Patent Application
20240016088
This invention relates to a combine that generates an unworked site and an unworked site calculation method.
There is known a contour shape calculation system for calculating the contour shape of an unworked site area that is located inside the worked site that is formed by circumference reaping (round reaping) the field (Patent Literature 1). This system calculates the contour shape of the work target area by setting a reference point (center-of-gravity point) inside the shape formed by connecting at least one of a plurality of first measurement positions and a plurality of second measurement positions at a time after one lap of round reaping around the field completes, and connecting with a line the measurement positions closer to the reference point.
In the system described above, however, when calculating the contour shape of a work target area, it is necessary to set a reference point after one lap of round reaping around the field, select measurement positions based on the reference point, and connect the measurement positions with a line. In other words, the contour shape of the work target area cannot be calculated without identifying many points (positions) and performing many steps.
The present invention provides a combine and an unworked site calculation method which allow for easily generating an unworked site.
The present invention is a combine that generates an unworked site of a field by round reaping in which a vehicle body performs a reaping work while repeating straight advance and turn, the combine comprising a positioning unit that acquires a measurement point indicating a position of the vehicle body, a straight line generation unit that generates a work straight line based on the measurement point acquired between a work start position and a work end position through one round of the reaping work, and an unworked site generation unit that calculates an intersection point of the work straight lines crossing one another each time the work straight line is generated, and generates the unworked site that forms a polygon with at least three of the intersection points as vertices, when at least three of the work straight lines cross to constitute a closed area.
In this case, the unworked site generation unit may set the unworked site by setting the intersection point that is calculated last as a start point, generating a first polygon if at least three of the intersection points including the start point are found as a result of searching for the intersection points clockwise from the start point, generating a second polygon if at least three of the intersection points including the start point are found as a result of searching for the intersection points counterclockwise from the start point, and if only one of the first polygon and the second polygon is generated, setting the generated one of the first polygon and the second polygon as the unworked site, whereas if both the first polygon and the second polygon are generated, setting one with a larger area of the first polygon and the second polygon as the unworked site.
In this case, the positioning unit may continuously acquire the measurement points from the work start position to the work end position through one round of the reaping work, and the straight line generation unit may generate a reference straight line based on a plurality of the acquired measurement points, and set the work straight line to pass through the measurement point that is farthest from the unworked site across the reference straight line and to extend along the reference straight line.
In this case, when one round of the reaping work is interrupted and then resumed, the straight line generation unit may generate a first work straight line based on the measurement point acquired between the work start position and a work interruption position, and generate a second work straight line based on the measurement point acquired between the work interruption position and the work end position, and if an inclination angle of the second work straight line relative to the first work straight line is within a predetermined range, the straight line generation unit may generate a straight line that connects the work start position and the work end position as the work straight line, whereas if the inclination angle of the second work straight line relative to the first work straight line exceeds the predetermined range, the straight line generation unit may make different the reaping work between a section from the work start position to the work interruption position and a section from the work interruption position to the work end position, and set the first work straight line and the second work straight line as different work straight lines from each other.
In this case, the combine may further comprise a travel route creation unit that generates a straight advance route in the unworked site, and an automatic operation control unit that executes the reaping work automatically along the straight advance route, wherein the work straight line may be generated by executing the reaping work automatically along the straight advance route.
The present invention is an unworked site calculation method for generating an unworked site of a field by round reaping in which a vehicle body performs a reaping work while repeating straight advance and turn, comprising a straight line generation step of generating a work straight line based on a measurement point indicating a position of the vehicle body, which is acquired between a work start position and a work end position through one round of the reaping work, and an unworked site generation step of calculating an intersection point of the work straight lines crossing one another each time the work straight line is generated and generating the unworked site that forms a polygon with at least three of the intersection points as vertices, when at least three of the work straight lines cross to constitute a closed area.
In this case, the unworked site generation step may comprise setting the intersection point that is calculated last as a start point, generating a first polygon if at least three of the intersection points including the start point are found as a result of searching for the intersection points clockwise from the start point, generating a second polygon if at least three of the intersection points including the start point are found as a result of searching for the intersection points counterclockwise from the start point, and if only one of the first polygon and the second polygon is generated, setting the generated one of the first polygon and the second polygon as the unworked site, whereas if both the first polygon and the second polygon are generated, setting one with a larger area of the first polygon and the second polygon as the unworked site.
In this case, the straight line generation step may comprise generating a reference straight line based on a plurality of the measurement points that are continuously acquired from the work start position to the work end position through one round of the reaping work, and setting the work straight line to pass through the measurement point that is farthest from the unworked site across the reference straight line and to extend along the reference straight line.
In this case, the straight line generation step may comprise when one round of the reaping work is interrupted and then resumed, generating a first work straight line based on the measurement point acquired between the work start position and a work interruption position, and generating a second work straight line based on the measurement point acquired between the work interruption position and the work end position, and the straight line generation step may comprise if an inclination angle of the second work straight line relative to the first work straight line is within a predetermined range, generating a straight line that connects the work start position and the work end position as the work straight line, whereas if the inclination angle of the second work straight line relative to the first work straight line exceeds the predetermined range, making different the reaping work between a section from the work start position to the work interruption position and a section from the work interruption position to the work end position, and setting the first work straight line and the second work straight line as different work straight lines from each other.
In this case, the unworked site calculation method may further comprise a travel route creation step of generating a straight advance route in the unworked site, and an automatic operation control step of automatically executing the reaping work along the straight advance route, wherein the work straight line may be generated by automatically executing the reaping work along the straight advance route.
According to the present invention, unworked site can be easily generated.
Embodiments of the present invention will be described below with reference to the accompanying drawings. Although terms indicating direction and position are used herein, such terms are used for convenience of explanation and do not limit the technical scope of the invention.
[Outline of Combine]
A combine 1 will be described with reference to
The combine 1 performs work such as reaping grain culms in a field while traveling and turning automatically in a work target field, either by automatic operation or manual operation. The combine 1 is configured to perform an automatic operation in which steering is controlled by automated work while the traveling speed is controlled by manual operation, or an unmanned work in which steering and traveling speed are controlled by automatic operation.
As illustrated in
The traveling part 2 includes a left-and-right pair of crawler type traveling devices 11 provided below the body frame 10. The crawler type traveling devices 11 are connected to an engine 27 via a transmission (not illustrated), and are rotated by output generated by the engine 27. The crawler type traveling device 11 is rotary driven, causing the combine 1 to travel forward and backward or turn to the left and right.
The reaping part 3 is provided in front of the traveling part 2. The reaping part 3 is provided so as to be capable of being raised and lowered between a lowered position, which enables reaping of the grain culms on a field, and a raised position, in which reaping of the grain culms is disabled. The reaping part 3 includes a divider 13, a raising device 14, a cutting device 15, and a conveying device 16. The divider 13 guides the grain culm on the field to the raising device 14. The raising device 14 raises the grain culms guided by the divider 13. The cutting device 15 cuts the grain culms raised by the raising device 14. The conveying device 16 conveys the grain culms cut by the cutting device 15 to the threshing part 4.
The threshing part 4 is provided behind the reaping part 3. The threshing part 4 includes a feed chain 18, and a threshing cylinder 19. The feed chain 18 conveys, for threshing, the grain culms conveyed from the conveying device 16 of the reaping part 3, and further conveys the grain culms after threshing, that is, discharged straw to the discharged straw processing part 7. The threshing cylinder 19 threshes the grain culms conveyed by the feed chain 18.
The sorting part 5 is provided below the threshing part 4. The sorting part 5 includes a swing sorting device 21, a wind sorting device 22, a grain conveying device (not illustrated), and a straw waste discharging device (not illustrated). The swing sorting device 21 sifts the threshed grain that falls from the threshing part 4 and sorts the threshed grains into grain, straw waste, etc. The wind sorting device 22 further sorts the threshed grains sorted by the swing sorting device 21 into grain, straw waste, etc., by air blow. The grain conveying device conveys the grains sorted by the swing sorting device 21 and the wind sorting device 22 to the reservoir part 6. The straw waste discharging device discharges the straw waste and the like sorted by the swing sorting device 21 and the wind sorting device 22 to the outside of the combine. The reservoir part 6 is provided on the right side of the threshing part 4. The reservoir part 6 includes a grain tank 24 and a discharging device 25. The grain tank 24 stores the grains conveyed from the sorting part 5. The discharging device 25 is composed of an auger or the like, and discharges the grains stored in the grain tank 24 to a freely selected place.
The discharged straw processing part 7 is provided behind the threshing part 4. The discharged straw processing part 7 includes a discharged straw conveying device (not illustrated), and a discharged straw cutting device (not illustrated). The discharged straw conveying device conveys the discharged straw conveyed from the feed chain 18 of the threshing part 4 to the discharged straw cutting device. The waste straw cutting device cuts the waste straw conveyed by the waste straw conveying device, and discharges it to the outside of the machine.
The power part 8 is provided on the upper front side of the traveling part 2. The power part 8 includes the engine 27 that generates rotational power. The power part 8 transmits the rotational power generated by the engine 27 to the traveling part 2, the reaping part 3, the threshing part 4, the sorting part 5, the reservoir part 6, and the discharged straw processing part 7.
The steering part 9 is provided above the power part 8. The steering part 9 includes a driver's seat 29, a touch panel 30 (see
The combine 1 includes an onboard camera 32 (see
<Positioning Unit>
As illustrated in
<Base Station>
The base station 39 is installed on at a levee or the like around the work target field for the combine 1. The base station 39 includes a fixed communicator 40, a fixed GPS antenna 41, a data transmitting antenna 42, and a fixed camera 43. The fixed communicator 40 communicates with the GPS satellite via the fixed GPS antenna 41 to acquire the position information of the base station 39. The fixed communicator 40 transmits correction information based on the position information of the base station 39 to the mobile communicator 35 via the data transmitting antenna 42. The fixed camera 43 photographs the field. The fixed communicator 40 acquires the image (field image) captured by the fixed camera 43, and transmits the field image to the mobile communicator 35 via the data transmitting antenna 42. The mobile communicator 35 of the positioning unit 34 receives the correction information and the field image transmitted from the fixed communicator 40 of the base station 39 via the data receiving antenna 37. The mobile communicator 35 corrects the position information of the vehicle body (combine 1) based on the correction information. The base station 39 does not have to be installed, and correction of the position information by the base station 39 does not have to be performed.
[Control Device]
Next, a control device 45 of the combine 1 will be described with reference to
The control device 45 includes an arithmetic processing unit 50, a memory unit 51, and a communication unit 52. The arithmetic processing unit 50, the memory unit 51, and the communication unit 52 are electrically connected to each other. The various components of the combine 1 described above are electrically connected to the control device 45 via an interface. The control device 45 controls the various components of the combine 1 according to input operations made by the operator via the steering part 9.
The memory unit 51 is, for example, a ROM (Read Only Memory), a RAM (Random Access Memory), a hard disk drive, or a flash memory, etc., and stores programs and data for controlling the various components and various functions of the combine 1. The arithmetic processing unit 50 controls the various components and various functions of the combine 1 by executing arithmetic processing based on programs and data stored in the memory unit 51. Here, in place of a processor or the like that executes programs, the control device 45 may be achieved by a logic circuit (hardware) formed in an integrated circuit or the like.
The communication unit 52 wirelessly communicates with a portable terminal 53 held by the operator. The portable terminal 53 is, for example, a tablet terminal with a touch panel, a notebook personal computer, and used to remotely control the combine 1. The portable terminal 53 includes a portable camera 54 for photographing the field. Furthermore, the communication unit 52 performs wireless communication with an aerial photography device 56 such as a drone. The aerial photography device 56 includes an aerial photography camera 57 for photographing the field. When the operator inputs an operation instruction for the aerial photography device 56 to the touch panel 30 or the portable terminal 53, the aerial photography device 56 operates according to the operation instruction transmitted from the communication unit 52. Note that the aerial photography device 56 may perform wireless communication with the portable terminal 53, instead of or in addition to the communication unit 52.
When the operator inputs photographing instructions for the respective cameras 32, 43, 57 to the touch panel 30 or the portable terminal 53 (hereinafter referred to as “touch panel 30 or the like”), the control device 45 controls the respective cameras 32, 43, 57 to photograph the field. The control device 45 causes the touch panel 30 or the like to display the field images captured by the respective cameras 32, 43, 57. Furthermore, when the operator inputs a display instruction to display the field image captured by the portable camera 54 to the touch panel 30 or the like, the control device controls the portable terminal 53 via the communication unit 52 to display the field image on the touch panel 30 or the like. Alternatively, the portable terminal 53 and aerial photography device 56 may be omitted, and field information may not be acquired by the portable terminal 53 or the aerial photography device 56.
The control device 45 acquires (and stores in the memory unit 51) the position information (measurement points 71) of the combine 1 from the mobile communicator of the positioning unit 34. The control device 45 causes the touch panel 30 or the like to displays a field information setting screen which allows setting of field information including, for example, a field contour 70 (the shape of the outer edge of the field). Furthermore, the control device 45 causes the touch panel 30 or the like, to display a field map based on the field information and a travel route showing a traveling direction of the combine 1 on the field map.
[Functions of Control Device]
Next, the functions of the control device 45 will be described with reference to
As illustrated in
<Field Information Setting Unit>
The field information setting unit 60 generates a field contour 70 and an unworked site 73 (an area where no reaping work is performed) by round reaping in which a vehicle body (combine 1) performs reaping works while repeating straight advance and turn. The four arrows in single dotted lines in
To generate the field contour 70, the operator manually travels the combine 1 along the outer edge of the field (not illustrated). By the combine 1 performing one lap of round reaping around the field while repeatedly alternating straight advance and turn (i.e., performing round reaping), the field information setting unit 60 generates a field contour 70 based on the position information (measurement points 71) acquired via the positioning unit 34.
After the field contour 70 is generated, the operator manually travels the combine 1 to generate the unworked site 73. In the example illustrated in
As illustrated in
The field information setting unit 60 may acquire field information about the field contour 70, etc., based on information manually inputted by the operator through the field information setting screen displayed on the touch panel 30 or the like In addition, the field information setting unit 60 may acquire at least one field image captured by the respective cameras 32, 43, 54, 57 and may automatically acquire field information by analyzing the at least one field image.
<Travel Route Creation Unit>
To form the headland 72A (i.e., to perform the second lap of round reaping around the field), the travel route creation unit 62 generates (see
The travel route creation unit 62 generates a travel route (not illustrated), which is referenced when the combine 1 performs automatic operation (i.e., automatic traveling and automatic reaping) in the automatic travel allowable area 73A that is set inside the headland 72A, and stores the travel route in the memory unit 51. Preferably, the travel route creation unit 62 sets a route for reaping while traveling to be linear, and sets a travel route for the automatic travel allowable area 73A by combination of a plurality of linear routes. Preferably, the travel route creation unit 62 generates the travel route such that reaping proceeds from the periphery of the automatic travel allowable area 73A toward the center thereof. Preferably, the travel route creation unit 62 generates the travel route such that the automatic travel allowable area 73A is located on the left side of the vehicle body. When newly creating or modifying the travel route, the travel route creation unit 62 may select a travel route with high work efficiency from a plurality of tentatively generated travel routes. Here, the work efficiency is determined in consideration of not only the travel associated with reaping but also empty travel distance, turning, etc.
The travel route creation unit 62 may set the travel route on the basis of the field information that is manually input by the operator by using the touch panel 30 or the like, or may automatically set the travel route on the basis of the field information that is set by the field information setting unit 60. The travel route creation unit 62 sets the travel route of a predetermined travel pattern such as for forward-and-backward reaping travel or round reaping travel. The travel route includes an empty travel route through which the combine 1 moves from one linear route to another linear route, in addition to a linear route along which the grain plants are reaped. Thus, the travel route creation unit 62 preferably generates the travel route so as to make shorter the empty travel route (i.e., empty travel distance).
Note that the straight advance route S and the travel route are associated with travel setting concerning travel and work setting concerning work such as reaping. The travel setting includes, in addition to a travel position in the field, a travel speed and a travel direction (a steering direction, a forward direction, or a backward direction) at each travel position. The work setting includes information about whether during operation or stop of reaping at each travel position, reaping speed and reaping height, and any other work.
<Automatic Operation Control Unit>
The automatic operation control unit 63 controls the power part 8, the traveling part 2, and the reaping part 3 on the basis of the travel setting and the work setting generated by the travel route creation unit 62, so as to execute automatic reaping work while automatically traveling along the straight advance routes S and the travel route (automatic operation). The automatic operation control unit 63 also controls the threshing part 4, the sorting part 5, the reservoir part 6, and the discharged straw processing part 7, so as to automatically thresh the reaped grain culms, sort the threshed grains from the straw waste, store the sorted grains, process the threshed waste straw, and the like. The combine 1 includes a gyroscopic sensor and an orientation sensor (a geomagnetic sensor) (none of them is illustrated). The automatic operation control unit 63 may acquire displacement information and orientation information from these sensors and may adjust automatic operation of the combine 1 on the basis of the position information, the displacement information, and the orientation information acquired by using the satellite positioning system.
[Configuration of Field Information Setting Unit]
Next, a configuration of the field information setting unit 60 will be described with reference to
Incidentally, there is a case in which a field contour 70 and a direction of grain culm rows are previously set and the headland 72A and the automatic travel allowable area 73A (travel route) are calculated based on the preset field contour 70. If an actual direction of grain culm rows is inclined to the preset row direction, an actually-formed headland 72A and an actually-formed automatic travel allowable area 73A will not match the calculated headland 72A and the calculated automatic travel allowable area 73A, since the combine 1 performs the reaping work along the actual direction of grain culm rows. Therefore, when an automatic operation is executed in the automatic travel allowable area 73A calculated from the preset field contour 70, etc., there is a possibility of leaving unreaped, etc. Thus, the combine 1 according to this embodiment has a function to generate the unworked site 73 (the automatic travel allowable area 73A) based on the information obtained when the vehicle body is actually driven straight ahead.
As illustrated in
<Straight Line Generation Unit>
The straight line generation unit 65 determines lowering the reaping part 3 from its raised position to its lowered position as a start of one reaping work (one straight advance step), and stores the associated position in the memory unit 51 as a work start position P1. The straight line generation unit 65 determines raising the reaping part 3 from its lowered position to its raised position as an end of one reaping work, and stores the associated position in the memory unit 51 as a work end position P2. Furthermore, the straight line generation unit 65 determines starting and ending the automatic operation along the straight advance routes S as the start and end of one reaping work, and store the associated positions in the memory unit 51 as the work start position P1 and the work end position P2. Still furthermore, the straight line generation unit 65 may also store the positions where the operator inputs the start and end of a reaping work through the touch panel 30 or the like, as the work start position P1 and the work end position P2 in the memory unit 51, respectively. Here, the positioning unit 34 continuously (at predetermined time intervals) acquires measurement points 71 from the work start position P1 to the work end position P2 through one reaping work.
As illustrated in
As a specific example of the method for generating (calculating) the work straight line 75, the straight line generation unit 65 may use a straight line passing through more measurement points 71 as the work straight line 75, or a straight line approximated using the least-squares method as the work straight line 75. Furthermore, the straight line generation unit 65 may use a straight line connecting the work start position P1 and the work end position P2 as the work straight line 75, or may use the straight line connecting a plurality of manually or automatically selected measurement points 71 as the work straight line 75. For the work straight line 75 other than that connects the work start position P1 and the work end position P2, the start and end positions of the work straight line 75 may not coincide with the work start and work end positions P1 and P2, respectively.
<Unworked Site Generation Unit>
As illustrated in
As illustrated in
In detail, the unworked site generation unit 66 determines whether the closed area has been constituted by at least three work straight lines 75. If the number of work straight lines 75 generated is less than three, or if the work straight lines 75 do not constitute a closed area, the unworked site generation unit 66 waits for the next work straight line 75 to be generated. On the other hand, if three or more work straight lines constitute a closed area, the unworked site generation unit 66 sets the last calculated intersection point 76 as a start point 76A. If at least three intersection points 76 including the start point 76A are found as a result of searching for the intersection points 76 clockwise from the start point 76A, the unworked site generation unit 66 generates a first polygon 77. If at least three intersection points 76 including the start point 76A are found as a result of searching for the intersection points 76 counterclockwise from the start point 76A, the unworked site generation unit 66 generates a second polygon 78. If only one of the first polygon 77 and the second polygon 78 is generated, the unworked site generation unit 66 sets the generated one of the first polygon 77 and the second polygon 78 as the unworked site 73. On the other hand, if both the first polygon 77 and the second polygon 78 are generated, the unworked site generation unit 66 sets the one with the larger area of the first polygon 77 and the second polygon 78 as the unworked site 73.
The unworked site generation unit 66 stores the set unworked site 73 (intersection points 76) in the memory unit 51 and deletes from the memory unit 51 the intersection point 76 that does not constitute the unworked site 73. Furthermore, as already described, when the second lap of round reaping around the field is completed, the unworked site generation unit 66 sets and stores in the memory unit 51 the worked site 72 as the headland 72A and the unworked site 73 as the automatic travel allowable area 73A, which unworked site 73 has as vertices three or more intersection points 76 that remain undeleted. The field contour 70, the worked site 72 (headland 72A), the unworked site 73 (automatic travel allowable area 73A), the work straight line 75, the intersection point 76, etc., are displayed as a part of the field information on the touch panel 30 or the like.
For example, as illustrated in
Furthermore, for example, as illustrated in
Furthermore, as illustrated in
[Unworked Site Calculation Method]
Next, an unworked site calculation method for generating the unworked site 73 (the automatic travel allowable area 73A) by round reaping around the field will be described with reference to
For example, the operator boards the driver's seat 29 of the combine 1 and performs round reaping around the field counterclockwise (see
As illustrated in
<Straight Line Generation Step>
At the straight line generation step S1, the straight line generation unit 65 generates the work straight line 75 based on the measurement points 71 acquired between the work start position P1 and the work end position P2 in one step (see
<Unworked Site Generation Step>
As illustrated in
(Intersection Determination Step and Intersection Point Calculation Step)
At the intersection determination step S21, each time a work straight line 75 is generated, the unworked site generation unit 66 determines whether there are the work straight lines 75 crossing one another. If there are any intersecting work straight lines 75 (YES at the intersection determination step S21), the unworked site generation unit 66, at the intersection point calculation step S22, calculates the intersection point 76 between the work straight lines 75. However, if there are no intersecting work straight line 75 (NO at the intersection determination step S21), the unworked site generation unit 66 returns to the straight line generation step S1, and waits for the next work straight line 75 to be generated.
(Closed Area Determination Step and Generation Execution Step)
After the intersection point 76 is calculated, the unworked site generation unit 66, at the closed area determination step S23, determines whether at least three work straight lines 75 have intersected to form a closed area. If a closed area (see
(Details of Generation Execution Step)
As illustrated in
(Search Step)
At the search step S31, the unworked site generation unit 66 sets the last calculated intersection point 76 as the start point 76A, and searches for the intersection points 76 clockwise from the start point 76A and searches for the intersection points 76 counterclockwise from the start point 76A.
(Polygon Generation Step)
At the polygon generation step S32, if the clockwise search finds three intersection points 76 including at least the start point 76A, the unworked site generation unit 66 generates the first polygon 77 (see
(Generation Determination Step, Setting Step, and Comparison and Setting Step)
At the generation determination step S33, the unworked site generation unit 66 determines whether both the first polygon 77 and the second polygon 78 have been generated. If only one of the first polygon 77 and the second polygon 78 has been generated (NO at the generation determination step S33), the unworked site generation unit 66, at the setting step S34, sets the generated one of the first polygon 77 and the second polygon 78 as the unworked site 73. However, if both the first polygon 77 and the second polygon 78 have been generated (YES at the generation determination step S33), the area of the first polygon 77 and the area of the second polygon 78 are calculated, and the one with the larger area of the first polygon 77 and the second polygon 78 is set as the unworked site 73, at the comparison and setting step S35.
(Travel Route Creation Step and Automatic Operation Control Step)
When automatic straight advance is performed during the second lap of round reaping around the field, the unworked site calculation method includes a travel route creation step S4 and an automatic operation control step S5. The travel route creation step S4 and the automatic operation control step S5 are executed prior to the straight line generation step S1. Since the second lap of round reaping around the field may be done manually, the travel route creation step S4 and the automatic operation control step S5 are indicated by dashed lines in
At the travel route creation step S4, the travel route creation unit 62 generates the straight advance route S along at least one side of the unworked site 73 (or the field contour 70) inside the unworked site 73 (see
The unworked site 73 (automatic travel allowable area 73A) is thus generated by round reaping around the field (see
According to the combine 1 (unworked site calculation method) of the embodiment described above, it is possible to generate the work straight line 75 each time one reaping work is completed, and to generate an unworked site 73 with the intersection points 76 of the work straight lines 75 as vertices. This enables to obtain the unworked site 73 easily, compared with a case, for example, where the unworked site 73 is obtained by setting a lot of points (positions) after one lap of round reaping around the field, and connecting the positions with lines. According to the combine 1 (unworked site calculation method) of the embodiment, it is possible to set the headland 72A and the automatic travel allowable area 73A by executing the reaping work along the actual direction of grain culm rows. As a result, a travel route that matches the actual row direction is set for the automatic travel allowable area 73A, so that it is possible to realize the automatic operation with minimum remaining unreaped crop.
According to the combine 1 (unworked site calculation method) of the embodiment, the latest unworked site 73 can be obtained using the last calculated intersection point 76 (the start point 76A) as a reference. This allows the unworked site 73, which narrows as the reaping works continue, to be constantly updated with the latest unworked site 73.
Furthermore, for the combine 1 (unworked site calculation method) according the embodiment, concerning the second lap of round reaping around the field, it is possible to perform the reaping work while performing the automatic straight advance (straight advance through the headland), and it is possible to obtain the work straight line 75 for each automatic reaping work. Thus, it is possible to obtain the unworked site easily. Furthermore, since it is possible to acquire the work straight line 75 based on a plurality of measurement points 71 that are continuously acquired from the start to the end of the reaping work, it is allowed to acquire the work straight line 75 with less deviation along the actual straight advance of the combine 1.
Next, a combine 1 (unworked site calculation method) according to a first modification of the embodiment will be described with reference to
There may be a case in which grain crops are not planted straight along the row direction at the outer edge region of the unworked site 73. In other words, there may be a case in which the outer edge of the unworked site 73 is unevenly formed. In such a case, the combine 1 has to perform the reaping work with the outer edge of the unworked site 73 extending meandering along the unevenness. If the work straight line 75 is generated by linear approximation of the plurality of measurement points 71 acquired during this reaping work, the work straight line 75 may overlap with a portion of the unworked site 73. In other words, there may be a case in which an area that has not actually been reaped if set as the worked site 72, so that some unreaped grain culms remain in the worked site 72. Therefore, the combine 1 (unworked site calculation method) according to the first modification has a function to prevent leaving unreaped in the worked site 72.
For the combine 1 (straight line generation step S1) according to the first modification, the straight line generation unit 65 generates a reference straight line 80 based on the plurality of measurement points 71 continuously acquired from the work start position P1 to the work end position P2 through one reaping work. The calculation method for the reference straight line 80 is similar to that for the work straight line 75. Then, at the straight line generation step S1, the straight line generation unit 65 determines the measurement point 71 that is farthest from the unworked site 73 across the reference straight line 80. In other words, the measurement point 71 that is outermost from the unworked site 73 is identified. Next, at the straight line generation step S1, the straight line generation unit 65 sets the work straight line 75 to pass through the identified measurement point 71 and to extend along (generally parallel to) the reference straight line 80.
For the combine 1 (unworked site calculation method) according to the first modification of the embodiment described above, the work straight line 75 is set to pass through the measurement point 71 that was farthest from the unworked site 73. According to this configuration, the worked site 72 is surely formed outside the unworked site 73, which prevents the area that is not actually reaped from being set as the worked site 72. As a result, the actual unworked site 73 does not enter the worked site 72, so that it is possible to prevent grain culms left unreaped. Furthermore, it is possible to acquire the reference straight line 80 with minimal deviation along the actual movement of the combine 1, based on the plurality of measurement points 71 that are continuously acquired during the reaping work.
For the combine 1 (unworked site calculation method) according to the first modification of the embodiment, the work straight line 75 is set generally parallel to the reference straight line 80. However, in this specification, the work straight line 75 being set along the reference straight line 80 is not limited to the work straight line 75 being parallel to the reference straight line 80, and is a concept that allows for a slight inclination. For example, if only within a degree that there is no leaving unreaped, the straight line generation unit 65 may set the work straight line 75 that passes through the identified measurement point 71 and is inclined with respect to the reference straight line 80 (not illustrated). Furthermore, for example, at the straight line generation step S1, the straight line generation unit 65 may move the reference straight line 80 so that it passes through the identified measurement points 71 (or more precisely, calculate the coordinates at which the reference straight line 80 is moved) and set the reference straight line 80 as the work straight line 75.
Next, a combine 1 (unworked site calculation method) according to a second modification of the embodiment will be described with reference to
For example, there may be a case in which one reaping work (one straight advance step) is interrupted when a culm jam occurs in the reaping part 3 or threshing part 4, etc., and then the reaping work is resumed after the jam is cleared. In this case, the travel direction of the resumed reaping work may be slightly inclined with respect to the travel direction of the reaping work before interruption. Therefore, the combine 1 (unworked site calculation method) according to the second modification includes a function to generate a proper work straight line 75 even if one reaping work is stopped in the middle.
For the combine 1 (straight line generation step S1) according to the second modification, when one reaping work is interrupted and then resumed, the straight line generation unit 65 generates a first work straight line 81 based on the measurement points 71 (not illustrated in
At the straight line generation step S1, if the inclination angle θ of the second work straight line 82 relative to the first work straight line 81 is within a predetermined range, the straight line generation unit 65 generates a straight line that connects the work start position P1 and the work end position P2 as the work straight line 75 (see the thick dashed line in
According to the combine 1 (unworked site calculation method) according to the second modification of the embodiment described above, even if one reaping work is stopped in the middle, if the inclination angle θ of the second work straight line 82 with respect to the first work straight line 81 is within the predetermined range, the second work straight line 82 may be treated as the single work straight line 75. Thus, it is possible to obtain the unworked site 73 easily with a small amount of calculation. The features of combine 1 (unworked site calculation method) according to the second modification may be applied to combine 1 (unworked site calculation method) according to the first modification.
For the combine 1 (unworked site calculation method) according to the embodiment (including the first and second modifications - hereinafter the same), the headland 72A and the automatic travel allowable area 73A are formed by two laps of round reaping around the field, but the present invention is not limited thereto. The headland 72A and the automatic travel allowable area 73A may be formed by a single lap or three or more laps of round reaping around the field.
Furthermore, for the combine 1 (unworked site calculation method) according to the embodiment, the travel route creation unit 62 generates the four straight advance routes S to extend along the periphery (four sides) of the unworked site 73, but the present invention is not limited thereto. The travel route creation unit 62 only needs to generate a straight advance route S to extend along at least one side of the unworked site 73 inside the unworked site 73. On the route (area) for which no straight advance route S is generated, the operator may manually travel the combine 1 straight ahead.
Furthermore, for the combine 1 (unworked site calculation method) according to the embodiment, the travel route is generated in the automatic travel allowable area 73A which is formed by two laps of round reaping around the field. The automatic travel allowable area 73A and travel route are generated by calculating the range in which the combine 1 does not collide with obstacles (such as an entrance to the field, a water valve, a drain, a culvert exhaust port, etc.) in the field during automatic operation. However, if the operator enters the automatic travel allowable area 73A and reaps within by manual travel after the travel route has been generated in the automatic travel allowable area 73A, the travel route may be changed such that the turning combine 1 collides with an obstacle. In this case, the control device 45 may execute a warning or alert to the operator by displaying on the touch panel 30 or the like that the operator may contact an obstacle. Alternatively, the field information setting unit 60 may reduce (change the shape of) the automatic travel allowable area 73A to the extent that the turning combine 1 does not collide with an obstacle, and the travel route creation unit 62 may generate a travel route on the reduced automatic travel allowable area 73A. In an area where there is a possibility of colliding with obstacles, it is preferable for the operator to travel the combine 1 manually. The combine 1 also allows the turning radius to be set according to the operator's operation, for example, by selecting from three levels: small, standard, and soft. Therefore, changing the turning radius may cause the turning combine 1 to change its travel route such that it collides with an obstacle. For example, if the turning radius is initially set to a small radius, but the turning radius is changed to a soft turn radius in the middle of the work, the turning path may cause the combine 1 to collide with an obstacle. In this case, the control device 45 may informs the operator, by displaying on the touch panel 30, etc., that setting of the turning radius may lead contacting an obstacle. If the turning radius is such that it will collide with an obstacle, the control device 45 may inform the operator, by displaying on the touch panel 30, etc., that changing to a turning radius that will not collide with an obstacle is prompted. If an area arises where the turning radius setting may cause the combine 1 to contact an obstacle, the control device 45 may automatically stop the combine 1 that is traveling automatically in this area, stop the automatic traveling, and allow the operator to travel the combine 1 manually. In this case, the control device 45 may inform the operator, by displaying on the touch panel 30, etc., that the area is likely to contact obstacles due to the setting of the turning radius and that the combine 1 is prompted to be driven manually. When the combine 1 leaves the area, the control device 45 may inform the operator, by displaying on the touch panel 30, etc., that the combine 1 has left the area and that the combine 1 is now enabled to continue automatic traveling.
Furthermore, the combine 1 (unworked site calculation method) according to the embodiment performs round reaping around a rectangular field, so that the four work straight lines 75 constitute a rectangular closed area and the unworked site 73 formed in a quadrilateral with the four intersection points 76 as vertices, but the present invention is not limited thereto. The unworked site generation unit 66 needs to generate the unworked site 73 that forms a polygon with at least three intersection points 76 as vertices when at least three work straight lines 75 intersect to form a closed area.
Furthermore, for the combine 1 according to this embodiment, the touch panel or the touch panel of the portable terminal 53 (the tablet terminal) serves as the display unit for displaying information and the input unit for receiving a man-made operation, but the present invention is not limited thereto. For example, the steering part 9 may be equipped with a notebook personal computer in place of the touch panel 30 (not illustrated). Similarly, for example, the portable terminal 53 may be a notebook personal computer (not illustrated). In these cases, an LCD display is an example of the display unit, and a keyboard and a mouse are examples of the input unit.
For the combine 1 according to the embodiment, the touch panel 30 is provided as a separate component from the portable terminal 53. However, the present invention is not limited thereto. The touch panel 30 may be provided detachably, and the touch panel 30 may be used as the portable terminal 53.
For the combine 1 according to this embodiment, the touch panel 30 or the like, serves as both of the display unit that displays the information and the input unit that accepts the man-made operation, but the present invention is not limited thereto. For example, the display unit such as the liquid-crystal display may separately be provided from the input unit including the keyboard, the mouse, a button, a switch, or the like (not illustrated).
The foregoing embodiment has been described to present one aspect of the combine and unworked site calculation method according to the present invention. Thus, the technical scope of the present invention is not limited to the foregoing embodiment. The technical scope of the present invention is not limited to the embodiments described above. The present invention may be changed, substituted, or transformed in various ways without departing from the gist of the technical scope, and the claims include all possible embodiments that may be included within the scope of the technical idea.
| Number | Date | Country | Kind |
|---|---|---|---|
| 2020-200122 | Dec 2020 | JP | national |
| Filing Document | Filing Date | Country | Kind |
|---|---|---|---|
| PCT/JP2021/039599 | 10/27/2021 | WO |
