JP2024015257A5 - - Google Patents

Description

The present invention relates to a work management system and work management method that manages and controls the work of combine harvesters that harvest crops in a farm field.

A combine harvester, for example, as described in Patent Document 1, is already known. This combine harvester is capable of harvesting travel, harvesting crops in a field using a harvesting device (referred to as a "reaping device" in Patent Document 1) while traveling using a traveling device. This combine harvester also has a grain tank (referred to as a "grain tank" in Patent Document 1) that stores the crops harvested by the harvesting device.

This combine harvester is configured to run automatically based on signals received from GPS satellites, and is equipped with a yield sensor (referred to as a "grain amount detection means" in Patent Document 1) that detects the amount of grain in the grain tank. When the value detected by the yield sensor reaches or exceeds a set value, the combine harvester stops harvesting and automatically moves to the vicinity of the transport vehicle (discharge point) to discharge the grain from the grain tank.

JP 2001-69836 A

However, in conventional automatic driving of combine harvesters, automatic driving, including movement to discharge grains, was sometimes inefficient depending on the position at which the amount of grains that needed to be discharged was reached. For example, if the amount of grains that needed to be discharged was reached at a position away from the edge of the field, the combine harvester had to retreat to the turning area (unworked area) of the field where harvesting had already been completed, and then move to the discharge point, necessitating inefficient automatic driving.

The purpose of the present invention is to achieve efficient automated driving.

The work management system according to one embodiment of the present invention is a work management system for a combine harvester that has a grain tank for storing grains obtained by harvesting and threshing crops and a yield sensor for measuring the yield of the grains stored in the grain tank, harvests crops in an outer peripheral area of a field by a harvesting run, and harvests crops while automatically running through unworked land inside the already-worked land where the harvesting run was performed. The work management system includes a satellite antenna provided on the combine harvester that receives satellite signals from a satellite, a satellite positioning module provided on the combine harvester that outputs positioning data corresponding to the vehicle's position based on the satellite signal, and a sensor for detecting the position of the combine harvester. and comprises a yield output unit that outputs the yield measured by the yield sensor, a data acquisition unit that acquires the positioning data and the yield, an area calculation unit that calculates the area of the worked area of the worked area from the positioning data acquired while traveling on the worked area, a yield rate calculation unit that calculates the yield rate, which is the yield per unit area in the worked area, from the yield acquired while traveling on the worked area and the area of the worked area, and a control unit that estimates the discharge timing when it will be necessary to discharge grains based on the calculated yield rate and notifies the user of the estimated discharge timing.
It is also preferred that the control unit notifies the end of the harvesting run at the estimated discharge timing.
It is also preferable that the control unit notifies a terminal of an operator of the estimated discharge timing.
The work management system according to one embodiment of the present invention is a work management system for a combine harvester that has a grain tank for storing grains obtained by harvesting and threshing crops and a yield sensor for measuring the yield of the grains stored in the grain tank, harvests crops in the outer periphery of a field by a harvesting run, and harvests the crops while automatically running through unworked land inside the already-worked land where the harvesting run was performed, the work management system comprising a satellite antenna provided on the combine harvester that receives satellite signals from a satellite, a satellite positioning module provided on the combine harvester that outputs positioning data corresponding to the vehicle's position based on the satellite signals, and a yield sensor provided on the combine harvester that measures the yield of the grains stored in the grain tank. the yield output unit outputs a yield, a data acquisition unit acquires the positioning data and the yield, an area calculation unit calculates the area of the worked area from the positioning data acquired while traveling on the worked area, a yield rate calculation unit calculates the yield rate, which is the yield per unit area in the worked area, from the yield and the area of the worked area acquired while traveling on the worked area, and a control unit that estimates the discharge timing when it will be necessary to discharge grains based on the calculated yield rate, and causes the combine to automatically travel to a discharge point to discharge the grains stored in the grain tank at the estimated discharge timing.
It is also preferable that the control unit generates an automatic driving route for harvesting driving and a discharge driving route for automatic driving to the discharge point based on the estimated discharge timing.
It is also preferable that the control unit generates the automatic driving route so that the estimated discharge timing coincides with the timing at which the unworked land is mowed.
It is also preferable that the control unit generates the automatic driving route taking into account the discharge driving route.
A work management method according to one embodiment of the present invention is a work management method performed on a combine harvester which has a grain tank for storing grains obtained by harvesting and threshing crops and a yield sensor for measuring the yield of the grains stored in the grain tank, and which harvests crops in the outer peripheral area of a field by a harvesting run and harvests the crops while automatically running through unworked land inside the work area where the harvesting run was performed.The method includes the steps of receiving a satellite signal from a satellite and calculating positioning data corresponding to the vehicle position of the combine harvester based on the satellite signal, acquiring the positioning data and the yield, calculating the area of the work area of the work area of the work area from the positioning data acquired while running through the work area of the work area, calculating a yield rate, which is the yield per unit area of the work area of the work area, estimating the discharge timing at which it will be necessary to discharge grains based on the calculated yield rate, and notifying the estimated discharge timing.
It is also preferable that the method further comprises the step of notifying the end of the harvesting run at the estimated discharge timing.
It is also preferable that the timing of discharge is notified to a terminal of an operator.
A work management method according to one embodiment of the present invention is a work management method for a combine harvester that has a grain tank for storing grains obtained by harvesting and threshing crops and a yield sensor for measuring the yield of the grains stored in the grain tank, harvests crops in an outer peripheral area of a farm field by a harvesting run, and harvests the crops while automatically running through an unworked area inside an already-worked area where the harvesting run was performed. The work management method includes a step of receiving a satellite signal from a satellite and calculating positioning data corresponding to the vehicle position of the combine harvester based on the satellite signal, and a step of acquiring the positioning data and the yield. the step of calculating the area of the worked area from the positioning data acquired while traveling on the worked area; the step of calculating a yield rate, which is the yield per unit area on the worked area, from the yield and the area of the worked area acquired while traveling on the worked area; the step of estimating a discharge timing at which it will become necessary to discharge grains based on the calculated yield rate; and the step of causing the combine to automatically travel to a discharge point at which the grains stored in the grain tank are discharged at the estimated discharge timing.
It is also preferable to further include a step of generating an automatic driving route for harvesting driving and a discharge driving route for automatic driving to the discharge point based on the estimated discharge timing.
In addition, in the step of generating the automatic driving route and the discharge driving route, it is preferable that the automatic driving route is generated so that the estimated discharge timing coincides with the timing of mowing through the unworked land.
In addition, in the step of generating the automatic travel route and the discharge travel route, it is preferable that the automatic travel route is generated taking into consideration the discharge travel route.

By estimating the total yield of unworked land in this way, it is possible to easily manage harvesting work, including this field and other fields, once surrounding mowing is completed. In addition, when generating a driving route for automatic driving in unworked land, the total yield harvested in the unworked land can be taken into consideration. Therefore, the total yield serves as a guideline, making it possible to efficiently generate a driving route for automatic driving.

It is also preferable to have a discharge count calculation unit that calculates the minimum number of discharges required during automatic travel in the unworked area by dividing the total yield by the discharge yield of the grain tank and rounding up to the nearest whole number.

This configuration makes it easy to optimize the timing of grain discharge and enables efficient generation of automatic travel routes.

In addition, when grains are discharged during the manual driving, it is preferable that the discharge count calculation unit calculates the discharge count using the yield amount stored at the time of discharge during the manual driving as the discharge yield amount.

By using the actual yield when emissions are used as the emission yield, it becomes possible to calculate a more realistic number of emissions.

It is also preferable to include an emission standard yield calculation unit that calculates an emission standard yield, which is a yield equal to or less than the emission yield, from the total yield and the number of emissions, and a driving route generation unit that generates an automatic driving route based on the emission standard yield.

In order to generate an efficient driving route in automatic driving, it is preferable to generate a route that moves efficiently to the discharge point. In order to move efficiently to the discharge point, it is important to cut through the unworked land and move directly to the discharge point. Therefore, when the end of the unworked land is reached, the yield of the stored grains must be suitable for discharge. The discharge standard yield calculated as above is a yield that serves as a standard when discharging from the minimum required number of discharges, and even if it is discharged at the discharge standard yield, the final number of discharges does not change. Therefore, when generating a driving route, a range can be given to the yield at the time of discharge so that it is discharged between the discharge standard yield and the discharge yield. As a result, the degree of freedom when generating a driving route is improved, and it becomes easier to make the yield of the stored grains suitable for discharge when the end of the unworked land is reached. As a result, it becomes easier to generate an efficient driving route.

It is also preferable that the system includes a discharge point setting unit that sets a discharge point for discharging grains stored in the grain tank, and the travel path generating unit generates the automatic travel path taking into account the discharge point.

By taking the discharge point into consideration, a driving route can be generated so that harvesting ends at the end of the unworked land closest to the discharge point, making it easier to generate an efficient driving route.

Furthermore, the work management method according to one embodiment of the present invention is a work management method performed on a combine harvester that has a grain tank for storing grains harvested and threshed from crops and a yield sensor for measuring the yield of the grains stored in the grain tank, harvests crops in the outer periphery of a field by manual driving, and harvests crops while automatically driving through unworked land inside the previously worked land where the manual driving was performed, and includes the steps of receiving a satellite signal from a satellite and calculating positioning data corresponding to the vehicle position of the combine harvester based on the satellite signal, acquiring the positioning data and the yield, calculating the worked land area of the previously worked land and the unworked land area of the unworked land from the positioning data acquired during the manual driving, calculating the yield rate, which is the yield per unit area in the previously worked land, from the yield acquired during the manual driving and the previously worked land area, and calculating the total yield of grains expected to be harvested in the unworked land from the unworked land area and the yield rate.

By estimating the total yield of unworked land in this way, it is possible to easily manage harvesting work, including this field and other fields, once surrounding mowing is completed. In addition, when generating a driving route for automatic driving in unworked land, the total yield harvested in the unworked land can be taken into consideration. Therefore, the total yield serves as a guideline, making it possible to efficiently generate a driving route for automatic driving.

It is also preferable to include a step of dividing the total yield by the yield discharged from the grain tank and rounding up to the nearest whole number to calculate the minimum number of discharges required during automatic travel through the unworked area.

This configuration makes it easy to optimize the timing of grain discharge and enables efficient generation of automatic travel routes.

In addition, when grains are discharged during the manual driving, it is preferable to calculate the number of discharges as the discharge yield based on the yield amount stored at the time of discharge during the manual driving.

By using the actual yield when emissions are used as the emission yield, it becomes possible to calculate a more realistic number of emissions.

It is also preferable to include a step of calculating an emission standard yield, which is a yield equal to or less than the emission yield, from the total yield and the number of emissions, and a step of generating an automated driving route based on the emission standard yield.

With this configuration, when generating a travel path, a range can be provided for the yield at the time of discharge so that the yield is discharged between the discharge standard yield and the discharge yield. This improves the degree of freedom when generating a travel path, and makes it easier to ensure that the yield of stored grain is suitable for discharge when the end of the unworked area is reached. As a result, it becomes easier to generate an efficient travel path.

It is also preferable that the method further includes a step of setting a discharge point for discharging grains stored in the grain tank, and the automatic travel route is generated taking into account the discharge point.

By taking the discharge point into consideration, a driving route can be generated so that harvesting ends at the end of the unworked land closest to the discharge point, making it easier to generate an efficient driving route.

FIG. FIG. 1 is a diagram showing an outline of automatic driving of a combine harvester. FIG. 2 is a diagram showing a driving route in automatic driving. FIG. 2 is a functional block diagram showing the configuration of a management and control system of the combine harvester. FIG. 13 is a diagram illustrating the discharge of grains during harvesting travel. FIG. 4 is a diagram illustrating a preliminary adjustment path. FIG. 1 is a diagram showing a flow of a method for managing and controlling a combine harvester.

The embodiment of the present invention will be described with reference to the drawings. In the following description, the direction of arrow F in FIG. 1 is referred to as "front", the direction of arrow B as "rear", the direction toward the front of the paper in FIG. 1 as "left", and the direction toward the back as "right". The direction of arrow U in FIG. 1 is referred to as "up", and the direction of arrow D as "down".

[Overall configuration of the combine]
As shown in Figures 1 and 2, the combine harvester is equipped with a crawler-type running device 11, a driving unit 12, a threshing device 13, a grain tank 14, a harvesting device H, a conveying device 16, a grain discharge device 18, and a satellite positioning module 80.

As shown in FIG. 1, the traveling device 11 is provided on the lower part of the traveling vehicle body 10 (hereinafter simply referred to as the vehicle body 10). The combine is configured to be self-propelled by the traveling device 11.

The driving section 12, threshing device 13, and grain tank 14 are provided above the traveling device 11. An observer who monitors the operation of the combine can ride in the driving section 12. The observer may also monitor the operation of the combine from outside the machine.

The grain discharge device 18 is provided on the upper side of the grain tank 14. The satellite positioning module 80 is attached to the upper surface of the driving unit 12.

The harvesting device H is provided at the front of the combine. The transport device 16 is provided at the rear of the harvesting device H. The harvesting device H also has a cutting mechanism 15 and a reel 17.

The cutting mechanism 15 cuts the planted culms in the field. The reel 17 rotates and rakes in the planted culms to be harvested. With this configuration, the harvesting device H harvests the grain (hereinafter also referred to as the "crop") in the field. The combine is capable of traveling on the traveling device 11 while harvesting the grain in the field with the harvesting device H.

Thus, the combine is equipped with a harvesting device H that harvests grains from the field and a traveling device 11.

The harvested stalks cut by the cutting mechanism 15 are transported by the transport device 16 to the threshing device 13. In the threshing device 13, the harvested stalks are threshed. The grains obtained by the threshing process are stored in the grain tank 14. The grain tank 14 is provided with a yield sensor 19 that measures the yield of the grains stored in the grain tank 14. The grains stored in the grain tank 14 are discharged outside the machine by the grain discharge device 18 as necessary.

Thus, the combine is equipped with a grain tank 14 that stores the grain harvested by the harvesting device H.

The communication terminal 2 is disposed in the driving unit 12. In FIG. 1, the communication terminal 2 is fixed to the driving unit 12. However, the present invention is not limited to this, and the communication terminal 2 may be configured to be detachable from the driving unit 12. It may also be taken outside the combine harvester.

[Configuration related to autonomous driving]
As shown in FIG. 2, the combine automatically travels along a travel route generated in a field. Therefore, the combine needs to recognize its own vehicle position. The satellite positioning module 80 equipped with a satellite antenna includes a satellite navigation module 81 and an inertial navigation module 82. The satellite navigation module 81 receives GNSS (global navigation satellite system) signals (including GPS signals) from an artificial satellite GS via a satellite antenna and outputs positioning data for calculating the vehicle position. The inertial navigation module 82 incorporates a gyro acceleration sensor and a magnetic direction sensor, and outputs a position vector indicating the instantaneous traveling direction. The inertial navigation module 82 is used to complement the vehicle position calculation by the satellite navigation module 81. The inertial navigation module 82 may be disposed at a location separate from the satellite navigation module 81.

The procedure for harvesting in a field using a combine is as follows:

First, the driver/supervisor manually operates the combine harvester and drives it around the outer periphery of the field, as shown in FIG. 2, to harvest along the boundary line of the field (hereinafter also referred to as periphery mowing). The area that has been mowed (worked) is set as the outer periphery area SA. The area inside the outer periphery area SA that remains unmowed (unworked) is set as the work target area CA. FIG. 2 shows an example of the outer periphery area SA and the work target area CA. Note that periphery mowing is performed by manual driving, and in this case, the driver may ride on the combine harvester and operate it, or the combine harvester may be driven by a supervisor or the like by remote control.

At this time, in order to ensure that the width of the outer circumferential area SA is relatively wide, the operator runs the combine harvester two or three times around the field. During this run, the width of the outer circumferential area SA increases by the working width of the combine harvester each time the combine harvester makes one revolution. After the first two or three revolutions, the width of the outer circumferential area SA will be about two to three times the working width of the combine harvester.

The outer periphery area SA is used as a space for the combine to change direction when it is automatically traveling to harvest in the work area CA. The outer periphery area SA is also used as a space for moving when it finishes harvesting and moves to a grain discharge location or a fuel supply location.

The transport vehicle CV shown in FIG. 2 can collect and transport grains discharged from the combine harvester. When discharging grains, the combine harvester moves close to the transport vehicle CV, and then the grain discharge device 18 discharges the grains into the transport vehicle CV.

When the outer periphery area SA and the work target area CA are set, a travel route in the work target area CA is calculated as shown in Fig. 3. The calculated travel route is generated sequentially based on the work travel pattern, and the combine harvester automatically travels along the generated travel route.
In addition to the U-turn pattern shown in Fig. 3, which changes direction along a U-shaped turning path, the combine also has an α-turn pattern, which changes direction while repeatedly moving forward and backward, and a switchback pattern, which changes direction in a similar manner to the U-turn pattern but in a narrower area than the U-turn pattern, with reverse travel. Such turning including reverse travel is also performed when the grain tank 14 becomes full and the combine leaves the travel path of the work area CA to align itself with the transport vehicle CV.

[Management and control of automated driving]
The configuration for managing and controlling the automatic driving will be described below with reference to Figs.

The combine harvester's management and control system is made up of a control unit 5, which is made up of numerous electronic control units called ECUs, and various input/output devices that communicate signals (data) with this control unit 5 via a wiring network such as an on-board LAN.

The communication unit 66 is used by the combine's management and control system to exchange data with the communication terminal 2 or with a management computer installed in a remote location. The communication terminal 2 may be a tablet computer operated by a supervisor standing in the field or a driver/supervisor in the combine, or a computer installed at home or in a management office. The control unit 5 is the core element of the control system, and is shown as a collection of multiple ECUs. Signals from the satellite positioning module 80 are input to the control unit 5 via the vehicle-mounted LAN. Some of the components of the control unit 5 may be located in the communication terminal 2.

The control unit 5 includes an input processing unit 90, a vehicle position calculation unit 55, a vehicle orientation calculation unit 56, a field management unit 83, a yield management unit 70, and a driving path generation unit 54. Although not shown, the control unit 5 can further include an output processing unit, a driving control unit that controls the group of driving equipment, a work control unit that controls the harvesting work equipment, etc. The output processing unit is connected to the steering equipment, the engine equipment, the transmission equipment, the braking equipment, the harvesting equipment H (see FIG. 1), the threshing equipment 13 (see FIG. 1), the conveying equipment 16 (see FIG. 1), the grain discharge equipment 18 (see FIG. 1), etc.

The input processing unit 90 is connected to the satellite positioning module 80, the yield output unit 20, the driving condition sensor group 63, the work condition sensor group 64, the driving operation unit (not shown), etc. The input processing unit 90 receives information from these and provides the information to various functional units in the control unit 5. The driving condition sensor group 63 includes an engine speed sensor, an overheat detection sensor, a brake pedal position detection sensor, a gear shift position detection sensor, a steering position detection sensor, etc. The work condition sensor group 64 includes sensors that detect the driving status of the harvesting work device (harvesting device H (see Figure 1)), the threshing device 13 (see Figure 1), the conveying device 16 (see Figure 1), and the grain discharge device 18 (see Figure 1), and sensors that detect the status of the stalks and grains, etc.

The vehicle position calculation unit 55 calculates the vehicle position and the positions of both ends of the harvest width as map coordinates (or field coordinates) of a specific location of the vehicle body 10 (see FIG. 1) that has been set in advance, based on the positioning data successively sent from the satellite positioning module 80. The vehicle orientation calculation unit 56 determines the vehicle orientation, which indicates the direction of travel of the vehicle body 10 (see FIG. 1) in the travel direction, by determining the travel trajectory over a short period of time from the vehicle position successively calculated by the vehicle position calculation unit 55. The vehicle orientation calculation unit 56 can also determine the vehicle orientation based on the orientation data included in the output data from the inertial navigation module 82.

Based on the vehicle position calculated by the vehicle position calculation unit 55, the field management unit 83 calculates the outer shape of the field, the outer shape of the work area CA, the area of the field, the area of the work area CA, etc.
For example, the field management unit 83 includes an area calculation unit 84, a shape calculation unit 85, etc. The shape calculation unit 85 calculates the outer shape of the field and the outer shape of the work area CA. The area calculation unit 84 calculates the area of the field and the area of the work area CA. The field management unit 83 may also include a discharge point setting unit 86 that sets a discharge point for discharging grains onto the transport vehicle CV.

The yield management unit 70 manages the yield used for determining the driving route for automatic driving, etc.
Therefore, the yield management unit 70 estimates the yield rate, which is the yield of crops harvested per unit area of the field, the total yield that can be harvested in the work area CA, etc. The yield management unit 70 also calculates the minimum number of times stored grains are discharged when harvesting crops in the work area CA, and the yield of grains when they should be discharged. Specifically, the yield management unit 70 can include a yield rate calculation unit 71, a total yield calculation unit 72 (corresponding to a total yield estimation unit), a discharge count calculation unit 73, a discharge standard yield calculation unit 74, etc. The yield management unit 70 can include all of these, or a combination of some of these.

The yield rate calculation unit 71 calculates the yield rate, which is the yield per unit area, from the yield of grains harvested in the outer peripheral area SA during peripheral mowing and the area of the outer peripheral area SA. Specifically, the yield rate is calculated by dividing the yield of grains harvested in the outer peripheral area SA by the area of the outer peripheral area SA. The yield of grains harvested in the outer peripheral area SA is calculated from the increase in the amount of grains stored in the grain tank 14 from the start to the end of peripheral mowing by manual driving. If grains are discharged during peripheral mowing, the increase in the amount of grains before and after that is accumulated. The yield of grains harvested in the outer peripheral area SA may be calculated by the yield rate calculation unit 71, or may be calculated by another functional unit, such as another functional unit in the yield management unit 70. The area of the outer peripheral area SA is calculated by the area calculation unit 84 subtracting the area of the work target area CA from the area of the field.

The total yield calculation unit 72 estimates the total yield of grains expected to be harvested in the entire work area CA from the area of the work area CA and the yield rate. Specifically, the total yield is calculated by multiplying the area of the work area CA by the yield rate. This makes it possible to efficiently generate a driving route for automatic driving in the work area CA while taking into account the discharge of grains and referring to the total yield.

The discharge count calculation unit 73 calculates the minimum number of discharges required during automatic travel in the work area CA from the discharge yield, which is the yield stored in the grain tank 14 when discharging grains, and the total yield in the work area CA. Specifically, the discharge count is calculated by dividing the total yield by the discharge yield and rounding up to an integer value. The discharge yield can be the full yield of the grain tank 14, a yield that is a predetermined percentage or a predetermined amount less than the full yield, a discharge yield required from the outside, a yield corresponding to the loading capacity of the transport vehicle, or a yield that is specified in advance as the yield at the time of discharge. In addition, when grains are discharged during peripheral mowing, the yield at the time of discharge may be the discharge yield. By calculating the discharge count in this way, it is possible to generate an efficient travel route during automatic travel in the work area CA while setting an efficient discharge timing taking into account the discharge count, as exemplified later.

The standard discharge yield calculation unit 74 calculates the standard discharge yield from the total yield in the work area CA and the discharge count calculated by the discharge count calculation unit 73. The standard discharge yield is the yield of grains stored in the grain tank 14, which is used as a guide for discharging grains during automatic driving. Specifically, the standard discharge yield is calculated by dividing the total yield by the discharge count. By calculating the standard discharge yield in this manner, it becomes possible to efficiently generate a driving route for automatic driving in the work area CA while setting an efficient discharge timing using the standard discharge yield as a guide, as exemplified later.

The travel path generating unit 54 generates a travel path for automatic travel in the work area CA based on the external shape of the field and the external shape of the work area CA. The travel path used for automatic travel can be generated by the travel path generating unit 54 itself using a route calculation algorithm, but it is also possible to use a route generated by the communication terminal 2 or a remote management computer, etc. and downloaded. Note that the travel path calculated by the travel path generating unit 54 can be used for guidance purposes for the combine to travel along the travel path even in manual operation.

This combine harvester can be operated in both automatic operation, where harvesting work is performed by automatic driving, and manual operation, where harvesting work is performed by manual driving. When operating automatically, the automatic driving mode is set, and when operating manually, the manual driving mode is set. The switching of driving modes is managed by a driving mode management unit (not shown) or the like.

When generating a driving route for automatic driving, the driving route generating unit 54 can take into consideration any one of the total yield of the work area CA, the number of discharges calculated by the discharge number calculating unit 73, and the standard discharge yield, or an appropriate combination of these. The driving route generating unit 54 can also generate a driving route taking into consideration the discharge points set by the discharge point setting unit 86.

By generating a driving route for automatic travel in the work area CA taking into account the total yield of the work area CA, it is possible to efficiently generate a driving route including discharge travel to the discharge point while referring to the discharge yield. In addition, it is also possible to calculate the remaining yield from the yield of grains harvested during automatic travel, and as automatic travel progresses, change to an efficient driving route at any time based on the remaining yield in the work area CA.

In addition, by generating a driving route for automatic travel in the work area CA taking into account the number of times of discharge, it is possible to easily and efficiently generate an optimal driving route by, for example, equalizing the distance of automatic harvesting travel performed between the time grains are discharged and the time the next grains are discharged, depending on the number of times of discharge.

It is also desirable to generate the travel route by estimating the timing when the grains will need to be discharged, such as when the discharge yield is reached, and taking into account the route to the discharge point, so that the timing at which the discharge yield is reached coincides with the timing at which the work area CA is mowed.

For example, as shown in FIG. 5, a combine harvester traveling automatically travels across the work area CA at one position, then turns and travels across the work area CA at another position, repeating this round trip travel. When the yield of grain stored in the grain tank 14 reaches the discharge yield, the combine harvester (illustrated as a traveling vehicle body 10 in the figure) moves to a discharge point PO set near the transport vehicle CV to discharge the stored grain. If the combine harvester is traveling at a position inside the work area CA (e.g., position PF1) when the discharge yield is reached, the combine harvester will reverse the travel path that has already been used for harvesting, turn in the outer peripheral area SA, and travel along the discharge travel path LO1 toward the discharge point PO. However, if the combine harvester reverses the travel path in this way and heads toward the discharge point PO, the discharge travel path LO1 associated with discharge will become longer, and the efficiency of automatic traveling will decrease.

In response to this, by generating a travel path that automatically travels through the work area CA while taking into account the discharge standard yield, it is possible to consider a yield with a margin between the discharge standard yield and the full yield when discharging grains. Therefore, a travel path can be easily generated so that the timing of moving to the discharge point coincides with the timing of harvesting through the work area CA. For example, as shown in FIG. 5, if a yield with a margin between the discharge standard yield and the full yield is reached at position PF2 at the end of the work area CA, as shown in FIG. 5, the tractor can continue forward along the discharge travel path LO2 toward the discharge point PO. As a result, an efficient travel path can be easily generated.

Furthermore, as shown in FIG. 6, in order to easily generate an efficient travel path, the travel path generating unit 54 may generate a preliminary adjustment path LR that performs a preliminary adjustment run to adjust the length of the work target area CA in the direction along the travel path in automatic travel. By performing the preliminary adjustment run in this way, in automatic travel, it becomes easy to generate a travel path so that the discharge yield is reached at the timing of mowing through the work target area CA so that the discharge yield does not become the discharge yield inside the work target area CA. For example, a travel path can be generated so that the discharge yield is reached at the end of the work target area CA during round trip travel. This allows the grain to always travel toward the discharge point PO via the discharge travel path LO2 without retreating, and an appropriate amount of grain can be discharged. As a result, it becomes possible to easily generate an efficient travel path that can efficiently discharge grains and perform efficient discharge travel. The discharge yield in this case can be the discharge standard yield or a yield that is equal to or greater than the discharge standard yield and is a predetermined ratio or a predetermined yield less than the full yield. Also, while the figure shows an example in which a preliminary adjustment path LR is generated at the end of one side of the work target area CA, the preliminary adjustment path LR may be generated at the ends of two opposing sides.

The area of the work area CA, the yield rate, the total yield of the work area CA, the number of discharges calculated by the discharge count calculation unit 73, and at least some of the discharge standard yield may be stored and used in advance, or may be acquired from outside via the input processing unit 90. When acquired from outside, the input processing unit 90 or the travel path generation unit 54 and other functional units function as data acquisition units such as an area acquisition unit that acquires the area of the work area CA, a yield rate acquisition unit that acquires the yield rate, a total yield acquisition unit that acquires the total yield, a discharge count acquisition unit that acquires the number of discharges, and an emission standard yield acquisition unit that acquires the emission standard yield.

In addition, it is preferable that the travel path generation unit 54 generates a preliminary adjustment path so that the harvesting work in the work area CA is completed on one side facing the entrance from the ridge in the field.

Below, a method for managing and controlling autonomous driving will be described with reference to Figures 4 to 7. The method described below may be realized by the device configuration shown in Figure 4 above, but may also be realized by any other configuration. The method described below can also be realized by using a program. For example, the program is stored in the storage device 92 and executed by the control unit 91, which is composed of a CPU, ECU, etc. The storage device 92 and the control unit 91 may be provided in the control unit 5, but may also be provided in a different location.

Satellite signals are continuously received from the satellites, and positioning data corresponding to the vehicle's position is calculated (step #1 in Figure 7).

The yield of grain stored in the grain tank 14 is also continuously measured (step #2 in Figure 7).

While continuously calculating positioning data and measuring yields in this manner, the combine harvester mows the outer perimeter area SA of the field (step #3 in Figure 7).

After the perimeter mowing is performed, the outer shape of the work target area CA (unworked land), which is the untouched land (untouched land) inside the outer perimeter area SA (already worked land), and the outer shape of the outer perimeter area SA (outer shape of the field) are calculated from the continuously calculated positioning data. In addition, the area of the work target area CA and the area of the outer perimeter area SA are calculated (step #4 in Figure 7).

The yield rate, which is the yield per unit area when the outer peripheral area SA is mowed, is calculated from the yield of grains harvested during the perimeter mowing and the area of the outer peripheral area SA. Specifically, the yield rate is calculated by dividing the yield of grains harvested during the perimeter mowing by the area of the outer peripheral area SA. The calculated yield rate can be estimated as being applicable to harvesting in the entire field and can be used to generate a travel path for the work area CA by automatic driving (step #5 in Figure 7).

Then, the total yield of grains expected to be harvested in the work area CA is calculated from the area of the work area CA and the yield rate. Specifically, the total yield is calculated by multiplying the area of the work area CA by the yield rate. By referring to the total yield, it becomes possible to efficiently generate a driving path for automatic driving in the work area CA while taking into account the discharge of grains (step #6 in Figure 7).

Next, the minimum number of times grains are discharged that is required when automatically traveling through the work area CA is calculated from the discharge yield and the total yield of the work area CA. Specifically, the minimum number of times grains are discharged that is required is calculated by dividing the total yield by the discharge yield and rounding up to the nearest whole number. The discharge yield here can be the full yield of the grain tank 14, a yield that is a predetermined percentage or a predetermined amount less than the full yield, a discharge yield required from the outside, a capacity corresponding to the loading capacity of the transport vehicle, or a yield that has been specified in advance as the yield at the time of discharge. In addition, if grains are discharged during perimeter mowing, the yield at the time of discharge can also be the discharge yield (step #7 in FIG. 7).

As described above, if automatic driving is performed until the discharge yield is reached, when the discharge yield is reached inside the work target area CA, efficient automatic driving may not be possible, such as having to move backward to move to the discharge point PO. In contrast, by determining the minimum number of times grains are discharged, it may be possible to generate a driving route for automatic driving that takes the number of discharges into consideration and starts moving to the discharge point PO at a convenient position for moving to the discharge point PO, even if the discharge yield has not yet been reached. As a result, it is possible to generate an efficient driving route for automatic driving in the work target area CA.

Next, the standard discharge yield is calculated from the total yield of the work area CA and the minimum required number of grain discharges. Specifically, the standard discharge yield is calculated by dividing the total yield of the work area CA by the minimum required number of grain discharges. The standard discharge yield calculated in this way corresponds to the yield when the yield discharged in each automatic run is evenly allocated when grains are discharged at the minimum required number of grain discharges. The standard discharge yield is a yield less than the discharge yield. Therefore, a yield greater than the standard discharge yield and less than the discharge yield can be used as the yield at the time of discharge considered when generating the driving route for automatic driving. In this way, a range can be given to the yield at the time of discharge considered when generating the driving route, making it easier to generate a driving route that starts moving to the discharge point PO at a position convenient for moving to the discharge point PO (step #8 in FIG. 7).

Next, when generating a travel path in the work target area CA by automatic driving, a preliminary adjustment path is generated first. The preliminary adjustment path is a path on which harvesting is performed to shorten the length of the external shape of the work target area CA so that the length of the round trip travel in the work target area CA by automatic driving is shortened. Therefore, the preliminary adjustment path is a path that travels in a direction intersecting the direction of round trip travel. By harvesting the preliminary adjustment path, the work target area CA becomes an optimal shape for subsequent round trip travel by automatic driving. The optimal shape is, for example, a shape that does not become a discharge yield in the middle of the travel path in the work target area CA (inside the work target area CA) in automatic driving. As described above, if the discharge yield becomes a discharge yield in the middle of the travel path, it becomes impossible to move efficiently to the discharge point PO. Therefore, it is preferable to generate a travel path so that the yield is such that movement to the discharge point PO can be started at the end of the work target area CA. The preliminary adjustment path is a path for making the shape of the work target area CA into a shape that makes it easy to generate such a travel path. Such a preliminary adjustment path is generated based on the total yield of the work area CA described above. In addition, it is preferable to take the discharge yield into consideration. As described above, the discharge yield can be the full yield of the grain tank 14, a yield that is a predetermined percentage or a predetermined amount less than the full yield, a discharge yield required from the outside, a capacity corresponding to the loading capacity of the transport vehicle, or a yield that is previously specified as the yield at the time of discharge (step #9 in FIG. 7).

The total yield may be the total yield calculated in step #6 of FIG. 7, or may be a total yield calculated in advance, or may be obtained from outside when generating the preliminary adjustment path.

Furthermore, when generating the preliminary adjustment path, a discharge point for discharging the grains stored in the grain tank 14 may be set in advance, and the preliminary adjustment path may be generated taking the discharge point into consideration.
In addition, a preliminary adjustment route may be generated so that harvesting work in the work target area CA is completed on one of the sides that make up the work target area CA that faces the entrance from the ridge in the field.

Next, a driving route for automatic driving in the work area CA where harvesting is not being performed is generated (step #10 in Figure 7).

Finally, harvesting is performed by automatic driving in the work area CA where no harvesting has been performed. The process ends when harvesting driving in all areas is completed (step #10 in Figure 7).

The generation of a driving route for automatic driving can also be performed taking into consideration at least one of the yield rate, total yield, number of discharges, and discharge standard yield. In addition, when generating a driving route, a discharge point for discharging grains stored in the grain tank 14 can be set in advance, and the driving route can be generated taking the discharge point into consideration.

The above embodiment can also be implemented in combination with the following other embodiments.

[Another embodiment 1]
The yield rate, total yield, number of discharges, and discharge standard yield are calculated based on information from the peripheral mowing of the field, and a map of the field is created during peripheral mowing. When creating a map of the field, an operation to start creating the map of the field is performed using a field map creation start switch or the like. In addition, the operation of the field map creation start switch may be restricted so that it is possible only when the assist switch is turned on (assist mode is ON) and the vehicle is in a work state related to automatic driving. Furthermore, peripheral mowing may be started only when the vehicle is in a harvesting state and the field map creation start switch is turned on. By providing such restrictions, it is possible to avoid creating a field map in an inappropriate position, and it is possible to create an appropriate field map during peripheral mowing of the field.

The harvesting state is when the harvesting device H (see FIG. 1) is at a predetermined height, and may also be when the threshing device 13 (see FIG. 1) is operating. In addition, if the field map creation start switch has not been pressed when it is determined that perimeter mowing is in progress, a warning may be issued. This can prevent forgetting to press the field map creation start switch. Whether perimeter mowing is in progress can be determined by, for example, whether the assist switch has been pressed in an area where a map has not been created, or whether the harvesting device H (see FIG. 1) is in a predetermined position.

In addition, if the positioning status of the satellite positioning module 80 (see FIG. 1) deteriorates during perimeter mowing (while creating a field map), a warning may be issued and the creation of the field map or harvesting work may be suspended. This can prevent an inaccurate field map from being created.

The above warning can be sent to a communication terminal 2 (see FIG. 1) such as a virtual terminal (VT) or the driving unit 12 (see FIG. 1), and can be, for example, an alarm sound or a warning lamp light.

[Another embodiment 2]
Information such as the calculated yield rate, total yield, number of discharges, and discharge standard yield, as well as the completion of each task, the predicted time when the grain tank 14 (see FIG. 1) will be full or reach a specified yield, the stop of travel, the abnormal stop, and the detection of a blockage in the harvesting device H (see FIG. 1) may be notified to a terminal such as a smartphone of an experienced worker or a manager. This makes it possible to receive necessary instructions or advice from others, and to encourage the carrying out of necessary tasks such as moving the transport vehicle.

[Alternative embodiment 3]
The creation of a field map, including calculation of the outer shape and area of the field and the work target area CA, and the automatic travel in the work target area CA can be performed by two or more different work machines, such as combine harvesters. This allows one work machine to perform automatic travel in the work target area CA while the other work machine performs perimeter mowing, thereby enabling efficient harvesting work in many fields. Furthermore, since perimeter mowing requires experience, more experienced workers can perform the perimeter mowing and less experienced workers can monitor the automatic travel, allowing more efficient harvesting work.

The work machine performing the perimeter mowing does not have to be a work machine capable of automatic driving, but rather can be a work machine equipped with a satellite positioning module 80 (see FIG. 1) capable of recording measurement data and a communication device. In this case, the positioning data can be sent to a management server, etc., and the management server can create information such as a field map and transfer it to the work machine performing the automatic driving. This allows the field to be harvested by automatic driving with a simpler configuration. The work machine performing the perimeter mowing can also be a work machine that cannot perform automatic driving and has a satellite positioning module 80 (see FIG. 1) and a communication device retrofitted.

The recording device that records the positioning data may be provided outside the satellite positioning module 80 (see FIG. 1). If the management server can record the positioning data, the satellite positioning module 80 (see FIG. 1) does not need to record the positioning data.

The present invention is suitable for a variety of harvesting vehicles, such as combine harvesters.

REFERENCE SIGNS LIST 14 Grain tank 15 Cutting mechanism 16 Conveyor device 17 Reel 18 Grain discharge device 19 Yield sensor 20 Yield output unit 54 Travel path generation unit 71 Yield rate calculation unit 72 Total yield calculation unit 73 Discharge count calculation unit 74 Discharge standard yield calculation unit 80 Satellite positioning module 84 Area calculation unit 86 Discharge point setting unit 90 Input processing unit

Claims (14)

A work management system for a combine harvester that has a grain tank for storing grains obtained by harvesting and threshing a crop and a yield sensor for measuring the yield of the grains stored in the grain tank, harvests crops in an outer peripheral area of a farm field by a harvesting run, and harvests the crops while automatically running through an unworked area inside an already-worked area where the harvesting run was performed,
a satellite antenna provided on the combine harvester for receiving a satellite signal from a satellite;
a satellite positioning module provided in the combine harvester and configured to output positioning data corresponding to the vehicle position based on the satellite signal;
A yield output unit provided in the combine harvester and outputting the yield measured by the yield sensor;
a data acquisition unit for acquiring the positioning data and the yield;
an area calculation unit that calculates an area of the completed work site from the positioning data acquired during travel of the completed work site;
a yield rate calculation unit that calculates a yield rate, which is a yield per unit area in the already worked area, from the yield obtained during travel in the already worked area and the area of the already worked area;
A work management system comprising: a control unit that estimates the discharge timing when it will become necessary to discharge the grains based on the calculated yield rate, and notifies the user of the estimated discharge timing . The work management system of claim 1 , wherein the control unit notifies the end of harvesting travel at the estimated discharge timing. The work management system according to claim 1 , wherein the control unit notifies a terminal of a worker of the estimated discharge timing. A work management system for a combine harvester that has a grain tank for storing grains obtained by harvesting and threshing a crop and a yield sensor for measuring the yield of the grains stored in the grain tank, harvests crops in an outer peripheral area of a farm field by a harvesting run, and harvests the crops while automatically running through an unworked area inside an already-worked area where the harvesting run was performed,
a satellite antenna provided on the combine harvester for receiving a satellite signal from a satellite;
a satellite positioning module provided in the combine harvester and configured to output positioning data corresponding to the vehicle position based on the satellite signal;
A yield output unit provided in the combine harvester and outputting the yield measured by the yield sensor;
a data acquisition unit for acquiring the positioning data and the yield;
an area calculation unit that calculates an area of the completed work site from the positioning data acquired during travel of the completed work site;
a yield rate calculation unit that calculates a yield rate, which is a yield per unit area in the already worked area, from the yield obtained during travel in the already worked area and the area of the already worked area;
A work management system comprising: a control unit that estimates the discharge timing when it will be necessary to discharge grains based on the calculated yield rate, and causes the combine to automatically travel to a discharge point where the grains stored in the grain tank will be discharged at the estimated discharge timing . The work management system according to claim 4 , wherein the control unit generates an automatic driving route for harvesting driving and a discharge driving route for automatic driving to the discharge point based on the estimated discharge timing. The work management system according to claim 5 , wherein the control unit generates the automatic driving route so that the estimated discharge timing coincides with the timing of mowing through the unworked land. The work management system according to claim 5 or 6, wherein the control unit generates the automatic travel route by taking into account the discharge travel route. A method of managing operations performed on a combine harvester that has a grain tank for storing grains obtained by harvesting and threshing a crop and a yield sensor for measuring the yield of the grains stored in the grain tank, harvests crops in an outer peripheral area of a farm field by a harvesting run, and harvests the crops while automatically running through an unworked area inside an already-worked area where the harvesting run was performed, comprising:
receiving a satellite signal from a satellite and calculating positioning data corresponding to a vehicle position of the combine harvester based on the satellite signal;
acquiring the positioning data and the yield;
A step of calculating an area of the completed work site from the positioning data acquired during travel of the completed work site;
A step of calculating a yield rate, which is a yield per unit area in the already worked area, from the yield obtained during travel in the already worked area and the area of the already worked area;
A step of estimating a discharge timing at which it becomes necessary to discharge grains based on the calculated yield rate;
and notifying the estimated discharge timing . The method of claim 8 , further comprising the step of notifying an end of harvesting travel at the estimated discharge timing. The work management method according to claim 8 , wherein the timing of discharge is notified to a terminal of an operator. A method of managing operations performed on a combine harvester that has a grain tank for storing grains obtained by harvesting and threshing a crop and a yield sensor for measuring the yield of the grains stored in the grain tank, harvests crops in an outer peripheral area of a farm field by a harvesting run, and harvests the crops while automatically running through an unworked area inside an already-worked area where the harvesting run was performed, comprising:
receiving a satellite signal from a satellite and calculating positioning data corresponding to a vehicle position of the combine harvester based on the satellite signal;
acquiring the positioning data and the yield;
A step of calculating an area of the completed work site from the positioning data acquired during travel of the completed work site;
A step of calculating a yield rate, which is a yield per unit area in the already worked area, from the yield obtained during travel in the already worked area and the area of the already worked area;
A step of estimating a discharge timing at which it becomes necessary to discharge grains based on the calculated yield rate;
and a step of causing the combine to automatically travel to a discharge point at the estimated discharge timing to discharge the grain stored in the grain tank . The work management method according to claim 11, further comprising a step of generating an automatic driving route for harvesting driving and a discharge driving route for automatic driving to the discharge point based on the estimated discharge timing. The work management method according to claim 12, wherein in the step of generating the automatic driving route and the discharge driving route, the automatic driving route is generated so that the estimated discharge timing is the timing for mowing the unworked land. The work management method according to claim 12 or 13, wherein in the step of generating the automatic travel route and the discharge travel route, the automatic travel route is generated taking into account the discharge travel route.