KR102788976B1 - Combine control system, combine control program, recording medium recording combine control program, combine control method, harvester control system, harvester control program, recording medium recording harvester control program, harvester control method - Google Patents

Abstract

The combine control system (A) comprises a harvesting drive path calculating unit (22a) that calculates a harvesting drive path, which is a driving path for harvesting in packaging, an automatic harvesting drive control unit (23) that controls the combine so that harvesting is performed by automatic driving along the harvesting drive path, a judgment unit (25) that determines whether the threshing efficiency of the threshing device (13) has decreased when the combine deviates from the harvesting drive path, and a threshing device stop unit (27) that stops the operation of the threshing device (13) when the judgment unit (25) determines that the threshing efficiency of the threshing device (13) has decreased.

Description

Combine control system, combine control program, recording medium recording combine control program, combine control method, harvester control system, harvester control program, recording medium recording harvester control program, harvester control method

The present invention relates to a combine control system that controls a combine having a harvesting device for harvesting grain for planting in a package, and a threshing device for threshing the harvested grain harvested by the harvesting device.

In addition, the present invention relates to a harvester control system that controls a harvester having a harvesting device for harvesting crops in a package, a harvest tank for storing the crops harvested by the harvesting device, and a discharge device for discharging the crops stored in the harvest tank.

[1] Patent document 1 describes the invention of an automatic driving combine. In harvesting work using this combine, the worker manually operates the combine at the beginning of the harvesting work and performs a preparatory drive so as to circle the outer perimeter of the field.

In driving in this outer section, the direction in which the harvester should drive is recorded. Then, based on the recorded direction, the harvesting drive in the unharvested area of the field is performed by automatic driving.

Here, in the invention described in patent document 1, a collection tank is arranged in the outer peripheral portion of the packaging. This collection tank is configured to receive and store grain discharged from a discharge tube of the combine.

And the combine described in patent document 1 is configured to perform harvesting in the non-harvesting area by repeating the circular driving passing near the collection tank. In this circular driving, when the combine approaches the collection tank and there is a need to discharge grain, the combine stops near the collection tank. And the grain is discharged from the discharge tube of the combine into the collection tank.

[2] Patent document 2 describes an invention of a harvester (referred to as a “combine” in patent document 2) having a harvesting device (referred to as a “harvesting unit” in patent document 2) for harvesting crops in a field, a harvest tank (referred to as a “grain tank” in patent document 2) for storing the crops harvested by the harvesting device, and a discharge device (referred to as a “grain discharge device” in patent document 2) for discharging the crops stored in the harvest tank.

Japanese Utility Model Publication No. 2-107911 Japanese Patent Publication No. 2017-35017

[1] The tasks corresponding to background technology [1] are as follows.

In the combine described in Patent Document 1, even when there is no need to discharge grain, the combine automatically drives so as to pass near the collection tank. At this time, the combine drives in the pre-harvesting area.

That is, in the automatic driving of the combine described in Patent Document 1, the proportion of driving in the pre-driving area becomes relatively large. As a result, there is a tendency for work efficiency to decrease.

Here, in order to improve work efficiency, a configuration can be considered in which the combine is driven along a set harvesting driving path in a non-harvesting area, and the combine is controlled to temporarily deviate from the harvesting driving path when the need arises for grain discharge, etc.

In this configuration, after the combine has deviated from the mowing path and before it returns to driving along the mowing path, the combine travels in the pre-mowing area. That is, during this time, the combine does not perform mowing of the planted grain rows. Therefore, after the combine has deviated from the mowing path, the amount of mowing grain supplied to the threshing device decreases.

In this case, in a configuration where the threshing device continues to operate until the combine returns to operation along the harvesting path after deviating from the harvesting path, the threshing device continues to operate even though the amount of harvested grain supplied to the threshing device decreases. This causes waste in the operation of the threshing device, and the threshing efficiency tends to decrease. This leads to a deterioration in fuel efficiency.

The purpose of the present invention is to provide a combine control system that improves the fuel efficiency of the combine.

[2] The tasks corresponding to background technology [2] are as follows.

Patent Document 2 does not describe in detail the discharge operation by the discharge device. Here, it is conceivable that after the transport vehicle is stopped outside the field, the harvester is stopped near the transport vehicle, and the harvest is discharged to the transport vehicle by the discharge device.

However, if this discharge operation is performed manually, the worker must move the harvester to the vicinity of the transport vehicle and stop it for each discharge operation. In addition, the burden on the operator increases as the number of discharge operations increases.

The purpose of the present invention is to provide a harvester control system capable of reducing the burden of operation by a worker.

[1] The solution corresponding to task [1] is as follows.

The present invention is characterized by a combine control system which controls a combine having a reaping device which reaps grain rows for planting in a field, and a threshing device which threshs the reaped grain rows reaped by the reaping device, and which comprises a reaping drive path calculating unit which calculates a reaping drive path which is a driving path for reaping driving in a field, an automatic reaping drive control unit which controls the combine so that reaping driving is performed by automatic driving along the reaping drive path, a judgment unit which determines whether the threshing efficiency of the threshing device has decreased when the combine deviates from the reaping drive path, and a threshing device stop unit which stops the driving of the threshing device when the judgment unit determines that the threshing efficiency of the threshing device has decreased.

In the present invention, when the threshing efficiency of the threshing device is reduced after the combine has deviated from the pre-harvesting driving path, the operation of the threshing device is stopped by the threshing device stop section. Therefore, it is difficult for waste to occur in the operation of the threshing device. As a result, the fuel efficiency of the combine is improved.

In addition, in the present invention, it is preferable that the threshing device has a shaking sorting section that selects and processes the processed material obtained by the threshing process, the combine has a sieve sensor that detects the amount of processed material to be selected and processed in the shaking sorting section, and the judgment section is configured to determine that the threshing efficiency of the threshing device has decreased when the amount of processed material to be selected and processed detected by the sieve sensor decreases.

When the amount of pre-sawn grain supplied to the threshing device decreases, the amount of material to be sorted in the vibration sorting section decreases. At this time, the threshing efficiency of the threshing device tends to decrease.

Here, according to the above configuration, if the amount of material to be sorted in the vibration sorting section decreases, it is determined that the threshing efficiency has decreased. Therefore, according to the above configuration, it is possible to determine with high precision that the threshing efficiency has decreased.

In addition, in the present invention,

It is preferable that the above judgment unit be configured to determine that the threshing efficiency of the threshing device has decreased when the period in which the pre-harvesting device is not driven continues.

If the period in which the reaper is not in operation continues, the amount of reaper grain supplied to the threshing device decreases. At this time, the threshing efficiency of the threshing device tends to decrease.

Here, according to the above configuration, if the period in which the harvesting device is not driven continues, it is determined that the threshing efficiency has decreased. Therefore, according to the above configuration, it is possible to determine with high precision that the threshing efficiency has decreased.

In addition, in the present invention, it is preferable to provide a threshing device start unit that restarts the operation of the threshing device when the combine turns to return to automatic driving along the pre-harvesting driving path after the operation of the threshing device has been stopped by the threshing device stop unit.

In the automatic driving along the harvesting route, the grain rows for planting in the field are harvested by the harvesting device. In addition, the harvested grain rows are sequentially supplied to the threshing device. Therefore, in the automatic driving along the harvesting route, the threshing device must be operated.

Here, according to the above-mentioned configuration, just before the combine returns to automatic driving along the pre-driving path, the drive of the threshing device is restarted by the threshing device start unit. As a result, a configuration can be realized in which the drive of the threshing device is restarted at an appropriate timing.

In addition, another feature of the present invention is a combine control program for controlling a combine having a reaping device for reaping grain rows for planting in a field, and a threshing device for threshing the reaped grain rows reaped by the reaping device, wherein a reaping drive path calculation function for calculating a reaping drive path which is a driving path for reaping driving in a field, an automatic reaping drive control function for controlling the combine so that reaping driving is performed by automatic driving along the reaping drive path, a judgment function for determining whether the threshing efficiency of the threshing device has decreased when the combine deviates from the reaping drive path, and a threshing device stop function for stopping the operation of the threshing device when it is determined by the judgment function that the threshing efficiency of the threshing device has decreased.

In addition, another feature of the present invention is a recording medium recording a combine control program for controlling a combine having a reaping device for reaping grain rows for planting in a field, and a threshing device for threshing the reaped grain rows reaped by the reaping device, wherein the combine control program causes a computer to realize a reaping drive path calculation function for calculating a reaping drive path which is a driving path for reaping driving in a field, an automatic reaping drive control function for controlling the combine so that reaping driving is performed by automatic driving along the reaping drive path, a judgment function for determining whether the threshing efficiency of the threshing device has decreased when the combine deviates from the reaping drive path, and a threshing device stop function for stopping the operation of the threshing device when it is determined by the judgment function that the threshing efficiency of the threshing device has decreased.

In addition, another feature of the present invention is a combine control method for controlling a combine having a reaping device for reaping grain rows for planting in a field, and a threshing device for threshing the reaped grain rows reaped by the reaping device, the method comprising: a reaping driving path calculation step for calculating a reaping driving path which is a driving path for reaping driving in a field; an automatic reaping driving control step for controlling the combine so that reaping driving is performed by automatic driving along the reaping driving path; a judgment step for determining whether the threshing efficiency of the threshing device has decreased when the combine deviates from the reaping driving path; and a threshing device stop step for stopping the operation of the threshing device when it is determined by the judgment step that the threshing efficiency of the threshing device has decreased.

[2] The solution corresponding to task [2] is as follows.

The present invention is characterized by a harvester control system that controls a harvester having a harvesting device for harvesting crops in a package, a harvest tank for storing the crops harvested by the harvesting device, and a discharge device for discharging the crops stored in the harvest tank, wherein the system comprises: a position memory section for storing a stop position of the harvester at a time when the discharge operation by the discharge device is performed at a position where the harvester has moved by manual operation; a position setting section for setting a target stop position based on the stop position of the harvester stored in the position memory section; and a driving control section for controlling the driving of the harvester so that the harvester automatically stops at the target stop position when the discharge operation by the discharge device is performed.

In the present invention, when the first discharge operation is performed in the harvesting operation in the packaging, the stop position of the harvester at that time is stored by the position memory. Then, for the second and subsequent discharge operations, the harvester automatically stops at the stored stop position under the control of the driving control unit.

That is, with the present invention, the only thing that needs to be done to stop the harvester in a position for discharging by manual operation is the initial discharging operation. This makes it possible to reduce the burden on the operator.

In addition, in the present invention, a signal output section which outputs an instruction signal indicating a stop position of the harvester for a discharge operation by the discharge device is provided, and the position setting section is configured to set the target stop position based on the instruction signal when the instruction signal is output by the signal output section before the first discharge operation by the discharge device is performed in the harvesting operation in the packaging, and the position setting section is preferably configured to reset the target stop position based on the stop position of the harvester stored in the position memory when the discharge operation by the discharge device is performed after the harvester has moved by manual operation from the target stop position set based on the instruction signal.

According to this configuration, before the first discharge operation is performed in the harvesting operation in the package, if the signal output section outputs a command signal, the target stop position is set. As a result, it is no longer necessary to stop the harvester at the discharge position by manual operation, not only in the second and subsequent discharge operations, but also in the first discharge operation. Therefore, the burden of operation by the worker can be reduced.

In addition, according to this configuration, if the target stop position indicated by the instruction signal is inappropriate, when the harvester is moved by manual operation and then the discharge operation is performed, the stop position of the harvester at the time the discharge operation is performed is stored by the position memory. Then, in the subsequent discharge operation, the harvester automatically stops at the stored stop position. That is, if the indicated target stop position is inappropriate, the target stop position can be easily corrected.

In addition, in the present invention, when the discharge work by the discharge device is performed at a position where the harvester has moved by manual operation, a direction memory section for storing the orientation of the body of the harvester at the time when the discharge work by the discharge device is performed, and a direction setting section for setting a target stopping direction based on the orientation of the body of the harvester stored in the direction memory section are provided, and it is preferable that the driving control section controls the driving of the harvester so that, when the discharge work by the discharge device is performed, the harvester automatically stops at the target stopping position while facing the target stopping direction.

According to this configuration, when the first discharge operation is performed in the harvesting operation in the package, the orientation of the gas of the harvester at that time is remembered by the direction memory unit. Then, in the second and subsequent discharge operations, the harvester stops toward the remembered orientation of the gas under the control of the driving control unit.

Accordingly, according to this configuration, when the harvester is stopped at a position for discharge by manual operation, the stop position and the orientation of the gas in the manual operation are reproduced in the subsequent discharge operation. As a result, the discharge operation can be performed accurately.

In addition, another feature of the present invention is a harvester control program for controlling a harvester having a harvesting device for harvesting crops in a package, a harvest tank for storing the crops harvested by the harvesting device, and a discharge device for discharging the crops stored in the harvest tank, wherein, when discharge work by the discharge device is performed at a position where the harvester has moved by manual operation, a position memory function for storing the stop position of the harvester at the time when the discharge work by the discharge device is performed, a position setting function for setting a target stop position based on the stop position of the harvester stored by the position memory function, and a driving control function for controlling the driving of the harvester so that, when the discharge work by the discharge device is performed, the harvester automatically stops at the target stop position.

In addition, another feature of the present invention is a recording medium recording a harvester control program for controlling a harvester having a harvesting device for harvesting crops in a package, a harvest tank for storing the crops harvested by the harvesting device, and a discharge device for discharging the crops stored in the harvest tank, wherein the harvester control program causes a computer to realize a position memory function for storing a stop position of the harvester at the time when the discharge work by the discharge device is performed when the discharge work by the discharge device is performed at a position where the harvester has moved by manual operation, a position setting function for setting a target stop position based on the stop position of the harvester stored by the position memory function, and a driving control function for controlling the driving of the harvester so that the harvester automatically stops at the target stop position when the discharge work by the discharge device is performed.

In addition, another feature of the present invention is a harvester control method for controlling a harvester having a harvesting device for harvesting crops in a package, a harvest tank for storing the crops harvested by the harvesting device, and a discharge device for discharging the crops stored in the harvest tank, wherein the method comprises: a position memory step for storing a stop position of the harvester at a point in time when the discharge work by the discharge device is performed when the discharge work by the discharge device is performed at a position to which the harvester has moved by manual operation; a position setting step for setting a target stop position based on the stop position of the harvester stored by the position memory step; and a driving control step for controlling the driving of the harvester so that the harvester automatically stops at the target stop position when the discharge work by the discharge device is performed.

Fig. 1 is a drawing showing the first embodiment (the same applies to Fig. 11 below), and is a left side view of the combine.
Figure 2 is a block diagram showing the configuration of a combine control system.
Figure 3 is a cross-sectional side view showing the configuration of a threshing device.
Figure 4 is a drawing showing a circular drive in packaging.
Figure 5 is a drawing showing a preliminary driving path and a departure and return path.
Figure 6 is a drawing showing a pre-driving operation along a pre-driving route.
Figure 7 is a drawing showing a state in which the combine deviates from the pre-driving path.
Figure 8 is a drawing showing a state in which the combine returns to automatic driving along the pre-driving path.
Figure 9 is a diagram showing the recalculation return path.
Fig. 10 is a drawing showing the driving of a combine when the driving control unit has captured a departure return path in the first alternative embodiment.
Fig. 11 is a drawing showing the driving of a combine when the driving control unit has captured a preliminary driving path in the first alternative embodiment.
Fig. 12 is a drawing showing the second embodiment (the same applies to Fig. 19 below), and is a left side view of the combine.
Figure 13 is a block diagram showing the configuration of the control unit.
Figure 14 is a drawing showing a circular drive in packaging.
Figure 15 is a drawing showing the outer area and the work target area.
Figure 16 is a drawing showing a preview run along a preview run path.
Figure 17 is a drawing showing a state in which the combine stops at a target stopping position.
Figure 18 is a drawing showing a state in which a worker sets a target stopping position through a communication terminal.
Figure 19 is a drawing showing an example of a case where the target stop position is reset.

[First embodiment]

Hereinafter, the first embodiment will be described with reference to FIGS. 1 to 11. In addition, in the description of directions, unless otherwise specified, the direction of arrow F shown in FIGS. 1 and 3 is “forward”, and the direction of arrow B is “rear”. In addition, the direction of arrow U shown in FIGS. 1 and 3 is “upward”, and the direction of arrow D is “downward”.

〔Overall composition of the combine〕

As shown in Fig. 1, a standard combine (1) is equipped with a crawler-type driving device (11), a driving unit (12), a threshing device (13), a grain tank (14), a harvesting device (H), a return device (16), a grain discharge device (18), and a satellite positioning module (80).

The driving device (11) is provided at the bottom of the combine (1). The combine (1) is capable of moving frequently by the driving device (11).

In addition, the driving unit (12), the threshing device (13), and the grain tank (14) are provided on the upper side of the driving device (11). A worker who monitors the operation of the combine (1) can ride in the driving unit (12). In addition, the worker may monitor the operation of the combine (1) from outside the combine (1) device.

The grain discharge device (18) is provided on the upper side of the grain tank (14). In addition, the satellite positioning module (80) is installed on the upper surface of the driving unit (12).

The harvesting device (H) is provided at the front of the combine (1). And the return device (16) is provided at the rear side of the harvesting device (H). In addition, the harvesting device (H) has a pre-harvesting device (15) and a reel (17).

The harvesting device (15) harvests the grain rows to be planted in the package. In addition, the reel (17) scrapes the grain rows to be harvested while rotating. With this configuration, the harvesting device (H) harvests grains in the package. In addition, the combine (1) is capable of harvesting driving by driving by the driving device (11) while harvesting the grain rows to be planted in the package by the harvesting device (15).

The pre-harvested grain stalks harvested by the harvesting device (15) are returned to the threshing device (13) by the return device (16). In the threshing device (13), the pre-harvested grain stalks are threshed. The grains obtained by the threshing process are stored in the grain tank (14). The grains stored in the grain tank (14) are discharged out of the device by the grain discharge device (18) as needed.

In this way, the combine (1) has a harvesting device (15) for harvesting grain for planting in a package, and a threshing device (13) for threshing the harvested grain harvested by the harvesting device (15).

In addition, as shown in Fig. 1, a communication terminal (4) is arranged in the driving unit (12). The communication terminal (4) is configured to be capable of displaying various information. In the present embodiment, the communication terminal (4) is fixed to the driving unit (12). However, the present invention is not limited to this, and the communication terminal (4) may be configured to be detachable from the driving unit (12), and the communication terminal (4) may be located outside the device of the combine (1).

In addition, as shown in Fig. 2, the combine (1) is equipped with an engine (51), a pre-harvesting clutch (C15), and a threshing clutch (C13).

The power output from the engine (51) is distributed to the pre-clutch (C15), the threshing clutch (C13), and the driving device (11). The driving device (11) is driven by the power from the engine (51).

Additionally, both the pre-cutting clutch (C15) and the threshing clutch (C13) are configured to be capable of changing states between a connected state in which power is transmitted and a disengaged state in which power is not transmitted.

When the pre-take clutch (C15) is disengaged, the power output from the engine (51) is not transmitted to the pre-take device (15). At this time, the pre-take device (15) is in a non-driven state.

When the pre-harvesting clutch (C15) is in the connected state, the power output from the engine (51) is transmitted to the pre-harvesting device (15). At this time, the pre-harvesting device (15) is driven by the power from the engine (51). That is, at this time, the pre-harvesting device (15) is in a driving state.

When the threshing clutch (C13) is disengaged, the power output from the engine (51) is not transmitted to the threshing device (13). At this time, the threshing device (13) is in a non-driven state.

When the threshing clutch (C13) is in the connected state, the power output from the engine (51) is transmitted to the threshing device (13). At this time, the threshing device (13) is driven by the power from the engine (51). That is, at this time, the threshing device (13) is in a driving state.

〔Composition of the threshing device〕

As shown in Fig. 3, the threshing device (13) has a threshing processing section (13a) and a shaking sorting section (13b). The shaking sorting section (13b) is located below the threshing processing section (13a).

The threshing processing unit (13a) has a feeding chamber (30), a feeding shaft (31), and a net (32). As shown in Fig. 3, the feeding shaft (31) is located on the inner side of the feeding chamber (30). In addition, the net (32) is located below the feeding shaft (31).

The pre-harvested grain stalks by the pre-harvesting device (15) are returned to the feeding room (30) by the return device (16). Then, the pre-harvested grain stalks are threshed in the feeding room (30) by the thruster (31) that rotates by the power from the engine (51) and the sieve (32). The processed material obtained by the threshing process falls from the sieve (32) to the shaking sorting section (13b).

By the above configuration, the threshing processing unit (13a) threshes the pre-harvested grain.

The oscillating sorting unit (13b) has a oscillating frame (33), a grain pan (34), a sieve wire unit (35), a first chaff sieve (36), a grain sieve (37), a second chaff sieve (38), a tuyere (39), a first recovery unit (40), and a second recovery unit (41).

The swing frame (33) is configured to swing by power from an engine (51). In addition, the grain pan (34), the body wire section (35), the first chaff sieve (36), the grain sieve (37), and the second chaff sieve (38) are supported on the swing frame (33).

By this configuration, along with the oscillation of the oscillating frame (33), the grain pan (34), the body wire section (35), the first chaff sieve (36), the grain sieve (37), and the second chaff sieve (38) also oscillate.

As shown in Fig. 3, the grain sieve (37) is located below the first chaff sieve (36). In addition, the second chaff sieve (38) is located below the rear of the first chaff sieve (36). The first recovery section (40) and the second recovery section (41) are located below the swing frame (33).

The processed material that has fallen from the net (32) is shaken by the grain pan (34), the sieve wire section (35), the first chaff sieve (36), the grain sieve (37), and the second chaff sieve (38), and receives a selection wind sent from the tuyere (39). As a result, the processed material is separated into grain and dust such as straw chips.

Grains that fall from the grain sieve (37) are recovered by the first recovery unit (40) and returned to the grain tank (14).

Untreated particles that fall from the second chaff sieve (38) are recovered by the second recovery unit (41) and returned to the front of the swing sorting unit (13b) by the reduction device (42). The untreated particles that are returned to the front of the swing sorting unit (13b) are sorted again by the swing sorting unit (13b).

By the above configuration, the vibration sorting unit (13b) sorts and processes the processed material obtained through the threshing process.

In this way, the threshing device (13) has a shaking sorting section (13b) that sorts and processes the processed material obtained through the threshing process.

In addition, as shown in Fig. 3, a sieve sensor (S1) is provided near the upper side of the first chaff sieve (36). The sieve sensor (S1) detects the thickness of the material to be processed on the first chaff sieve (36). Thereby, the sieve sensor (S1) detects the amount of material to be sorted. In addition, the amount of material to be sorted is the amount of material to be sorted and processed in the swing sorting section (13b).

In this embodiment, the sieve sensor (S1) detects the amount of sorting processing material in five stages from level 1 to level 5. In addition, level 1 corresponds to a state in which the amount of sorting processing material is the smallest, and level 5 corresponds to a state in which the amount of sorting processing material is the largest. In other words, the larger the number of levels, the larger the amount of sorting processing material.

In this way, the combine (1) has a sieve sensor (S1) that detects the amount of material to be sorted in the vibration sorting section (13b).

In addition, when the threshing device (13) is in a driving state, the spur (31) rotates by power from the engine (51), and the swing frame (33) swings by power from the engine (51). In addition, when the threshing device (13) is in a non-driving state, the spur (31) does not rotate, and the swing frame (33) does not swing.

Here, the combine (1) is configured to harvest grain in the field by performing a circular drive while harvesting grain in the outer area of the field as shown in Fig. 4, and then performing a pre-harvesting drive in the inner area of the field as shown in Fig. 6.

And in this harvesting operation, the combine (1) is controlled by a combine control system (A). Below, the configuration of the combine control system (A) will be described.

〔Composition of the combine control system〕

As shown in Fig. 2, the combine control system (A) is equipped with a satellite positioning module (80) and a control unit (20). In addition, the control unit (20) is equipped in the combine (1). In addition, as described above, the satellite positioning module (80) is also equipped in the combine (1).

The control unit (20) has a vehicle position calculation unit (21), a path calculation unit (22), a driving control unit (23) (equivalent to an “automatic foraging driving control unit” according to the present invention), an area calculation unit (24), a judgment unit (25), a threshing device start unit (26), a threshing device stop unit (27), a driving prohibited area memory unit (28), and a foraging clutch sensor (S2). In addition, the above-described sheave sensor (S1) is included in the control unit (20).

As shown in Fig. 1, the satellite positioning module (80) receives a GPS signal from a satellite (GS) used in the GPS (Global Positioning System). And, as shown in Fig. 2, the satellite positioning module (80) sends positioning data indicating the vehicle position of the combine (1) to the vehicle position calculation unit (21) based on the received GPS signal.

The vehicle position calculation unit (21) calculates the position coordinates of the combine (1) over time based on the positioning data output by the satellite positioning module (80). The calculated position coordinates of the combine (1) over time are sent to the driving control unit (23) and the area calculation unit (24).

The area calculation unit (24) calculates the outer area SA and the work target area CA, as shown in Fig. 5, based on the time-lapse position coordinates of the combine (1) received from the vehicle position calculation unit (21).

More specifically, the area calculating unit (24) calculates the driving trajectory of the combine (1) in the circumferential driving on the outer periphery of the field based on the temporal position coordinates of the combine (1) received from the self-position calculating unit (21). Then, the area calculating unit (24) calculates the area on the outer periphery of the field along which the combine (1) circles while harvesting grains as the outer periphery area SA based on the calculated driving trajectory of the combine (1). In addition, the area calculating unit (24) calculates the inner side of the calculated outer periphery area SA as the work target area CA.

For example, in Fig. 4, the driving path of the combine (1) for driving around the outer periphery of the package is indicated by arrows. In the example shown in Fig. 4, the combine (1) performs three laps of driving. When the preparatory driving along this driving path is completed, the package becomes in the state shown in Fig. 5.

As shown in Fig. 5, the area calculating unit (24) calculates the area on the outer side of the field where the combine (1) circles while harvesting grains as the outer area SA. In addition, the area calculating unit (24) calculates the inner side of the calculated outer area SA as the work target area CA.

And as shown in Fig. 2, the calculation result by the area calculation unit (24) is sent to the path calculation unit (22).

As shown in Fig. 2, the path calculation unit (22) has a pre-driving path calculation unit (22a) and a departure return path calculation unit (22b). The pre-driving path calculation unit (22a) calculates a pre-driving path LI, which is a driving path for pre-driving in the work target area CA, based on the calculation result received from the area calculation unit (24), as shown in Fig. 5. In addition, as shown in Fig. 5, in the present embodiment, the pre-driving path LI is a plurality of parallel lines that are parallel to each other.

In this way, the combine control system (A) is equipped with a pre-harvesting driving path calculation unit (22a) that calculates a pre-harvesting driving path LI, which is a driving path for pre-harvesting driving in packaging.

As shown in Fig. 2, the preliminary driving path LI calculated by the preliminary driving path calculation unit (22a) is sent to the driving control unit (23).

The driving control unit (23) is configured to be capable of controlling the driving device (11). Then, the driving control unit (23) controls the automatic driving of the combine (1) based on the position coordinates of the combine (1) received from the vehicle position calculating unit (21) and the harvesting driving path LI received from the harvesting driving path calculating unit (22a). More specifically, the driving control unit (23) controls the driving of the combine (1) so that the harvesting driving is performed by automatic driving along the harvesting driving path LI, as illustrated in Fig. 6.

In this way, the combine control system (A) is equipped with a driving control unit (23) that controls the combine (1) so that the pre-driving is performed by automatic driving along the pre-driving path LI.

In addition, the departure return path calculation unit (22b) calculates the departure return path LW, which is a driving path for non-preemptive driving in the outer area SA, based on the calculation result received from the area calculation unit (24), as shown in Fig. 5. In addition, as shown in Fig. 5, in the present embodiment, the departure return path LW is a line having a shape that follows the outer shape of the pavement.

As shown in Fig. 2, the departure return path LW calculated by the departure return path calculation unit (22b) is sent to the driving control unit (23).

The driving control unit (23) controls the automatic driving of the combine (1) based on the position coordinates of the combine (1) received from the vehicle position calculating unit (21) and the departure return path LW received from the departure return path calculating unit (22b). More specifically, as shown in Fig. 7, the driving control unit (23) controls the driving of the combine (1) so that, when the combine (1) has deviated from the pre-driving path LI, non-pre-driving is performed by automatic driving along the departure return path LW.

In addition, the sieve sensor (S1), as described above, detects the amount of material to be sorted in the vibration sorting section (13b) of the threshing device (13). As shown in Fig. 2, the detection result by the sieve sensor (S1) is sent to the judgment section (25).

In addition, the pre-cut clutch sensor (S2) detects the disconnection status of the pre-cut clutch (C15). The detection result by the pre-cut clutch sensor (S2) is sent to the judgment unit (25).

The judgment unit (25) determines whether the threshing efficiency of the threshing device (13) has decreased when the combine (1) has deviated from the harvesting driving path LI. More specifically, as shown in FIG. 7, when the combine (1) has deviated from the harvesting driving path LI, a predetermined signal is sent from the driving control unit (23) to the judgment unit (25) as shown in FIG. 2. This signal is a signal indicating that the combine (1) has deviated from the harvesting driving path LI. After the judgment unit (25) receives this signal, when the amount of sorting material detected by the sieve sensor (S1) has decreased, the judgment unit (25) determines that the threshing efficiency of the threshing device (13) has decreased.

In this embodiment, the judgment unit (25) determines that the threshing efficiency of the threshing device (13) has decreased if the state in which the sorting processing amount is at level 1 continues for a predetermined first period or longer. In other words, the state in which the sorting processing amount is at level 1 continuing for a first period or longer corresponds to a decrease in the sorting processing amount detected by the sieve sensor (S1).

Additionally, this first period may be, for example, 10 seconds, or may be any other length.

In this way, the combine control system (A) is equipped with a judgment unit (25) that judges whether the threshing efficiency of the threshing device (13) has decreased when the combine (1) deviates from the pre-harvesting driving path LI. In addition, the judgment unit (25) is configured to judge that the threshing efficiency of the threshing device (13) has decreased when the amount of sorting material detected by the sieve sensor (S1) has decreased.

In addition, as described above, when the combine (1) deviates from the pre-harvesting driving path LI, a predetermined signal is sent from the driving control unit (23) to the judgment unit (25). Then, when the pre-harvesting device (15) continues to be in a non-driven state for a period after the judgment unit (25) receives this signal, the judgment unit (25) determines that the threshing efficiency of the threshing device (13) has decreased.

More specifically, when a detection result indicating that the harvesting clutch (C15) is in the released state is sent to the judgment unit (25) from the harvesting clutch sensor (S2), the judgment unit (25) counts the period during which the harvesting clutch (C15) is continuously in the released state. Then, when the period during which the harvesting clutch (C15) is continuously in the released state reaches a predetermined second period, the judgment unit (25) determines that the threshing efficiency of the threshing device (13) has decreased. In other words, the period during which the harvesting clutch (C15) is continuously in the released state reaching the second period corresponds to the period during which the harvesting device (15) is in a non-driven state continuing.

Additionally, this second period may be, for example, 10 seconds, or may be any other length.

In this way, the judgment unit (25) is configured to determine that the threshing efficiency of the threshing device (13) has decreased when the period in which the harvesting device (15) is not driven continues.

The judgment result by the judgment unit (25) is sent to the threshing device stop unit (27).

The threshing device stop unit (27) switches the threshing clutch (C13) from the connected state to the released state when the judgment unit (25) determines that the threshing efficiency of the threshing device (13) has decreased. As a result, the operation of the threshing device (13) is stopped.

In this way, the combine control system (A) is equipped with a threshing device stop unit (27) that stops the operation of the threshing device (13) when the threshing efficiency of the threshing device (13) is judged to have decreased by the judgment unit (25).

In addition, after the operation of the threshing device (13) is stopped by the threshing device stop unit (27), when the combine (1) turns to return to automatic driving along the harvesting driving path LI as shown in Fig. 8, a predetermined signal is sent from the driving control unit (23) to the threshing device start unit (26) as shown in Fig. 2. This signal is a signal indicating that the combine (1) turns to return to automatic driving along the harvesting driving path LI. When the threshing device start unit (26) receives this signal, it switches the threshing clutch (C13) from the disengaged state to the engaged state. Thereby, the operation of the threshing device (13) is restarted.

In this way, the combine control system (A) is equipped with a threshing device start unit (26) that restarts the operation of the threshing device (13) when the combine (1) turns to return to automatic driving along the pre-harvesting driving path LI after the operation of the threshing device (13) has been stopped by the threshing device stop unit (27).

〔Harvesting operation flow using the combine control system〕

Below, as an example of harvesting work using a combine control system (A), the flow of work in the case where a combine (1) performs harvesting work in the field shown in Fig. 4 will be described.

First, the worker manually operates the combine (1) to perform a preliminary drive so that it circles along the boundary line of the package in the outer portion within the package, as shown in Fig. 4. In the example shown in Fig. 4, the combine (1) performs a three-lap drive. When this drive is completed, the package is in the state shown in Fig. 5.

The area calculating unit (24) calculates the driving trajectory of the combine (1) in the driving around as shown in Fig. 4 based on the time-lapse position coordinates of the combine (1) received from the vehicle position calculating unit (21). Then, as shown in Fig. 5, the area calculating unit (24) calculates the area on the outer side of the field along which the combine (1) drives around while pre-seeding the planting grain row as the outer area SA based on the calculated driving trajectory of the combine (1). In addition, the area calculating unit (24) calculates the inner side of the calculated outer area SA as the work target area CA.

Next, the pre-driving path calculation unit (22a) sets the pre-driving path LI in the work target area CA, as shown in Fig. 5, based on the calculation result received from the area calculation unit (24). In addition, at this time, the departure return path calculation unit (22b) calculates the departure return path LW in the outer area SA, based on the calculation result received from the area calculation unit (24).

And when the worker presses the automatic driving start button (not shown), automatic driving along the pre-driving path LI is started, as shown in Fig. 6. At this time, the driving control unit (23) controls the driving of the combine (1) so that pre-driving is performed by automatic driving along the pre-driving path LI.

While the harvesting operation is being performed by the combine (1), as described above, the harvested grain stalk harvested by the harvesting device (15) is returned to the threshing device (13) by the return device (16). Then, in the threshing device (13), the harvested grain stalk is threshed.

In addition, in this embodiment, as shown in FIGS. 4 to 6, a transport vehicle (CV) is parked outside the pavement. And, in the outer area SA, a stop position PP is set in the vicinity of the transport vehicle (CV). As shown in FIGS. 5 and 6, the stop position PP is set at a position overlapping with the departure return path LW.

The transport vehicle (CV) can collect and transport grain discharged from the grain discharge device (18) of the combine (1). When discharging grain, the combine (1) stops at the stopping position PP and discharges the grain to the transport vehicle (CV) by the grain discharge device (18).

As the combine (1) continues the harvesting operation and the amount of grain in the grain tank (14) reaches a predetermined amount, as shown in Fig. 7, the driving control unit (23) controls the operation of the combine (1) so as to deviate from the harvesting operation path LI. In addition, as the combine (1) deviates from the harvesting operation path LI, the harvesting clutch (C15) switches from the engaged state to the disengaged state.

In addition, in this embodiment, the combine (1) is set to depart from the pre-harvesting path LI at position P1 on the pre-harvesting path LI shown in Fig. 7.

As shown in Fig. 7, after the combine (1) departs from the pre-harvest driving path LI, the driving control unit (23) controls the combine (1) to travel toward the departure return path LW. Then, when the combine (1) reaches the vicinity of the departure return path LW, the driving control unit (23) controls the driving of the combine (1) so that non-pre-harvest driving is performed by automatic driving along the departure return path LW.

Here, after the combine (1) deviates from the harvesting path LI, the amount of harvested grain supplied to the threshing device (13) decreases. In this embodiment, it is assumed that after the combine (1) deviates from the harvesting path LI, the amount of sorting material is reduced from level 5 to level 1. And, at the point in time when the amount of sorting material is at level 1 continues for the first period, the combine (1) is assumed to be located at position P2 as shown in Fig. 7.

In this case, when the combine (1) reaches the position P2, the judgment unit (25) determines that the threshing efficiency of the threshing device (13) has decreased. Therefore, at the position P2, the threshing device stop unit (27) switches the threshing clutch (C13) from the connected state to the released state. As a result, the operation of the threshing device (13) is stopped.

As shown in Fig. 7, after passing the position P2, the combine (1) continues automatic driving along the departure return path LW and stops at the stop position PP. Then, the grain is discharged to the transport vehicle (CV) by the grain discharge device (18).

After discharging the grain, as shown in Fig. 8, the combine (1) resumes automatic driving along the departure return path LW. Then, the combine (1) turns at position P3 to return to automatic driving along the harvesting drive path LI. This turning is performed automatically under the control of the drive control unit (23).

At this time, the threshing device starter (26) switches the threshing clutch (C13) from the disengaged state to the engaged state. As a result, the operation of the threshing device (13) is resumed at position P3. At the same time, the reaping clutch (C15) is switched from the disengaged state to the engaged state. Then, the combine (1) returns to automatic driving along the reaping driving path LI at position P4 on the reaping driving path LI.

In addition, the present invention is not limited to this, and the threshing clutch (C13) and the reaping clutch (C15) may be switched from the disengaged state to the engaged state at a timing when the combine (1) approaches the unharvested portion in the work target area CA. For example, the threshing clutch (C13) and the reaping clutch (C15) may be switched from the disengaged state to the engaged state at a time when the distance between the reaping device (15) of the combine (1) and the unharvested portion in the work target area CA becomes 2 meters.

In addition, the position at which the combine (1) returns to automatic driving along the cutting path LI is determined as the position closest to the stop position PP among the non-cutting portions in the work target area CA. In other words, the position at which the combine (1) returns to automatic driving along the cutting path LI is determined regardless of the position at which the combine (1) departs from the cutting path LI. Therefore, the above-described position P1 and position P4 are different.

And when the harvesting along all harvesting driving paths LI in the work target area CA is completed, the entire field is harvested.

In addition, as described above, in the present embodiment, until the combine (1) departs from the pre-driving path LI and begins to travel along the departure return path LW, the driving of the combine (1) is performed by automatic driving under the control of the driving control unit (23).

In addition, in the present embodiment, until the combine (1) leaves the departure return path LW and resumes driving along the preliminary driving path LI, the driving of the combine (1) is performed by automatic driving under the control of the driving control unit (23).

〔About the return route of assets〕

However, when the combine (1) returns to automatic driving along the pre-driving path LI, the departure return path calculating unit (22b) can calculate a recalculated return path LR that is different from the departure return path LW. The recalculated return path LR is a driving path for the combine (1) to return to automatic driving along the pre-driving path LI. The recalculated return path LR will be described below.

As described above, the control unit (20) has a no-drive area memory unit (28). The no-drive area memory unit (28) stores the no-drive area PA on the pavement. As shown in Fig. 2, the departure return path calculation unit (22b) obtains data indicating the no-drive area PA from the no-drive area memory unit (28).

In addition, the no-driving area PA is an area where driving of the combine (1) is prohibited due to reasons such as the presence of trees on the road.

In addition, as shown in Fig. 2, the self-position calculation unit (21) sends the temporal position coordinates of the combine (1) to the departure return path calculation unit (22b).

And the departure return path calculation unit (22b) calculates the untaken area CA1 and the prepared area CA2 in the work target area CA based on the time-lapsed position coordinates of the combine (1) received from the vehicle position calculation unit (21) and the calculation result received from the area calculation unit (24).

In addition, the departure return path calculation unit (22b) calculates a recalculated return path LR based on data representing the no-drive area PA acquired from the no-drive area memory unit (28), the current position coordinates of the combine (1), the calculation result received from the area calculation unit (24), and the non-prepared area CA1 and the pre-prepared area CA2 calculated as described above.

Here, the calculation of the recalculated return path LR is performed according to the following three conditions. That is, the recalculated return path LR must not be a driving path passing through the no-driving area PA. In addition, the recalculated return path LR must not be a driving path passing through the outside of the pavement. In addition, the recalculated return path LR may be a driving path passing through the reserved area CA2.

Below, as an example of calculating the recalculation return path LR, the flow in which the recalculation return path LR is calculated in the packaging shown in Fig. 9 is described.

Fig. 9 shows a state in which the combine (1) returns to automatic driving along the pre-driving path LI from the state in which it is stopped at the stopping position PP.

While the combine (1) is stopped at the stop position PP, the calculation of the recalculated return path LR is performed by the departure return path calculation unit (22b). In this calculation, first, the position closest to the stop position PP among the non-preparation area CA1 in the work target area CA is calculated. At this time, the calculated position is determined as the position for returning to automatic driving along the preparatory driving path LI. In the example shown in Fig. 9, the position P5 is determined as the position for returning to automatic driving along the preparatory driving path LI.

Next, the departure return path calculation unit (22b) calculates a driving path that is a candidate for the recalculated return path LR. The driving path calculated at this time is a driving path from the stopping position PP to the position P5.

To explain in detail, the departure return path calculation unit (22b) first calculates the first route Rt1 as a candidate for the recalculated return path LR. The first route Rt1 is calculated so that the driving distance from the stopping position PP to the position P5 is relatively short.

However, the first route Rt1 crosses the no-drive zone PA. That is, since the first route Rt1 is a driving route that passes through the no-drive zone PA, it is excluded from the candidates for the recalculated return route LR.

Next, the departure return path calculation unit (22b) calculates the second route Rt2 and the third route Rt3 as candidates for the recalculated return path LR. The second route Rt2 and the third route Rt3 are calculated to bypass the no-drive area PA. In addition, the lengths of the second route Rt2 and the third route Rt3 are equal to each other.

Here, a part of the second route Rt2 is located outside the package. That is, since the second route Rt2 is a driving path passing through the outside of the package, it is excluded from the candidates for the recalculated return path LR.

In addition, a part of the third route Rt3 is located in the anticipation area CA2. That is, the third route Rt3 is a driving route that passes through the anticipation area CA2. In addition, the third route Rt3 is not a driving route that passes through the no-driving area PA. In addition, the third route Rt3 is not a driving route that passes through the outside of the pavement. Therefore, the third route Rt3 remains as a candidate for the recalculated return route LR.

That is, among the three routes described above, only the third route Rt3 remains as a candidate for the recalculation return path LR. Therefore, as shown in Fig. 9, the third route Rt3 is selected as the recalculation return path LR.

The departure return path calculation unit (22b) calculates the recalculated return path LR as described above. Then, the combine (1) drives along the recalculated return path LR by automatic driving under the control of the driving control unit (23). As a result, the combine (1) returns to automatic driving along the preliminary driving path LI.

With the configuration described above, when the threshing efficiency of the threshing device (13) decreases after the combine (1) deviates from the pre-harvesting driving path LI, the operation of the threshing device (13) is stopped by the threshing device stop unit (27). Therefore, it becomes difficult for waste to occur in the operation of the threshing device (13). As a result, the fuel efficiency of the combine (1) is improved.

[Other embodiments of the first embodiment]

Hereinafter, other embodiments that have changed the above-described embodiment will be described. Except for matters described in each of the other embodiments below, matters described in the above-described embodiment are the same as those described in the above-described embodiment. The above-described embodiment and each of the other embodiments below may be appropriately combined within a range where no contradiction occurs. In addition, the scope of the present invention is not limited to the above-described embodiment and each of the other embodiments below.

〔First other embodiment〕

In the above embodiment, until the combine (1) departs from the pre-driving path LI and starts driving along the departure return path LW, the driving of the combine (1) is performed by automatic driving under the control of the driving control unit (23).

In addition, in the above embodiment, until the combine (1) leaves the departure return path LW and resumes driving along the preliminary driving path LI, the driving of the combine (1) is performed by automatic driving under the control of the driving control unit (23).

However, the present invention is not limited to this. Below, a first alternative embodiment of the first embodiment will be described, focusing on differences from the above embodiment. The configuration other than the parts described below is the same as the above embodiment. In addition, the same reference numerals are given to the configurations that are similar to the above embodiment.

FIG. 10 and FIG. 11 are drawings showing the operation of the combine (1) in the first alternative embodiment of the first embodiment.

In this first alternative embodiment, the worker manually operates the combine (1) so that the combine (1) deviates from the harvesting driving path LI. Then, after the combine (1) deviates from the harvesting driving path LI, when the driving control unit (23) captures the departure return path LW, automatic driving under the control of the driving control unit (23) is initiated, and the combine (1) automatically drives along the departure return path LW.

In addition, in this first other embodiment, the worker manually operates the combine (1) so that the combine (1) deviates from the departure return path LW. Then, after the combine (1) deviates from the departure return path LW, when the driving control unit (23) captures the pre-harvesting driving path LI, automatic driving under the control of the driving control unit (23) is initiated, and the combine (1) performs automatic driving along the pre-harvesting driving path LI.

That is, in this first alternative embodiment, after the combine (1) deviates from the pre-harvest driving path LI, the worker manually operates the combine (1) until the driving control unit (23) captures the departure return path LW. Similarly, after the combine (1) deviates from the departure return path LW, the worker manually operates the combine (1) until the driving control unit (23) captures the pre-harvest driving path LI.

Below, the driving control unit (23) will be described in detail about capturing the departure return path LW and the preliminary driving path LI.

As shown in Fig. 10, after the combine (1) deviates from the pre-run path LI, the drive control unit (23) sets a first capture area Ct1. The first capture area Ct1 is a fan-shaped area that expands forward in the travel direction from the center position in the width direction of the body at the front end of the combine (1). In addition, the radius and center angle of this fan shape are the radius X and the center angle w1.

After the combine (1) deviates from the pre-harvest driving path LI, the driving control unit (23) monitors whether the first capturing area Ct1 overlaps with the departure return path LW. In addition, after the combine (1) deviates from the pre-harvest driving path LI, the driving control unit (23) monitors whether the angle w2, which is the inclination of the forward direction of the combine (1) with respect to the departure return path LW, is equal to or less than a predetermined angle WA.

And when the first capturing area Ct1 overlaps with the departure return path LW and, furthermore, the angle w2 becomes less than or equal to the predetermined angle WA, the driving control unit (23) enters a state where the departure return path LW is captured. In other words, the driving control unit (23) capturing the departure return path LW means the same as when the first capturing area Ct1 overlaps with the departure return path LW and, furthermore, the angle w2 becomes less than or equal to the predetermined angle WA.

When the driving control unit (23) captures the departure return path LW, automatic driving under the control of the driving control unit (23) is initiated, and the combine (1) performs automatic driving along the departure return path LW.

In addition, as shown in Fig. 11, after the combine (1) leaves the departure return path LW, the driving control unit (23) sets a second capturing area Ct2. The second capturing area Ct2 is a fan-shaped area that expands from the center position in the width direction of the body at the front end of the combine (1) toward the forward side in the direction of travel. In addition, the radius and the central angle of this fan shape are the radius Y and the central angle r1.

After the combine (1) deviates from the departure return path LW, the driving control unit (23) monitors whether the second capturing area Ct2 overlaps with the pre-harvest driving path LI. In addition, after the combine (1) deviates from the departure return path LW, the driving control unit (23) monitors whether the angle r2, which is the inclination of the forward direction of the combine (1) with respect to the pre-harvest driving path LI, is less than or equal to a predetermined angle RA.

And when the second capturing area Ct2 overlaps with the preview driving path LI and, furthermore, the angle r2 becomes less than or equal to the predetermined angle RA, the driving control unit (23) enters a state where the preview driving path LI is captured. In other words, the driving control unit (23) capturing the preview driving path LI means that the second capturing area Ct2 overlaps with the preview driving path LI and, furthermore, the angle r2 becomes less than or equal to the predetermined angle RA.

When the driving control unit (23) captures the pre-driving path LI, automatic driving under the control of the driving control unit (23) is initiated, and the combine (1) performs automatic driving along the pre-driving path LI.

In addition, as shown in FIG. 10 and FIG. 11, the radius Y of the second capturing area Ct2 is smaller than the radius X of the first capturing area Ct1. In addition, the central angle r1 of the second capturing area Ct2 is smaller than the central angle w1 of the first capturing area Ct1. In other words, the second capturing area Ct2 is set narrower than the first capturing area Ct1.

Additionally, the predetermined angle RA is set to a smaller angle than the predetermined angle WA.

That is, the conditions for the driving control unit (23) to capture the pre-harvesting driving path LI are set more strictly than the conditions for the driving control unit (23) to capture the departure return path LW. As a result, it is easy to avoid a situation in which, among a plurality of pre-harvesting driving paths LI in the package, a pre-harvesting driving path LI not intended by the operator is captured by the driving control unit (23). In addition, it is easy to avoid a situation in which, in a case in which the operator does not want to drive along the pre-harvesting driving path LI, the pre-harvesting driving path LI is captured by the driving control unit (23).

In addition, the pre-harvest driving path LI and the departure return path LW are virtually set driving paths and are not things that can be visually confirmed by a worker in an actual field. Therefore, when the worker operates the combine (1) to have the driving control unit (23) capture the departure return path LW or the pre-harvest driving path LI, the worker assumes the position of the departure return path LW or the pre-harvest driving path LI and operates the combine (1) to follow the assumed departure return path LW or the pre-harvest driving path LI.

That is, if the departure return path LW or the pre-driving path LI assumed by the worker and the actual departure return path LW or pre-driving path LI are different, it becomes difficult for the driving control unit (23) to capture the departure return path LW or the pre-driving path LI.

Here, when driving along the pre-cutting driving path LI is initiated, the pre-cutting driving path LI is often located at the end of the un-precutting portion in the work target area CA of the package, and also extends along the boundary line between the un-precutting portion and the pre-precutting portion. Therefore, the difference between the pre-cutting driving path LI assumed by the worker and the actual pre-cutting driving path LI tends to be relatively small.

In contrast, in the vicinity of the departure return path LW, there are often no helpful marks for the operator to accurately estimate the location of the departure return path LW. Therefore, the deviation between the departure return path LW estimated by the operator and the actual departure return path LW tends to be relatively large. As a result, it becomes difficult for the driving control unit (23) to capture the departure return path LW.

Therefore, as described above, the conditions for the driving control unit (23) to capture the departure return path LW are set to be more relaxed than the conditions for the driving control unit (23) to capture the preliminary driving path LI. As a result, it is easy to avoid a situation in which the driving control unit (23) cannot capture the departure return path LW.

In addition, the first capturing area Ct1 and the second capturing area Ct2 may be set at the same time. That is, when the combine (1) is driving in a location that is neither the departure return path LW nor the precipitation driving path LI, the driving control unit (23) may be able to capture both the departure return path LW and the precipitation driving path LI. In this case, it may be configured so that automatic driving is performed along the driving path that the driving control unit (23) first captured among the departure return path LW and the precipitation driving path LI.

〔Other embodiments〕

(1) The driving device (11) may be of wheel type or semi-crawler type.

(2) In the above embodiment, the harvesting route LI calculated by the harvesting route calculation unit (22a) is a plurality of parallel lines that are parallel to each other, but the present invention is not limited to this, and the harvesting route LI calculated by the harvesting route calculation unit (22a) does not have to be a plurality of parallel lines that are parallel to each other. For example, the harvesting route LI calculated by the harvesting route calculation unit (22a) may be a spiral-shaped travel path.

(3) In the above embodiment, the worker manually operates the combine (1) and performs a pre-run so as to circle along the boundary line of the package in the outer portion within the package, as shown in Fig. 4. However, the present invention is not limited to this, and the combine (1) may be configured to automatically run and perform a pre-run so as to circle along the boundary line of the package in the outer portion within the package.

(4) In the above embodiment, the judgment unit (25) determines that the threshing efficiency of the threshing device (13) has decreased if the level of the sorting processing amount continues for a predetermined first period or longer. However, the present invention is not limited to this. For example, the judgment unit (25) may be configured to determine that the threshing efficiency of the threshing device (13) has decreased if the level of the sorting processing amount has decreased. That is, a decrease in the level of the sorting processing amount corresponds to a decrease in the sorting processing amount detected by the sieve sensor (S1).

(5) Some or all of the vehicle position calculation unit (21), path calculation unit (22), driving control unit (23), area calculation unit (24), judgment unit (25), threshing device start unit (26), threshing device stop unit (27), and driving prohibited area memory unit (28) may be provided outside the combine (1), and for example, may be provided in a management server provided outside the combine (1).

(6) The departure and return path calculation unit (22b) does not need to be provided.

(7) A no-driving zone memory unit (28) does not need to be provided.

(8) The threshing device starter (26) does not need to be provided.

(9) The sieve sensor (S1) does not need to be provided.

(10) The pre-load clutch sensor (S2) does not need to be provided.

(11) A communication terminal (4) does not need to be provided.

(12) The preliminary driving path LI calculated by the preliminary driving path calculation unit (22a) may be a straight path or a curved path. In addition, the departure return path LW calculated by the departure return path calculation unit (22b) may be a straight path or a curved path.

(13) It may be configured as a combine control program that realizes the function of each member in the above embodiment on a computer. In addition, it may be configured as a recording medium in which the combine control program that realizes the function of each member in the above embodiment on a computer is recorded. In addition, it may be configured as a combine control method in which the operation performed by each member in the above embodiment is performed by a plurality of steps.

[Second embodiment]

Hereinafter, a second embodiment of the present invention will be described with reference to FIGS. 12 to 19. In addition, in the description of directions, unless otherwise specified, the direction of arrow F shown in FIG. 12 is “forward” and the direction of arrow B is “rear”. In addition, the direction of arrow U shown in FIG. 12 is “upward” and the direction of arrow D is “downward”.

〔Overall composition of the combine〕

As shown in Fig. 12, a standard combine (101) (equivalent to a “harvester” according to the present invention) is equipped with a crawler-type travel device (111), a driving unit (112), a threshing device (113), a grain tank (114) (equivalent to a “harvest tank” according to the present invention), a harvesting device (H), a return device (116), a grain discharge device (118) (equivalent to a “discharge device” according to the present invention), and a satellite positioning module (180).

The driving device (111) is provided at the bottom of the combine (101). The combine (101) can be operated frequently by the driving device (111).

In addition, the driving unit (112), the threshing device (113), and the grain tank (114) are provided on the upper side of the driving device (111). A worker who monitors the operation of the combine (101) can ride on the driving unit (112). In addition, the worker may monitor the operation of the combine (101) from outside the combine (101).

A grain discharge device (118) is provided on the upper side of the grain tank (114). In addition, a satellite positioning module (180) is installed on the upper surface of the driving unit (112).

The harvesting device (H) is provided at the front of the combine (101). And the return device (116) is provided at the rear side of the harvesting device (H). In addition, the harvesting device (H) has a pre-harvesting device (115) and a reel (117).

The harvesting device (115) harvests the grain rows to be planted in the field. In addition, the reel (117) scrapes the grain rows to be harvested while rotating. With this configuration, the harvesting device (H) harvests grains (equivalent to “crops” according to the present invention) in the field. In addition, the combine (101) is capable of harvesting driving by driving by the driving device (111) while harvesting the grain rows to be planted in the field by the harvesting device (115).

The pre-harvested grain stalks harvested by the pre-harvesting device (115) are returned to the threshing device (113) by the return device (116). In the threshing device (113), the pre-harvested grain stalks are threshed. The grains obtained by the threshing process (equivalent to the “harvest” according to the present invention) are stored in the grain tank (114). The grains stored in the grain tank (114) are discharged out of the device by the grain discharge device (118) as needed.

In this way, the combine (101) has a harvesting device (H) for harvesting grains in a package, a grain tank (114) for storing grains harvested by the harvesting device (H), and a grain discharge device (118) for discharging grains stored in the grain tank (114).

In addition, as shown in Fig. 12, a communication terminal (104) is arranged in the driving unit (112). The communication terminal (104) is configured to be capable of displaying various information. In the present embodiment, the communication terminal (104) is fixed to the driving unit (112). However, the present invention is not limited to this, and the communication terminal (104) may be configured to be detachable from the driving unit (112), and the communication terminal (104) may be located outside the device of the combine (101).

In addition, as shown in Fig. 13, the combine (101) is equipped with an engine (151) and a discharge clutch (C18).

Power output from the engine (151) is distributed to the exhaust clutch (C18) and the driving device (111). The driving device (111) is driven by power from the engine (151).

Additionally, the exhaust clutch (C18) is configured to be capable of changing its state between a connected state that transmits power and a disengaged state that does not transmit power.

When the discharge clutch (C18) is disengaged, the power output from the engine (151) is not transmitted to the grain discharge device (118). At this time, the grain discharge device (118) is in a non-driven state.

When the discharge clutch (C18) is in the connected state, the power output from the engine (151) is transmitted to the grain discharge device (118). At this time, the grain discharge device (118) is driven by the power from the engine (151). That is, at this time, the grain discharge device (118) is in a driven state.

Here, the combine (101) is configured to harvest grain in the field by performing a circular drive while harvesting grain in the outer area of the field as shown in Fig. 14, and then performing a pre-harvest drive in the inner area of the field as shown in Fig. 16.

And in this harvesting operation, the combine (101) is controlled by a harvester control system (A1). Below, the configuration of the harvester control system (A1) will be described.

〔Composition of the harvester control system〕

As shown in Fig. 13, the harvester control system (A1) is equipped with a satellite positioning module (180), a self-direction detection device (181), a control unit (120), and a communication terminal (104). In addition, the self-direction detection device (181) and the control unit (120) are equipped in the combine (101). In addition, as described above, the satellite positioning module (180) and the communication terminal (104) are also equipped in the combine (101).

The control unit (120) has a vehicle position calculation unit (121), a path calculation unit (122), a driving control unit (123), an area calculation unit (124), a manual operation signal transmission unit (125), a position memory unit (126), a position setting unit (127), a direction memory unit (128), a direction setting unit (129), and an exhaust clutch sensor (S11).

As shown in Fig. 12, the satellite positioning module (180) receives a GPS signal from a satellite (GS) used in the GPS (Global Positioning System). And, as shown in Fig. 13, the satellite positioning module (180) sends positioning data indicating the vehicle position of the combine (101) to the vehicle position calculation unit (121) based on the received GPS signal.

The vehicle position calculation unit (121) calculates the position coordinates of the combine (101) over time based on the positioning data output by the satellite positioning module (180). The calculated position coordinates of the combine (101) over time are sent to the driving control unit (123) and the area calculation unit (124).

The area calculation unit (124) calculates the outer area SA and the work target area CA based on the time-lapse position coordinates of the combine (101) received from the vehicle position calculation unit (121), as shown in Fig. 15.

More specifically, the area calculating unit (124) calculates the driving trajectory of the combine (101) in the circumferential driving on the outer periphery of the field based on the temporal position coordinates of the combine (101) received from the vehicle position calculating unit (121). Then, the area calculating unit (124) calculates, based on the calculated driving trajectory of the combine (101), the area of the outer periphery of the field along which the combine (101) circled while harvesting grains as the outer periphery area SA. In addition, the area calculating unit (124) calculates the inner side of the calculated outer periphery area SA as the work target area CA.

For example, in Fig. 14, the driving path of the combine (101) for driving around the outer periphery of the package is indicated by arrows. In the example shown in Fig. 14, the combine (101) performs three laps of driving. When the preparatory driving along this driving path is completed, the package becomes in the state shown in Fig. 15.

As shown in Fig. 15, the area calculating unit (124) calculates the area on the outer side of the field where the combine (101) circles while harvesting grains as the outer area SA. In addition, the area calculating unit (124) calculates the inner side of the calculated outer area SA as the work target area CA.

And as shown in Fig. 13, the calculation result by the area calculation unit (124) is sent to the path calculation unit (122).

The path calculation unit (122) calculates a pre-driving path LI, which is a driving path for pre-driving in the work target area CA, based on the calculation result received from the area calculation unit (124), as shown in Fig. 15. In addition, as shown in Fig. 15, in the present embodiment, the pre-driving path LI is a plurality of parallel lines that are parallel to each other.

As shown in Fig. 13, the preliminary driving path LI calculated by the path calculation unit (122) is sent to the driving control unit (123).

The driving control unit (123) is configured to be able to control the driving device (111). Then, the driving control unit (123) controls the automatic driving of the combine (101) based on the position coordinates of the combine (101) received from the vehicle position calculating unit (121) and the pre-driving path LI received from the path calculating unit (122). More specifically, the driving control unit (123) controls the driving of the combine (101) so that the pre-driving is performed by automatic driving along the pre-driving path LI, as illustrated in Fig. 16.

The manual operation signal transmitter (125) transmits a predetermined signal to the position memory unit (126) and the direction memory unit (128) when the combine (101) is moved by manual operation. This signal is a signal indicating that the combine (101) is moved by manual operation.

Additionally, the vehicle position calculation unit (121) sends the position coordinates of the combine (101) to the position memory unit (126).

In addition, the exhaust clutch sensor (S11) detects the disconnection state of the exhaust clutch (C18). The detection result by the exhaust clutch sensor (S11) is sent to the position memory unit (126) and the direction memory unit (128).

The position memory (126) remembers the stop position of the combine (101) at the time the discharge operation by the grain discharge device (118) was performed at the location where the combine (101) moved by manual operation.

More specifically, the position memory unit (126) monitors whether discharge work by the grain discharge device (118) has been performed at the location where the combine (101) has moved by manual operation, based on a signal from the manual operation signal transmitter (125) and the detection result by the discharge clutch sensor (S11).

In addition, when a detection result indicating that the discharge clutch (C18) has switched from a disengaged state to an engaged state is sent to the position memory unit (126) from the discharge clutch sensor (S11), the position memory unit (126) determines that the discharge operation by the grain discharge device (118) has been performed.

And when the discharge operation by the grain discharge device (118) is performed at a location where the combine (101) has moved by manual operation, the position memory unit (126) remembers the stop position of the combine (101) at that time.

In this way, the harvester control system (A1) is equipped with a position memory unit (126) that memorizes the stop position of the combine (101) at the time when the discharge operation by the grain discharge device (118) is performed at the position where the combine (101) moved by manual operation.

The stop position stored in the position memory unit (126) is sent to the position setting unit (127). Then, the position setting unit (127) sets the target stop position TP based on the stop position of the combine (101) stored in the position memory unit (126). The target stop position TP set by the position setting unit (127) is sent to the driving control unit (123).

In this way, the harvester control system (A1) is equipped with a position setting unit (127) that sets a target stopping position TP based on the stopping position of the combine (101) stored in the position memory unit (126).

The self-direction detection device (181) detects the orientation of the body of the combine (101). And, as shown in Fig. 13, the detection result by the self-direction detection device (181) is sent to the direction memory unit (128).

The direction memory (128) remembers the orientation of the body of the combine (101) at the time when the discharge operation by the grain discharge device (118) was performed at the location where the combine (101) moved by manual operation.

More specifically, the direction memory unit (128) monitors whether discharge work by the grain discharge device (118) has been performed at the location where the combine (101) has moved by manual operation, based on a signal from the manual operation signal transmitter (125) and the detection result by the discharge clutch sensor (S11).

In addition, when a detection result indicating that the discharge clutch (C18) has switched from a disengaged state to an engaged state is sent to the direction memory unit (128) from the discharge clutch sensor (S11), the direction memory unit (128) determines that the discharge operation by the grain discharge device (118) has been performed.

And when the discharge operation by the grain discharge device (118) is performed at a location where the combine (101) has moved by manual operation, the direction memory unit (128) remembers the orientation of the body of the combine (101) at that time.

In this way, the harvester control system (A1) is equipped with a direction memory unit (128) that memorizes the orientation of the body of the combine (101) at the time when the discharge operation by the grain discharge device (118) is performed at the location where the combine (101) has moved by manual operation.

The orientation of the aircraft stored in the direction memory (128) is sent to the direction setting unit (129). Then, the direction setting unit (129) sets the target stopping direction TD based on the orientation of the aircraft of the combine (101) stored in the direction memory (128). The target stopping direction TD set by the direction setting unit (129) is sent to the driving control unit (123).

In this way, the harvester control system (A1) is equipped with a direction setting unit (129) that sets the target stopping direction TD based on the orientation of the body of the combine (101) stored in the direction memory unit (128).

And, when discharge work is performed by the grain discharge device (118), the driving control unit (123) controls the driving of the combine (101) so that the combine (101) automatically stops at the target stop position TP while facing the target stop direction TD.

In this way, the harvester control system (A1) is equipped with a driving control unit (123) that controls the driving of the combine (101) so that the combine (101) automatically stops at the target stop position TP when the discharge work is performed by the grain discharge device (118).

〔Harvesting operation flow using the combine control system〕

Below, as an example of harvesting work using the harvester control system (A1), the flow of work in the case where a combine (101) performs harvesting work in the field shown in Fig. 14 will be described.

First, the worker manually operates the combine (101) to perform a preliminary drive so that it circles along the boundary line of the package in the outer portion within the package, as shown in Fig. 14. In the example shown in Fig. 14, the combine (101) performs a three-lap drive. When this drive is completed, the package is in the state shown in Fig. 15.

The area calculating unit (124) calculates the driving trajectory of the combine (101) in the driving around as shown in Fig. 14 based on the time-lapse position coordinates of the combine (101) received from the vehicle position calculating unit (121). Then, as shown in Fig. 15, the area calculating unit (124) calculates the area on the outer side of the field along which the combine (101) drove around while taking a look at the planting grain row as the outer area SA based on the calculated driving trajectory of the combine (101). In addition, the area calculating unit (124) calculates the inner side of the calculated outer area SA as the work target area CA.

Next, the path calculation unit (122) sets a preliminary driving path LI in the work target area CA, as shown in Fig. 15, based on the calculation result received from the area calculation unit (124).

In the example shown in Fig. 15, before starting the harvesting operation in the work target area CA, the combine (101) is moved to the vicinity of the transport vehicle (CV) by manual operation. In addition, in the present embodiment, the transport vehicle (CV) is stopped outside the field.

And after the combine (101) stops near the transport vehicle (CV), the grain discharge device (118) is driven and the grain is discharged. The transport vehicle (CV) can collect and transport the grain discharged by the combine (101) from the grain discharge device (118).

At this time, the position memory unit (126) remembers the stop position of the combine (101) at the time when the discharge work by the grain discharge device (118) was performed. In addition, the direction memory unit (128) remembers the orientation of the body of the combine (101) at the time when the discharge work by the grain discharge device (118) was performed.

And as shown in Fig. 16, based on the stopping position stored by the position memory unit (126), the target stopping position TP is set by the position setting unit (127). In addition, based on the orientation of the aircraft stored by the direction memory unit (128), the target stopping direction TD is set by the direction setting unit (129).

And when the worker presses the automatic driving start button (not shown), automatic driving along the pre-driving path LI is started, as shown in Fig. 16. At this time, the driving control unit (123) controls the driving of the combine (101) so that pre-driving is performed by automatic driving along the pre-driving path LI.

As the combine (101) continues the pre-harvesting drive, when the amount of grain in the grain tank (114) reaches a predetermined amount, as shown in Fig. 17, the driving control unit (123) controls the driving of the combine (101) to deviate from the pre-harvesting drive path LI and move to the target stop position TP.

And by the control of the driving control unit (123), the combine (101) automatically stops at the target stopping position TP while facing the target stopping direction TD. In addition, the grain discharge device (118) is driven, and the grain is discharged to the transport vehicle (CV). When the discharge work by the grain discharge device (118) is completed, the combine (101) returns to the harvesting driving along the harvesting driving path LI.

And when the harvesting along all harvesting driving paths LI in the work target area CA is completed, the entire field is harvested.

With the configuration described above, when the first discharge operation is performed in the harvesting operation in the packaging, the stop position of the combine (101) at that time is remembered by the position memory unit (126). Then, for the second and subsequent discharge operations, the combine (101) automatically stops at the remembered stop position by the control of the driving control unit (123).

That is, with the configuration described above, the only thing that needs to be done to stop the combine (101) in a position for discharge by manual operation is the initial discharge operation. This makes it possible to reduce the burden of operation on the worker.

〔Regarding setting the target stopping location through a communication terminal〕

However, the harvester control system (A1) is configured so that the worker can set the target stop position TP through the communication terminal (104) before the first discharge operation by the grain discharge device (118) is performed in the harvesting operation in the field.

Below, setting of the target stopping position TP through the communication terminal (104) is described.

As shown in Fig. 13, the communication terminal (104) has an operation unit (104a) and a signal output unit (104b). As shown in Fig. 18, the operation unit (104a) is configured by a touch panel. Then, the worker can set the target stopping position TP by operating the operation unit (104a) before the first discharge operation by the grain discharge device (118) is performed in the harvesting operation in the packaging.

To explain in detail, as shown in Fig. 18, the operation unit (104a) displays an overall view of the packaging. Then, when the operator touches any part of the operation unit (104a), a symbol indicating the target stopping position TP is displayed at the touched part.

And as shown in Fig. 13, a signal indicating a location touched by a worker is sent from the operation unit (104a) to the signal output unit (104b). The signal output unit (104b) outputs an instruction signal based on the signal received from the operation unit (104a).

This instruction signal is a signal indicating the stop position of the combine (101) for discharge work by the grain discharge device (118). And this instruction signal is sent to the position setting unit (127).

In this way, the harvester control system (A1) is equipped with a signal output unit (104b) that outputs an instruction signal indicating the stop position of the combine (101) for discharge work by the grain discharge device (118).

And at this time, the position setting unit (127) sets the target stopping position TP based on the instruction signal received from the signal output unit (104b).

In this way, the position setting unit (127) is configured to set the target stopping position TP based on the instruction signal when an instruction signal is output by the signal output unit (104b) before the first discharge operation by the grain discharge device (118) is performed in the harvesting operation in the package.

By the above configuration, the worker can set the target stop position TP by operating the operating unit (104a) before the first discharge operation by the grain discharge device (118) is performed in the harvesting operation in the package. Then, when the discharge operation is performed, the combine (101) automatically stops at the set target stop position TP based on the instruction signal from the signal output unit (104b).

Here, the target stop position TP set based on the instruction signal from the signal output unit (104b) is set based on touch operation by the worker. Therefore, there are cases where the target stop position TP ends up being a position relatively far away from the transport vehicle (CV).

In this case, as shown in Fig. 19, after the combine (101) automatically stops at the target stop position TP set based on the instruction signal from the signal output unit (104b), the worker can move the combine (101) from that position by manual operation.

And when the discharge operation by the grain discharge device (118) is performed after the combine (101) has been moved by manual operation, the position memory unit (126) remembers the stop position of the combine (101) at the time the discharge operation by the grain discharge device (118) is performed. In addition, the direction memory unit (128) remembers the orientation of the body of the combine (101) at the time the discharge operation by the grain discharge device (118) is performed.

The position setting unit (127) resets the target stopping position TP based on the stopping position stored in the position memory unit (126) at this time, as shown in Fig. 19. In addition, the direction setting unit (129) sets the target stopping direction TD based on the orientation of the aircraft stored in the direction memory unit (128) at this time, as shown in Fig. 19.

In this way, when the combine (101) is moved by manual operation from the target stop position TP set based on the instruction signal and then the discharge operation by the grain discharge device (118) is performed, the position setting unit (127) resets the target stop position TP based on the stop position of the combine (101) stored in the position memory unit (126).

[Other embodiments of the second embodiment]

Hereinafter, other embodiments that have changed the above-described embodiment will be described. Except for matters described in each of the other embodiments below, matters described in the above-described embodiment are the same as those described in the above-described embodiment. The above-described embodiment and each of the other embodiments below may be appropriately combined within a range where no contradiction occurs. In addition, the scope of the present invention is not limited to the above-described embodiment and each of the other embodiments below.

(1) The driving device (111) may be of wheel type or semi-crawler type.

(2) In the above embodiment, the pre-driving path LI calculated by the path calculating unit (122) is a plurality of parallel lines that are parallel to each other, but the present invention is not limited to this, and the pre-driving path LI calculated by the path calculating unit (122) does not have to be a plurality of parallel lines that are parallel to each other. For example, the pre-driving path LI calculated by the path calculating unit (122) may be a spiral-shaped driving path.

(3) In the above embodiment, the worker manually operates the combine (101) and performs a pre-run so as to circle along the boundary line of the package in the outer peripheral portion within the package, as shown in Fig. 14. However, the present invention is not limited to this, and the combine (101) may be configured to automatically run and perform a pre-run so as to circle along the boundary line of the package in the outer peripheral portion within the package.

(4) Pre-driving along the pre-driving path LI may be performed by the worker manually operating the combine (101).

(5) Some or all of the vehicle position calculation unit (121), path calculation unit (122), driving control unit (123), area calculation unit (124), manual operation signal transmission unit (125), position memory unit (126), position setting unit (127), direction memory unit (128), and direction setting unit (129) may be provided outside the combine (101), and for example, may be provided in a management server provided outside the combine (101).

(6) A direction memory unit (128) does not need to be provided.

(7) A direction setting unit (129) does not need to be provided.

(8) A signal output section (104b) does not need to be provided.

(9) A communication terminal (104) does not need to be provided.

(10) The preliminary driving path LI calculated by the path calculation unit (122) may be a straight path or a curved path.

(11) It may be configured as a harvester control program that realizes the function of each member in the above embodiment on a computer. In addition, it may be configured as a recording medium in which the harvester control program that realizes the function of each member in the above embodiment on a computer is recorded. In addition, it may be configured as a harvester control method that performs what is performed by each member in the above embodiment by a plurality of steps.

The present invention can be applied not only to a regular combine but also to a self-propelled combine.

In addition, the present invention can be used not only for a regular combine harvester but also for a self-propelled combine harvester. In addition, it can be used for various harvesters such as a corn harvester, a potato harvester, a carrot harvester, and a sugar cane harvester.

(First embodiment)
1: Combine
13: Threshing device
13b: Yodong sorting department
15: Pre-registration device
20: Control Unit
22: Path generation section
22a: Preliminary driving path calculation section
23: Driving control unit (automatic pre-driving control unit)
25: The Jury
26: Threshing device start
27: Threshing device stop
A: Combine control system
LI: Preliminary driving route
S1: Sieve sensor
(Second embodiment)
101: Combine (Harvester)
104b: Signal output section
114: Grain Tank (Harvest Tank)
118: Grain discharge device (discharge device)
123: Driving Control Unit
126: Location memory
127: Position setting section
128: Direction memory
129: Direction setting section
A1: Harvester control system
H: Harvesting device
TD: Target Stop Direction
TP: Target Stop Position

Claims (13)

A combine control system that controls a combine having a harvesting device for harvesting grain for planting in a package and a threshing device for threshing the harvested grain harvested by the harvesting device.
A pre-driving path calculation unit that calculates a pre-driving path, which is a driving path for pre-driving in packaging;
An automatic pre-driving control unit that controls the combine so that pre-driving is performed by automatic driving along the above-mentioned pre-driving route,
A judgment unit that determines whether the threshing efficiency of the threshing device has decreased when the above combine deviates from the above-mentioned pre-driving path;
A threshing device stop unit that stops the operation of the threshing device when the threshing efficiency of the threshing device is judged to have decreased by the judgment unit;
A combine control system having a threshing device start unit that automatically resumes driving of the threshing device when the combine turns to return to automatic driving along the pre-harvesting driving path after the driving of the threshing device has been stopped by the threshing device stop unit. In the first paragraph,
The above threshing device has a shaking sorting section for sorting and processing the processed material obtained through threshing,
The above combine has a sieve sensor that detects the amount of materials to be sorted in the above-mentioned vibration sorting section,
A combine control system in which the judgment unit is configured to judge that the threshing efficiency of the threshing device has decreased when the amount of the selected processing material detected by the sieve sensor has decreased. In the first paragraph,
A combine control system wherein the judgment unit is configured to determine that the threshing efficiency of the threshing device has decreased when the period in which the harvesting device is not driven continues. A combine control program for controlling a combine having a harvesting device for harvesting grain for planting in a package and a threshing device for threshing the harvested grain harvested by the harvesting device.
A pre-driving path calculation function that calculates a pre-driving path, which is a driving path for pre-driving in packaging, and
An automatic pre-driving control function that controls the combine so that pre-driving is performed by automatic driving along the above-mentioned pre-driving route,
A judgment function for judging whether the threshing efficiency of the threshing device has decreased when the above combine deviates from the above-mentioned pre-driving path;
A threshing device stop function that stops the operation of the threshing device when the threshing efficiency of the threshing device is judged to have decreased by the above judgment function, and
A combine control program stored in a recording medium that causes a computer to realize a threshing device start function that automatically resumes operation of the threshing device when the combine turns to return to automatic driving along the pre-harvesting driving path after the operation of the threshing device has been stopped by the threshing device stop function. A recording medium recording a combine control program for controlling a combine having a harvesting device for harvesting grain for planting in a package and a threshing device for threshing the harvested grain harvested by the harvesting device.
A pre-driving path calculation function that calculates a pre-driving path, which is a driving path for pre-driving in packaging, and
An automatic pre-driving control function that controls the combine so that pre-driving is performed by automatic driving along the above-mentioned pre-driving route,
A judgment function for judging whether the threshing efficiency of the threshing device has decreased when the above combine deviates from the above-mentioned pre-driving path;
A threshing device stop function that stops the operation of the threshing device when the threshing efficiency of the threshing device is judged to have decreased by the above judgment function.
A recording medium storing a combine control program that causes a computer to realize a threshing device start function that automatically resumes operation of the threshing device when the combine turns to return to automatic driving along the pre-harvesting driving path after the operation of the threshing device has been stopped by the threshing device stop function. A combine control method for controlling a combine having a harvesting device for harvesting grain for planting in a package and a threshing device for threshing the harvested grain harvested by the harvesting device.
A pre-driving path calculation step for calculating a pre-driving path, which is a driving path for pre-driving in packaging, and
An automatic pre-driving control step for controlling the combine so that pre-driving is performed by automatic driving along the above-mentioned pre-driving route,
A judgment step for judging whether the threshing efficiency of the threshing device has decreased when the above combine deviates from the above-mentioned pre-driving path;
A threshing device stop step for stopping the operation of the threshing device when it is determined that the threshing efficiency of the threshing device has decreased by the above judgment step.
A combine control method having a threshing device start step for automatically restarting the operation of the threshing device when the combine turns to return to automatic driving along the pre-harvesting driving path after the operation of the threshing device has been stopped by the threshing device stop step. A harvester control system that controls a harvester having a harvesting device for harvesting crops in a package, a harvest tank for storing the crops harvested by the harvesting device, and a discharge device for discharging the crops stored in the harvest tank.
In the case where the discharge operation by the discharge device is performed at a location where the harvester has moved by manual operation, a position memory unit that remembers the stop position by manual operation of the harvester at the time when the discharge operation by the discharge device is performed;
A position setting unit that sets a target stopping position based on the stopping position by manual operation of the harvester stored in the above position memory unit, and
A harvester control system having a driving control unit that controls the driving of the harvester so that the harvester automatically stops at the target stopping position when the discharge operation by the above discharge device is performed. In Article 7,
A signal output section is provided for outputting an instruction signal indicating the stop position of the harvester for discharge work by the above discharge device,
The above position setting unit is configured to set the target stopping position based on the instruction signal when the instruction signal is output by the signal output unit before the first discharge operation by the discharge device is performed in the harvesting operation in the packaging.
The above position setting unit is a harvester control system that resets the target stopping position based on the stopping position of the harvester stored in the position memory unit when the discharge operation is performed by the discharge device after the harvester has moved by manual operation from the target stopping position set based on the instruction signal. In clause 7 or 8,
In the case where the discharge operation by the discharge device is performed at a location where the harvester has moved by manual operation, a direction memory unit that remembers the orientation of the gas of the harvester at the time when the discharge operation by the discharge device is performed;
A direction setting unit is provided for setting a target stopping direction based on the orientation of the aircraft body stored in the direction memory unit.
The above driving control unit is a harvester control system that controls the driving of the harvester so that the harvester automatically stops at the target stopping position while facing the target stopping direction when the discharge operation by the discharge device is performed. A harvester control program for controlling a harvester having a harvesting device for harvesting crops in a package, a harvesting tank for storing the crops harvested by the harvesting device, and a discharge device for discharging the crops stored in the harvesting tank.
In the case where the discharge operation by the discharge device is performed at a location where the harvester has moved by manual operation, a position memory function for remembering the stop position by manual operation of the harvester at the time when the discharge operation by the discharge device is performed;
A position setting function for setting a target stopping position based on the stopping position by manual operation of the harvester remembered by the above position memory function,
A harvester control program stored in a recording medium that causes a computer to realize a driving control function that controls the driving of the harvester so that the harvester automatically stops at the target stopping position when the discharge operation by the above discharge device is performed. A recording medium recording a harvester control program for controlling a harvester having a harvesting device for harvesting crops in a package, a harvesting tank for storing the crops harvested by the harvesting device, and a discharge device for discharging the crops stored in the harvesting tank.
In the case where the discharge operation by the discharge device is performed at a location where the harvester has moved by manual operation, a position memory function for remembering the stop position by manual operation of the harvester at the time when the discharge operation by the discharge device is performed;
A position setting function for setting a target stopping position based on the stopping position by manual operation of the harvester remembered by the above position memory function,
A recording medium storing a harvester control program that causes a computer to realize a driving control function that controls the driving of the harvester so that the harvester automatically stops at the target stopping position when the discharge operation by the above discharge device is performed. A harvester control method for controlling a harvester having a harvesting device for harvesting crops in a package, a harvesting tank for storing the crops harvested by the harvesting device, and a discharge device for discharging the crops stored in the harvesting tank.
A position memory step for memorizing the stop position of the harvester by manual operation at the time when the discharge operation by the discharge device is performed at the location where the harvester moved by manual operation,
A position setting step for setting a target stopping position based on the stopping position by manual operation of the harvester remembered by the position memory step,
A harvester control method having a driving control step for controlling the driving of the harvester so that the harvester automatically stops at the target stop position when the discharge operation by the above discharge device is performed. delete

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