecting the amount of storage in the storage unit 6 is realized by the control device 50 that controls the grain sensor 25. Furthermore, the arrival information setting method may include an interruption position setting step for setting an interruption position based on the arrival information, and the interruption position setting step is realized by the interruption position setting unit 65. The arrival information setting method may include a separation distance measuring step for measuring the separation distance between the combine harvester 1 and the collection unit 100, and the separation distance measuring step is realized by the separation distance measuring unit 66.

The control device 50 controls each part, such as the recoverable amount acquisition part 63, the arrival information setting part 64, the interruption position setting part 65, etc., so as to execute the arrival information setting method at a predetermined timing during automatic mowing travel. For example, the control device 50 may automatically execute the arrival information setting method at a predetermined cycle during automatic mowing travel, and may automatically execute the arrival information setting method every time a predetermined time or distance has elapsed, or every time a circular mowing is completed, or every time a round trip is completed during reciprocating mowing. Alternatively, the control device 50 may automatically execute the arrival information setting method at the timing when a travel route is created by the travel route creation part 61, or may automatically execute the arrival information setting method at the timing when automatic mowing travel along the travel route begins.

The field information setting unit 60 automatically or manually sets field information related to the field to be worked on and stores it in the storage 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. The field information includes a discharge position where the combine 1 discharges grains, and the field information setting unit 60 functions as a discharge position setting unit that sets the discharge position. The arrival information setting method may include a discharge position setting step of setting the discharge position, and the discharge position setting step is realized by the discharge position setting unit.

Alternatively, the field information setting unit 60 may acquire a field image 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 acquire field information by analyzing the field image. The field information setting unit 60 may analyze the field information from the field image of 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 the field images of two or more cameras. The field information setting unit 60 may also acquire more accurate field information by ensuring consistency between the field information manually set via the mobile terminal 53 and the field information automatically set from the field image of the on-board camera 32, the fixed camera 43, the mobile camera 54, or the aerial camera 57.

The travel path creation unit 61 creates a travel path that the combine harvester 1 references to automatically travel and automatically mow 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 mowing. The travel settings include the travel position in the field, as well as the travel speed and direction of travel (steering direction and forward or reverse) at each travel position. The work settings include information on whether mowing is started or stopped at each travel position, the mowing speed and mowing height, the number of mowing rows, and other work.

The travel path creation unit 61 sets a linear path for mowing while traveling through unmowed areas in the field, and sets a travel path by combining multiple linear paths. The travel path creation unit 61 sets the start of the linear path at one end of the unmowed area, and sets the end of the linear path at the other end of the unmowed area. The travel path creation unit 61 creates a travel path according to the travel pattern (reciprocating mowing or circular mowing) selected by operating the mobile terminal 53 or the like. For example, the travel path creation unit 61 creates a travel path for circular mowing that repeats a path around the inner circumference of the unmowed area while shifting it toward the center, or a reciprocating mowing path that makes multiple round trips in the unmowed area.

The automatic driving control unit 62 controls the power unit 8, the driving unit 2, and the reaping unit 3 based on the driving settings and work settings of the driving route created by the driving route creation unit 61 to perform automatic driving and automatic reaping according to the driving route. The automatic driving control unit 62 automatically reaps the uncut stalks on the driving route by the reaping unit 3. In addition, 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 in conjunction with the automatic reaping 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 obtain displacement information and direction information of the combine harvester 1, and the automatic driving control unit 62 may adjust the automatic driving of the combine harvester 1 based on the displacement information and direction information.

The recoverable amount acquisition unit 63 acquires the free capacity of the recovery unit 100 that recovers grains from the storage unit 6, i.e., the recoverable amount of the recovery unit 100, and stores it in the memory unit 51. For example, the maximum recovery capacity at which the recovery unit 100 can recover grains is stored in advance in the memory unit 51, and the recoverable amount acquisition unit 63 acquires the amount of grains recovered by the recovery unit 100 from the combine harvester 1 and acquires the recoverable amount by subtracting the amount of grains recovered from the maximum recovery capacity. At this time, the recoverable amount acquisition unit 63 may calculate the amount of grains discharged by the discharge device 24 to the recovery unit 100 based on the amount of grains stored in the storage unit 6, or may detect the amount of grains discharged by the discharge device 24 using a discharge sensor (not shown) provided in the discharge device 24, and calculate the amount of grains recovered based on the amount of grains discharged by the discharge device 24. Alternatively, the collection unit 100 may be configured to detect its own grain collection amount or recoverable amount and provide it to the outside, and the recoverable amount acquisition unit 63 may receive the grain collection amount or recoverable amount by communicating with the collection unit 100 via the communication unit 52.

The arrival information setting unit 64 sets arrival information that indicates when the storage amount reaches the recoverable amount during harvesting travel, based on the storage amount in the storage unit 6 and the recoverable amount acquired by the recoverable amount acquisition unit 63. When a storage amount of grains equivalent to the recoverable amount is discharged from the combine 1 to the recovery unit 100, the grain recovery amount in the recovery unit 100 reaches the maximum recovery capacity or a predetermined transportable amount close to the maximum recovery capacity, and the grains become transportable.

In this embodiment, an example will be described in which the arrival information setting unit 64 calculates the arrival position on the travel route of the automatic mowing trip where the storage amount reaches the recoverable amount, and sets this on the travel route as arrival information. The arrival position is, for example, a coordinate for the field position information in the field information. In addition, when the route can be predicted during the execution of the mowing trip by manual operation, the arrival information setting unit 64 may calculate the arrival position on the predicted route.

The present invention is not limited to this example, and the reach information setting unit 64 may calculate the distance (reach distance) and time (reach time) that the harvesting can be performed before the stored amount reaches the recoverable amount, regardless of whether the harvesting is performed manually or automatically, and set this as the reach information. In addition, when the recoverable amount is equal to or greater than the maximum storage capacity of the storage unit 6, the recovery unit 100 will not become full even if all the grains in the storage unit 6 are recovered, so the reach information setting unit 64 does not need to set the reach information. On the other hand, when the recoverable amount is less than the maximum storage capacity, the reach information setting unit 64 may set the reach information.

For example, the reach information setting unit 64 obtains the unit harvest volume that can be harvested per unit distance from the memory unit 51, or calculates the unit harvest volume based on the harvest coefficient, for example by multiplying the unit harvest coefficient, the bale-kg conversion coefficient, and the harvest width. The reach information setting unit 64 can calculate the reach distance over which harvesting can be performed before the storage volume reaches the recoverable volume by dividing the recoverable volume by the unit harvest volume. Alternatively, the reach information setting unit 64 may calculate the reach distance as the distance over which harvesting can be performed before the storage volume exceeds a predetermined transportable volume.

In addition, the reach information setting unit 64 can calculate the position on the travel route where the reach distance elapses, i.e., the reach position where the storage amount reaches the recoverable amount or a predetermined transportable amount, based on the travel route created by the travel route creation unit 61, the current position information of the combine 1, and the calculated reach distance.

If the time per unit distance (unit time) for mowing travel is set in advance, the reach information setting unit 64 can calculate the reach time in which mowing travel can be performed before the storage volume reaches the recoverable volume based on the reach distance and the unit time, for example by multiplying the reach distance by the unit time.

The interruption position setting unit 65 sets an interruption position on the travel route where the automatic harvesting travel is interrupted, based on the arrival position on the travel route set by the arrival information setting unit 64. The interruption position is, for example, a coordinate for the field position information in the field information. The straight-line process on which the interruption position is set is preferably a process approaching the discharge position, and the end of the straight-line process on which the interruption position is set is preferably a position that overlooks the discharge position. The interruption position setting unit 65 may also set the interruption position so that the turning angle from the interruption position to the discharge position is within a predetermined angle threshold (e.g., 180 degrees).

For example, in a travel route consisting of multiple straight-line steps, if a destination position is set midway through one straight-line step, the interruption position setting unit 65 sets the interruption position at the end of that one straight-line step (hereinafter referred to as the destination step). FIG. 4 shows an example in which a destination position R1 is set on a circular mowing travel route P1 set in an unmowed area A1 of a field F1, and the straight-line step in which the destination position R1 is set is referred to as the destination step S1. Also, in FIG. 4, a discharge position T1 is set on a pillow area H1 at one end of the field F1, and a collection unit 100 is provided near the discharge position T1. In this example, the interruption position setting unit 65 sets the interruption position U1 at the end of the destination step S1.

The interruption position setting unit 65 may also set an interruption position at the end of the straight-line path immediately prior to the arrival path. Figure 5 shows an example in which an arrival position R2 is set on a circular mowing travel path P2 set in an unmowed area A2 of a field F2, and the straight-line path in which the arrival position R2 is set is the arrival path S2. Also, in Figure 5, a discharge position T2 is set in the pillow area H2 at one end of the field F2, and a recovery unit 100 is provided near the discharge position T2. In this example, the interruption position setting unit 65 sets an interruption position U2 at the end of the straight-line path immediately prior to the arrival path S2.

Alternatively, the interruption position setting unit 65 may set the interruption position to the end of the arrival process or the end of the straight process immediately before the arrival process, whichever is closer to the discharge position. In this case, the interruption position setting unit 65 may compare the travel distance from the end of the arrival process to the discharge position with the travel distance from the end of the straight process immediately before the arrival process to the discharge position to determine which end is closer to the discharge position. Alternatively, the interruption position setting unit 65 may set the interruption position to the arrival position on the travel route.

Figure 6 shows an example in which a reach position R3 is set on a circular mowing travel path P3 set in an uncut area A3 of a field F3, and the straight-line path on which the reach position R3 is set is the reach path S3. Also in Figure 6, a discharge position T3 is set on the pillow area H3 at one end of the field F3, and a recovery unit 100 is provided near the discharge position T3. In this example, the end of the straight-line path immediately prior to the reach path S3 is closer to the discharge position T3 than the end of the reach path S3, so the interruption position setting unit 65 sets an interruption position U3 at the end of the straight-line path immediately prior to the reach path S3.

Figure 7 shows an example in which a reach position R4 is set on a circular mowing travel path P4 set in an uncut area A4 of a field F4, and the straight-line path in which the reach position R4 is set is the reach path S4. Also in Figure 7, a discharge position T4 is set in the pillow area H4 at one end of the field F4, and a recovery unit 100 is provided near the discharge position T4. In this example, the end of the reach path S4 is closer to the discharge position T4 than the end of the straight-line path immediately preceding the reach path S4, so the interruption position setting unit 65 sets an interruption position U4 at the end of the reach path S4.

Alternatively, the interruption position setting unit 65 sets the interruption position at the end of the straight-line process that is closest to the arrival position, and is a straight-line process in which, when the combine harvester 1 is located at the end of the straight-line process, a virtual line extending in the direction of travel of the combine harvester 1 and a virtual line in the extension direction of the headland where the discharge position is provided intersect. Figure 8 shows an example in which the arrival position R5a, R5b, R5c, or R5d is set on the circular mowing travel path P5 set in the uncut area A5 of the field F5, and the process in which the arrival position R5a, R5b, R5c, or R5d is set is the straight-line process S5a, S5b, S5c, or S5d, respectively. Also, in Figure 8, the discharge position T5 is set in the headland H5 at one end of the field F5, and the recovery unit 100 is provided near the discharge position T5.

In this example, when the arrival position R5a is set, the imaginary line La extending in the direction of travel of the combine 1 body, which is located at the end of the straight-line stroke S5a where the arrival position R5a is set, intersects with the imaginary line K5 in the extension direction of the pillow area H5 where the discharge position T5 is provided. Therefore, the interruption position setting unit 65 sets the interruption position U5 at the end of the straight-line stroke S5a as the straight-line stroke closest to the arrival position R5a.

When the arrival position R5b is set, the imaginary line Lb extending in the direction of travel of the combine 1 body, which is located at the end of the straight-line stroke S5b where the arrival position R5b is set, does not intersect with the imaginary line K5 in the extension direction of the pillow ground H5 where the discharge position T5 is provided. Therefore, the interruption position setting unit 65 sets the interruption position U5 at the end of the straight-line stroke S5a as the straight-line stroke that intersects with the imaginary line K5 in the extension direction of the pillow ground H5 and is closest to the arrival position R5b among the straight-line strokes before the straight-line stroke S5b.

Similarly, when the arrival position R5c or R5d is set, the imaginary line Lc or Ld extending in the direction of travel of the combine 1 body, which is located at the end of the straight-line process S5c or S5d where the arrival position R5c or R5d is set, does not intersect with the imaginary line K5 in the extension direction of the pillow ground H5 where the discharge position T5 is provided. Therefore, the interruption position setting unit 65 sets the interruption position U5 at the end of the straight-line process S5a as the straight-line process that intersects with the imaginary line K5 in the extension direction of the pillow ground H5 and is closest to the arrival position R5c or R5d among the straight-line processes before the straight-line process S5c or S5d.

The separation distance measuring unit 66 measures the separation distance between the combine harvester 1 and the recovery unit 100. For example, the separation distance measuring unit 66 acquires position information of the combine harvester 1 using a GPS or the like, and receives position information of the recovery unit 100 detected using a GPS or the like by communicating with the recovery unit 100 via the communication unit 52. Then, based on the position information of the combine harvester 1 and the position information of the recovery unit 100, the separation distance measuring unit 66 calculates the straight-line distance connecting the combine harvester 1 and the recovery unit 100 as the separation distance.

The recovery unit 100, such as a truck, is usually installed near a discharge position set in the field, but when the amount of grain collected by the recovery unit 100 reaches its maximum collection capacity or a specified transportable amount, it moves away from the field to transport it to a rice center or the like, increasing the distance from the combine 1. If the recovery unit 100 is away from the field, grain cannot be discharged from the combine 1 to the recovery unit 100, so the combine 1 cancels the arrival information set by the arrival information setting unit 64 and the interruption position set by the interruption position setting unit 65. Specifically, the control device 50 cancels the arrival position and the interruption position when the distance between the combine 1 and the recovery unit 100 becomes equal to or greater than a specified distance. This predetermined distance should be set based on the size of the field (e.g., the distance from the discharge position to the farthest position in the field) so that it can be determined that the recovery unit 100 is clearly away from the field, and may be set automatically based on field information, or may be set arbitrarily in response to manual operation.

The control device 50 may be configured to automatically communicate with and cooperate with the collection unit 100 within a predetermined distance. In this case, when the collection unit 100, which is a predetermined distance or more away from the combine harvester 1, approaches within a predetermined distance around the combine harvester 1, the control device 50 and the collection unit 100 automatically communicate with each other. At this time, the control device 50 may determine that the grain collection amount of the collection unit 100 is 0 and the collectable amount is the maximum collection capacity due to the collection unit 100 being newly installed at the discharge position. In addition, due to such resetting of the collection unit 100, the arrival information setting unit 64 may reset the arrival information, and the interruption position setting unit 65 may reset the interruption position.

Furthermore, the control device 50 notifies the worker of the arrival information set by the arrival information setting unit 64 to encourage the discharge of grains. The control device 50 may notify the worker of the arrival information by displaying it on the monitor of the operation unit 9 or the monitor of the mobile terminal 53, or may notify the worker by audio output from a speaker or the like. The control device 50 may notify the worker of the arrival information when the arrival information is set, and may notify the worker of the arrival information again when the arrival position is approaching or when the arrival distance or arrival time is approaching 0. For example, when displaying a field map based on the field information and the travel route on the field map, it may display the arrival position on the travel route. The combine harvester 1 may be configured to be able to arbitrarily set the notification of the arrival information to on/off according to manual operation.

The control device 50 may also notify the operator of the interruption position set by the interruption position setting unit 65 to encourage the operator to discharge the grains. The control device 50 may notify the operator of the interruption position by displaying it on the monitor of the control unit 9 or the monitor of the mobile terminal 53, or by outputting audio from a speaker or the like. The control device 50 may notify the operator of the interruption position when it is set, and may re-notify the arrival information when the operator approaches the interruption position. For example, when displaying a field map based on field information and the travel route on the field map, the control device 50 may display the interruption position on the travel route. The combine harvester 1 may be capable of setting the notification of the interruption position to be on or off.

After the interruption position is set as described above, the automatic driving control unit 62 interrupts the automatic reaping travel when it reaches the interruption position set on the travel route by the interruption position setting unit 65 while performing automatic reaping travel according to the travel route. After the automatic reaping travel is interrupted, the combine harvester 1 controls the power unit 8 and the travel unit 2 by manual or automatic travel to travel from the interruption position to the discharge position. In the case of automatic travel, the combine harvester 1 creates a discharge route that automatically travels from the interruption position to the discharge position through the headland by the functions of the control device 50, such as the travel route creation unit 61. For example, the combine harvester 1 may create the discharge route when the interruption position is set by the interruption position setting unit 65 at the timing of performing the arrival information setting method described above.

The control device 50 may cancel the arrival position when the combine harvester 1 reaches the arrival position, moves to the discharge position, or performs the discharge operation. The control device 50 may cancel the interruption position when the combine harvester 1 reaches the interruption position, moves to the discharge position, or performs the discharge operation.

After moving to the discharge position and performing discharge work, the combine harvester 1 sets the start of the straight path following the interruption position or the start of the straight path closest to the discharge position as the resume position, travels from the discharge position to the resume position, and resumes automatic harvesting travel from the resume position. Travel from the discharge position to the resume position may be manual or automatic, and in the case of automatic travel, a route from the discharge position to the resume position may be created by a function of the control device 50, such as the travel route creation unit 61.

As described above, according to this embodiment, the combine harvester 1 includes the storage unit 6, the grain sensor 25 (detection unit), and the control device 50, and the control device 50 functions as the recoverable amount acquisition unit 63 and the reach information setting unit 64. The storage unit 6 stores grains threshed from the stalks harvested by the harvesting run in the field. The grain sensor 25 detects the amount of grains stored in the storage unit 6. The recoverable amount acquisition unit 63 acquires the recoverable amount of the recovery unit 100 that recovers the grains from the storage unit 6. The reach information setting unit 64 sets reach information that indicates that the amount of storage reaches the recoverable amount during the harvesting run based on the amount of storage and the recoverable amount. For example, the reach information setting unit 64 calculates the reach position where the amount of storage reaches the recoverable amount on the route of the harvesting run and sets it as the reach information.

This allows the combine harvester 1 to grasp in advance the arrival information that the amount of grain stored in the storage section 6 reaches the amount that can be collected by the collection section 100. The combine harvester 1 can notify the operator of the arrival information thus acquired, that is, can notify the operator of the timing when the amount of grain collected by the collection section 100 reaches the maximum collection capacity or a predetermined transportable amount, and can urge the operator to perform the discharge operation. Therefore, by discharging grains from the combine harvester 1 to the collection section 100 at such a timing, the grain collection amount of the collection section 100 can be almost full and the storage section 6 can be almost empty. Therefore, the collection section 100 can shift to the transport operation at an appropriate timing, and the transport waiting time of the collection section 100 is not unnecessarily long, so that the transport efficiency of the collection section 100 can be improved. In addition, since there is almost no remaining grain in the storage section 6 after discharge, the discharge efficiency of the combine harvester 1 can be improved, and the transport efficiency of the collection section 100 can be improved.

The combine harvester 1 of this embodiment further includes an automatic driving control unit 62 that controls automatic reaping travel based on a preset travel route for unmowed areas of the field, and the control device 50 further functions as an interruption position setting unit 65 that sets an interruption position on the travel route at which the automatic reaping travel is interrupted based on the arrival position on the travel route.

This allows the combine 1 to interrupt automatic reaping travel and transition to discharge work at an appropriate timing when the amount of grain collected by the collection section 100 reaches the maximum collection capacity or a specified transportable amount. The combine 1 can also notify the operator of the timing to interrupt automatic reaping travel. Furthermore, when automatic reaping travel is interrupted, the combine 1 can perform manual or automatic travel from the interruption position to the collection section 100, and can also prompt the operator to perform discharge work. Therefore, the transport standby time of the collection section 100 is not unnecessarily extended, and the transport efficiency of the collection section 100 can be improved.

The combine harvester 1 of this embodiment further includes a distance measuring unit 66 that measures the distance between the machine body and the harvesting unit 100, and the control device 50 cancels the arrival position and interruption position when the distance becomes equal to or greater than a predetermined distance.

As a result, when the recovery unit 100, such as a truck, leaves the field, unnecessary arrival and interruption positions are canceled, allowing the automatic harvesting drive to continue without unnecessary interruptions.

In the combine harvester 1 of this embodiment, when the arrival position is in the middle of one straight-line path, the interruption position setting unit 65 may set the interruption position at the end of the straight-line path. Alternatively, in the combine harvester 1 of this embodiment, when the arrival position is in the middle of one straight-line path, the interruption position setting unit 65 may set the interruption position at the end of the straight-line path immediately preceding the straight-line path.

With any of the above configurations, when the combine harvester 1 reaches the interruption position, it is possible to ensure that there are no uncut areas in the direction of travel of the combine harvester 1. This allows the combine harvester 1 to start traveling from the interruption position to the discharge position without changing its direction of travel, and it can travel smoothly to the discharge position. This improves the efficiency of the grain discharge operation.

The combine harvester 1 of this embodiment further includes a control unit 9 or a mobile terminal 53 that functions as a discharge position setting unit that sets the discharge position at which grains are discharged from the storage unit 6 to the collection unit 100, and when there is a destination position midway through a straight line path on the travel path, the interruption position setting unit 65 may set the interruption position to either the end of the straight line path or the end of the straight line path immediately preceding the straight line path, whichever is closer to the discharge position.

This shortens the travel distance from the interruption position to the discharge position, improving the efficiency of the grain discharge process.

Alternatively, the combine harvester 1 of this embodiment may further include a control unit 9 or a mobile terminal 53 that functions as a discharge position setting unit as described above, and the interruption position setting unit 65 may set the interruption position at the end of a straight-line stroke that is closest to the arrival position when the arrival position is midway through a straight-line stroke on the travel path, and that is a straight-line stroke prior to the straight-line stroke in which an imaginary line extending in the direction of travel of the machine body when the machine body is located at the end of the straight-line stroke intersects with an imaginary line extending in the direction of extension of the pillow where the discharge position is provided.

As a result, when the combine harvester 1 reaches the interruption position, there can be no uncut areas in the direction of travel of the combine harvester 1, and travel from the interruption position to the discharge position can be prevented from coming across uncut areas. Therefore, travel to the discharge position can be started from the interruption position without changing the direction of travel, and travel can be made smoothly to the discharge position. At this time, manual travel to the discharge position can be made easier, and the creation of a discharge path for automatic travel to the discharge position can be made easier. Furthermore, because travel is interrupted when approaching the discharge position, the travel distance to the discharge position can be shortened compared to when travel is interrupted at a position away from the discharge position. This can therefore improve the efficiency of grain discharge work.

Alternatively, the interruption position setting unit 65 may set the interruption position depending on whether the discharge position is on the left or right side of the imaginary line in the traveling direction of the combine harvester 1 at the end of the arrival stroke. For example, the interruption position setting unit 65 may set the interruption position at the end of the arrival position when the discharge position is on the right side of the imaginary line, and may set the interruption position at the end of the straight stroke following the arrival position when the discharge position is on the left side of the imaginary line.

In another embodiment, the combine harvester 1 may be able to select, as a criterion for setting the interruption position, either a reach position where the amount of storage in the storage section 6 reaches the amount that the recovery section 100 can recover, or a full position where the amount of storage in the storage section 6 is full.

In this case, the control device 50 uses the functions of the reach information setting unit 64 and the like to calculate the full position on the travel route where the amount of grains stored in the storage unit 6 is full. The full position is, for example, a coordinate for the position information of the field in the field information. For example, the reach information setting unit 64 calculates the amount of grains that can be stored by subtracting the current amount of storage from the maximum storage capacity of the storage unit 6.

The reach information setting unit 64 also divides the storage amount by the unit harvest yield to calculate the limit distance over which cutting can be performed before the storage amount reaches the maximum storage capacity. The reach information setting unit 64 may also calculate the limit distance as the distance over which cutting can be performed before the storage amount exceeds a predetermined set amount close to the maximum storage capacity. Furthermore, the reach information setting unit 64 calculates the position on the travel path where the limit distance elapses, i.e., the full position where the storage amount reaches the maximum storage capacity or a predetermined set amount, based on the travel path created by the travel path creation unit 61, the current position information of the combine 1, and the calculated limit distance.

The control unit 9 or the mobile terminal 53 functions as a selection unit that arbitrarily selects either the arrival position or the full position as the criterion for interrupting the automatic mowing run in response to the operator's operation. For example, a selection screen that allows the selection of either the arrival position or the full position as the criterion for interrupting the automatic mowing run may be displayed on the monitor of the control unit 9 or the monitor of the mobile terminal 53. When the selection of the criterion for interrupting the automatic mowing run is accepted by the mobile terminal 53, the mobile terminal 53 transmits the selection information of the arrival position or the full position to the combine 1.

The combine harvester 1 may calculate the full position using the arrival information setting unit 64 at the timing of performing the arrival information setting method described above, and may prompt the operator to select the arrival position or the full position using the selection unit. The combine harvester 1 may also prompt the operator to select the arrival position or the full position using the selection unit when approaching the arrival position or the full position, for example, when reaching the start of the straight stroke in which the arrival position or the full position is set, or the start of the straight stroke immediately preceding it.

The interruption position setting unit 65 sets an interruption position on the travel route where the automatic mowing travel is interrupted based on the arrival position or full position selected by the operation unit 9 or the mobile terminal 53 functioning as a selection unit. When the arrival position is set, the interruption position setting unit 65 sets the interruption position based on the arrival position as in the embodiment described above. On the other hand, when the full position is set, the interruption position setting unit 65 sets the interruption position based on the full position in the same manner as when the arrival position is used as the reference.

According to the other embodiment described above, the combine harvester 1 can select according to the situation whether to prioritize harvesting the stalks in the field and travel to the full position, or to prioritize recovering the stored grain and travel to the destination position. In addition, the operator can select the priority operation as desired.

In the above embodiment, the interruption position setting unit 65 sets the interruption position to the end of the arrival process where the arrival position is set, or to the end of the straight process immediately before the arrival process, whichever is closer to the discharge position. However, the present invention is not limited to this example. For example, in another embodiment, the combine harvester 1 may be able to arbitrarily select either the end of the arrival process or the end of the straight process immediately before the arrival process as the setting destination of the interruption position according to manual operation, and the interruption position setting unit 65 may set the interruption position to the selected end. Furthermore, if the end of the straight process following the arrival process is closer to the discharge position than the end of the arrival process and the end of the straight process immediately before the arrival process, the combine harvester 1 may add the end of the straight process following the arrival process to the options for setting the interruption position.

In this case, the control unit 9 or the mobile terminal 53 functions as a selection unit that arbitrarily selects the destination of the interruption position (for example, the end of the arrival process or the end of the straight process immediately before the arrival process) in response to the operation of the operator. For example, a selection screen that allows the selection of either the end of the arrival process or the end of the straight process immediately before the arrival process as the destination of the interruption position may be displayed on the monitor of the control unit 9 or the monitor of the mobile terminal 53. When the selection of the destination of the interruption position is accepted by the mobile terminal 53, the mobile terminal 53 transmits the selection information of the end of the arrival process or the end of the straight process immediately before the arrival process to the combine 1.

In another embodiment, the interruption position setting unit 65 may determine whether to set the interruption position at the end of the reach process or at the end of the straight line process immediately preceding the reach process, depending on the situation. For example, the interruption position setting unit 65 may automatically determine to set the interruption position at the end of the straight line process immediately preceding the reach process when the reach process is closer to the start end than the midpoint of the reach process, and to set the interruption position at the end of the reach process when the reach process is closer to the end end than the midpoint of the reach process.

Figure 9 shows an example in which a reach position R6 is set on a circular mowing travel path P6 set in an unmowed area A6 of a field F6, and the straight-line path on which the reach position R6 is set is the reach path S6. Also in Figure 9, a discharge position T6 is set in the pillow area H6 at one end of the field F6, and a recovery unit 100 is provided near the discharge position T6. In this example, the reach position R6 is located closer to the start end than the intermediate position C6 of the reach path S6, so the interruption position setting unit 65 sets an interruption position U6 at the end of the straight-line path immediately prior to the reach path S6.

Figure 10 shows an example in which a reach position R7 is set on a circular mowing travel path P7 set in an uncut area A7 of a field F7, and the straight-line path on which the reach position R7 is set is the reach path S7. Also in Figure 10, a discharge position T7 is set in the pillow area H7 at one end of the field F7, and a recovery unit 100 is provided near the discharge position T7. In this example, the reach position R7 is located closer to the end of the reach path S7 than the intermediate position C7, so the interruption position setting unit 65 sets an interruption position U7 at the end of the reach path S7.

This allows the interruption point at which the automatic mowing operation is interrupted to be set more appropriately according to the situation, based on the arrival point at which the amount of storage in the storage section 6 reaches the amount that the collection section 100 can collect.

Even if the arrival position is closer to the start end than the middle position of the arrival process, if the end of the arrival process is closer to the discharge position (if the travel distance is shorter) than the end of the straight line process immediately before the arrival process, the interruption position setting unit 65 may set the interruption position at the end of the arrival process.

In addition, even if the arrival position is closer to the end than the intermediate position of the arrival process, if the end of the straight line process immediately before the arrival process is closer to the discharge position (if the travel distance is shorter) than the end of the arrival process, the interruption position setting unit 65 may set the interruption position at the end of the straight line process immediately before the arrival process.

In the above embodiment, the control device 50 of the combine harvester 1 functions as the field information setting unit 60, the travel path creation unit 61, the automatic driving control unit 62, the recoverable amount acquisition unit 63, the arrival information setting unit 64, the interruption position setting unit 65, and the separation distance measurement unit 66. However, the present invention is not limited to this example. For example, in another embodiment, the mobile terminal 53 may be configured to function as the field information setting unit 60, the travel path creation unit 61, the automatic driving control unit 62, the recoverable amount acquisition unit 63, the arrival information setting unit 64, the interruption position setting unit 65, and the separation distance measurement unit 66. For example, the mobile terminal 53 may acquire the recoverable amount of the recovery unit 100, set the arrival position where the amount stored in the storage unit 6 reaches the recoverable amount of the recovery unit 100, and set the interruption position where the automatic harvesting travel is interrupted.

In the above embodiment, an example of a 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 type combine harvester.

The present invention may be modified as appropriate within the scope of the claims and the entire specification without violating the spirit or concept of the invention, and the arrival position setting method and combine harvester that involve such modifications are also included in the technical concept of the present invention.

1 Combine harvester 2 Traveling section 3 Harvesting section 6 Storage section 25 Grain sensor (detection section)
50 Control device 51 Storage unit 52 Communication unit 53 Mobile terminal 60 Farm field information setting unit 61 Travel route creation unit 62 Automatic driving control unit 63 Recoverable amount acquisition unit 64 Arrival information setting unit 65 Interruption position setting unit 66 Distance measurement unit 100 Recovering unit R1, R2, R3, R4, R5, R6, R7 Arrival position

Claims (10)

A method for setting arrival information for setting arrival information indicating that the amount of grain stored in a combine harvester reaches a grain recoverable amount in a harvester disposed at a position different from the combine harvester,
a recoverable amount acquisition step of acquiring the recoverable amount of the recovery unit;
A reaching information setting step of setting the reaching information indicating that the storage amount reaches the recoverable amount during the harvesting travel of the combine based on the storage amount and the recoverable amount;
An interruption position setting process for setting an interruption position at which the harvesting travel of the combine is interrupted based on the arrival information;
A method for setting arrival information, comprising: A method for setting arrival information when the amount of grain stored in a combine reaches a grain recoverable amount in a recovery section disposed at a position different from the combine, comprising:
a recoverable amount acquisition step of acquiring the recoverable amount of the recovery unit;
A reach information setting process for calculating a reach position where the stored amount reaches the recoverable amount during the harvesting travel of the combine based on the stored amount and the recoverable amount, and setting the reach information as the reach information;
an automatic driving control step of controlling automatic reaping travel based on a travel route set in advance for the farm field;
An arrival information setting method comprising: an interruption position setting step of setting an interruption position at which the automatic mowing travel is interrupted based on the arrival position. The method further includes a distance measuring step of measuring a distance between the body of the combine and the recovery section,
3. The method for setting arrival information according to claim 2, wherein the arrival position and the interruption position are cancelled when the separation distance becomes equal to or greater than a predetermined distance. The arrival information setting step calculates a full-capacity position on the travel route where the storage amount becomes full,
accepting a selection of either the arrival position or the full position as a criterion for interrupting the automatic mowing travel;
4. The arrival information setting method according to claim 2, wherein the interruption position setting step sets the interruption position based on the selected arrival position or the full position. The arrival information setting method of any one of claims 2 to 4, characterized in that the interruption position setting process, in the case where the travel path is composed of one or more straight-line journeys, the start end of one straight-line journey is set at one end of the unmowed area of the field and the end end of the one straight-line journey is set at the other end of the unmowed area, and the arrival position is located midway along the one straight-line journey, sets the interruption position at the end of the one straight-line journey. The arrival information setting method of any one of claims 2 to 4, characterized in that the interruption position setting process, in the case where the travel path is composed of a plurality of straight-line journeys, the start end of one straight-line journey is set at one end of the unmowed area of the field and the end end of the one straight-line journey is set at the other end of the unmowed area, and the arrival position is located midway through the one straight-line journey, sets the interruption position at the end of the straight-line journey immediately preceding the one straight-line journey. The method further includes a discharge position setting step of setting a discharge position at which the grains are discharged to the collection section,
The arrival information setting method according to any one of claims 2 to 4, characterized in that, when the arrival position is in the middle of a straight-line path on the travel path, the interruption position setting process sets the interruption position to either the end of the straight-line path or the end of the straight-line path immediately preceding the straight-line path, whichever is closer to the discharge position. The method further includes a discharge position setting step of setting a discharge position at which the grains are discharged to the collection section,
The arrival information setting method according to any one of claims 2 to 4, characterized in that, when the arrival position is located in the middle of a straight-line stroke on the travel path, the interruption position setting process sets the interruption position at the end of a straight-line stroke prior to the straight-line stroke, which is a straight-line stroke that is closest to the arrival position, such that when the body of the combine is positioned at the end of the straight-line stroke, a virtual line extending in the direction of travel of the body of the combine and a virtual line in the extension direction of the pillow area where the discharge position is located intersect. A method for setting arrival information when the amount of grain stored in a combine reaches a grain recoverable amount in a recovery section disposed at a position different from the combine, comprising:
a recoverable amount acquisition step of acquiring the recoverable amount of the recovery unit;
A reach information setting process for calculating a reach position where the stored amount reaches the recoverable amount during the harvesting travel of the combine based on the stored amount and the recoverable amount, and setting the reach information as the reach information;
an automatic driving control step of controlling automatic reaping travel based on a travel route set in advance for the farm field;
A discharge position setting step of setting a discharge position for discharging the grains to the collection section;
A method for setting arrival information, comprising: a discharge route creation process for creating a discharge route for automatically driving the combine to the discharge position based on the arrival position. A combine harvester comprising the arrival information setting method according to any one of claims 1 to 9.

Images