JP2017136035A - Following-type combine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a following-type combine capable of performing reaping work efficiently.SOLUTION: A following-type combine 100 can obtain work information of a combine 200 as a leading vehicle operated by an operator, performs work autonomously based on the work information from the combine 200, accumulates position information of the combine 200 and work information corresponding thereto, and changes a corresponding set value when a predetermined work information is changed. Field information fi including a lodging state divided into each lodging degree of a reaping object in a field F and a lodging area Lg is input into the combine 100 in advance and the combine 100 changes a predetermined set value based on the field information fi.SELECTED DRAWING: Figure 5

Description

  The present invention relates to a follow-up combine capable of autonomous traveling and working separately from a combine that travels and works by an operator's operation.

  A combine assembly composed of one combine that travels manned and the other combine that travels unattended is known (see Patent Document 1). In the combine assembly, these two combines that can be individually operated and traveled are connected in parallel on the left and right sides, and both combines are operated by a command from one of the combine trains that are manned.

Japanese Patent Laid-Open No. 7-203748

  In the combine assembly described in Patent Document 1, each of the two combines is connected to each other in a state in which the front / rear / right / left positions are regulated via a connecting mechanism provided on the opposite side of the body. According to such connection, the combine aggregate cannot easily turn around, and there is a risk that uncut leaves will be generated in the field or the field will be rough. For this reason, even if two combines are used, it is considered that the cutting operation cannot be performed efficiently.

  An object of this invention is to provide the follow-type combine which can implement a cutting operation | work efficiently.

  The problem to be solved by the present invention is as described above. Next, means for solving the problem will be described.

The invention according to claim 1
It is a follow-up type combine that can acquire the work information of the combine operated by the operator,
While performing the work autonomously based on the work information from the combine, the position information of the combine and the work information corresponding thereto are accumulated,
This is a follow-up combine that changes a corresponding set value when the predetermined work information is changed.

The invention according to claim 2 is the follow-up combine according to claim 1,
The follow-up combine is pre-inputted with field information including the lodging state and the lodging area divided according to the degree of lodging of the harvested object in the field,
The predetermined set value is changed based on the field information.

The invention according to claim 3 is the follow-up combine according to claim 1 or 2,
Accumulate the position information of the follow-up combine and the work information of the follow-up combine corresponding to this,
Recognize the state of the field from the accumulated position information and work information of the combine and the accumulated position information and work information of the follow-up combine, and change a predetermined set value based on the state of the field .

  As effects of the present invention, the following effects can be obtained.

  According to the first aspect of the invention, the follow-up combine can acquire and accumulate work information, which is information related to appropriate operations corresponding to the state of the field by the operator, and efficiently travel and I can work. In other words, even if the follow-up combine does not have advanced functions for detecting and determining the state of the field such as yield, wetland area, lodging area and state, the information on the appropriate operation of the operator follows as work information. Since it is transmitted to the type combine, the follow type combine can efficiently travel and work according to these pieces of information. Therefore, it is possible to provide a follow-up combine that can efficiently perform the cutting operation.

  According to the second aspect of the invention, even when the follow-up combine follows a travel route different from the travel route of the combine, it can travel and work more efficiently according to an appropriate set value based on the field information.

  According to the third aspect of the invention, the follow-up combine can travel while avoiding the area where the harvesting has been completed or the area where the harvesting operation should not be performed, so that the traveling and work can be performed more efficiently.

It is the perspective view which showed the tracking type combine of this invention. It is the schematic which shows a follow type combine, a manned steering type combine, a GPS satellite, and a reference station. It is a block diagram which shows the control system of a tracking type combine. It is a block diagram which shows the control system of a manned steering type combine. It is a block diagram which shows the structure for acquiring the positional information on a tracking type combine and a manned steering type combine. It is a figure which shows the concept of the agricultural field information input into a tracking type combine. It is a flowchart which shows control of the harvesting operation | work of a tracking type combine. It is a flowchart which shows control of the harvesting operation | work of a tracking type combine. It is a flowchart which shows control of the harvesting operation | work of a tracking type combine.

  Below, the combine 100 as embodiment of this invention is demonstrated using FIG. 1 and FIG. The combine 100 is a follow-up combine that can travel and work autonomously, separately from a combine that travels and works by an operator's operation, and can travel and work unattended. The unmanned steerable combine 100 is a vehicle that performs a cutting operation following a manned steerable combine 200 described later. The combine 100 is configured to autonomously travel, turn, and work while following a position shifted to the left or right in a field with a cutting target with respect to the leading combine 200.

  As shown in FIG. 1, the combine 100 is mainly composed of a traveling unit 1, a cutting unit 2, a transport unit 3, a threshing unit 4, a sorting unit 5, a storage unit 6, and a power unit 7. ing. In addition, in FIG. 1, the front-back direction, the left-right direction, and the up-down direction of the combine 100 are represented.

  The traveling unit 1 is provided below the chassis 10. The traveling unit 1 includes a transmission 11 and crawler traveling devices 12 and 12. The transmission 11 transmits the rotational power of the engine 71 to the crawler type traveling devices 12 and 12. The crawler type traveling devices 12 and 12 cause the combine 100 to travel in the front-rear direction. The crawler type traveling devices 12 and 12 turn the combine 100 in the left-right direction.

  The traveling unit 1 includes a braking device (not shown). Examples of the braking device include a braking device that brakes the operation of the mechanism in the transmission 11 and a braking device that brakes the rotation of the crawler type traveling device 12.

  The cutting unit 2 is provided in front of the traveling unit 1. The cutting unit 2 includes a pulling device 21, a plurality of weed boards 22, a cutting blade 23, a scavenging device 24, and the transport unit 3.

  The pulling device 21 causes the cereals separated for each line by each weed board 22. The pulling device 21 is provided with a plurality of pulling tines 21S that erect uncut cereal straws for each line. Further, the scraping device 24 scrapes the stock of the cereal that has been caused by the pulling device 21. The cutting device including the cutting blade 23 is provided below the scraping device 24. The cutting blade 23 cuts the corn that has been scraped by the scraping device 24.

  The conveying unit 3 provided in the cutting unit 2 includes an upper conveying device that grips the tip side of the cereal, a lower conveying device that grasps the stock side of the cereal, and a cereal from the lower conveying device to the threshing unit 4. It consists of a vertical transfer device and a transfer device that takes over.

  The threshing unit 4 is provided behind the transport unit 3. The threshing unit 4 includes a rotor 41 and a sieve mesh 42. The rotor 41 threshs the grains from the cereals fed by the transport unit 3. Moreover, the rotor 41 conveys the grain candy. The sieve mesh 42 supports the cereals conveyed by the rotor 41 and sifts the grains (drops the grains).

  The sorting unit 5 is provided below the threshing unit 4. The sorting unit 5 includes a swing device 51 and a blower device 52. The oscillating device 51 sifts through the cereals that have fallen from the sieve mesh 42 to select the grains. The air blower 52 blows away the cereal waste that has fallen with the cereal and the cereal waste left on the swinging device 51. Thereafter, the cereal waste is cut by a cutter (not shown) and discharged.

  The storage unit 6 is provided on the side of the threshing unit 4 and the sorting unit 5. The storage unit 6 includes a Glen tank 61 and a discharge auger 62. The Glen tank 61 stores the grains that have been conveyed from the sorting unit 5. The discharge auger 62 is a device used when discharging the grains in the grain tank 61.

  The power unit 7 is provided below the storage unit 6. The power unit 7 includes an engine 71. The engine 71 converts thermal energy obtained by burning fuel into rotational power.

  The combine 100 has a space for an operator to board and steer. That is, the cabin 8 is provided in front of the Glen tank 61. Further, the combine 100 is provided with an operation tool that is operated by an operator in the same manner as a manned steerable combine. Each component of the combine 100 may operate based on an operation by an operator in addition to automatically operating independently.

  A driver seat 8a is placed inside the cabin 8, and a steering handle (not shown) serving as a steering operation means is provided in front of the driver seat 8a. For example, the rotation number of the left and right crawler type traveling devices 12 and 12 may be adjusted by the rotation of the steering handle, and the steering direction of the combine 100 including turning may be artificially controlled.

  As shown in FIG. 2, the combine 100 configured as described above acquires information on the position of the leading combine 200 and its own position by using a GPS (Global Positioning System). Further, the combine 100 calculates each information of the distance, azimuth, and traveling speed of the two combiners based on the position information, so that the combine 100 follows the combine 200 on the basis of the information. Is configured to do.

  The unmanned maneuvering combine 100 and the manned maneuvering combine 200 are each a self-removing combine. However, as an embodiment of the present invention, the combine 100 may be an ordinary combine, and the combine 200 may be an ordinary combine. In the ordinary combine, the cutting unit 2 includes a reel and a cutting blade. The reel can move back and forth and move up and down, and causes cereals in the field. In addition, the reel is configured to be rotatable about a rotation axis that faces in the left-right direction. The cutting blade cuts the culm caused by the reel.

  Further, the conveying unit 3 of the ordinary combine is composed of an auger and a conveyor, and is provided behind the cutting unit 2. The auger collects the cereals cut by the cutting blade and feeds them to the conveyor. The conveyor sends the cereals fed by the auger to the threshing unit 4.

  Next, the control apparatus 80 of the combine 100 is demonstrated using FIG.

  The combine 100 is provided with information networks in various places so that the maximum performance can be exhibited. Specifically, in addition to the power unit 7, the components of the combine 100 constitute a controller area network (CAN) that can share information with each other.

  As shown in FIG. 3, the control device 80 includes a processing unit 81 including a microcomputer such as a CPU (Central Processing Unit) and a storage unit 82 such as a ROM (Read Only Memory), a RAM, a hard disk drive, and a flash memory. Have. The processing unit 81 can execute a program stored in the ROM after reading the program on the RAM. Further, the control device 80 controls the operation of various components by causing the processing unit 81 to execute a control program. Specifically, transmission / reception of information at the time of communication, various input / output controls, control of arithmetic processing, and the like are performed.

  The combine 100 includes an engine speed sensor 101, a traveling speed sensor 102, a gyro sensor 103, an orientation sensor 104, and a steering sensor 105 as a configuration on the input side of the control device 80. The engine speed sensor 101 detects the speed of a crankshaft (not shown) of the engine 71. The traveling speed sensor 102 detects the traveling speed of the combine 100. The gyro sensor 103 detects the angular velocity of the tilt (pitch) in the front-rear direction, the angular velocity of the tilt (roll) in the left-right direction, and the angular velocity of the turn (yaw) as the displacement of the body of the combine 100. The direction sensor 104 detects the traveling direction of the combine 100. The steering sensor 105 detects the steering direction of the combine 100.

  As each of these sensors, a sensor having a known configuration can be used. A signal from each sensor is transmitted to the control device 80. Based on the signals acquired from the gyro sensor 103 and the orientation sensor 104 among these pieces of information, the control device 80 calculates or derives the attitude of the combine 100 (direction, forward / backward direction of the body, left / right inclination of the body, and turning direction). Recognize by etc.

  The control device 80 is configured so that the relative position with respect to the combine 200 falls within a predetermined range set in advance based on the result of calculation or the like, or the combine 100 travels on a preset travel route. To control. That is, the control device 80 controls the traveling unit 1, the cutting unit 2, the transport unit 3, the threshing unit 4, the sorting unit 5, the storage unit 6, and the power unit 7.

  At this time, the control device 80 detects the engine 71 based on input information (detection information) from an engine speed sensor 101 that detects the state of the engine 71, a temperature sensor, and an oil temperature sensor (all not shown). 71 is controlled. Moreover, the control apparatus 80 maintains the height of the cutting part 2 at setting height, changes the conveyance speed in the conveyance part 3 with the change of the cutting speed, or changes the rotation speed of the rotor 41 of the threshing part 4. Control which changes according to processing amount, or changes the air volume of the air blower 52 and the opening degree of the sheave mesh 42 according to processing amount is performed. Furthermore, the control device 80 controls the traveling unit 1 so that the steering direction is changed based on position information, displacement and direction information, setting route information, and the like, which will be described later.

  In addition, the control device 80 includes a communication unit 83. The communication unit 83 has a function of communicating with an external configuration of the combine 100. The control device 80 can communicate with the communication unit 183 of the combine 200 through the communication unit 83 (see FIG. 5). The control device 80 is configured to recognize the work status of the combine 200 by reading and analyzing information transmitted from the combine 200.

  Next, the control device 180 of the combine 200 will be described with reference to FIG.

  The manned pilot-type combine combine 200 constitutes a controller area network (CAN) in which the components of the combine 200 can share information with each other. The control device 180 includes a processing unit 181 including a microcomputer such as a CPU, and a storage unit 182 such as a ROM (Read Only Memory), a RAM, a hard disk drive, and a flash memory. As a configuration on the input side of the control device 180, the combine 200 includes a selection dial 201, a cutting height setting dial 202, a shift lever 203, a steering device 204, and a cutting unit lifting operation means 205.

  The sorting dial 201 is for selecting a harvesting object according to a dial operation position. Specifically, when the operator operates the selection dial 201, two or more kinds of cutting objects such as rice or beans can be selected.

  The cutting height setting dial 202 is configured to be able to be pushed and operated. The cutting height setting dial 202 is pushed into the state where the cutting height can be automatically changed, and the state is released by the pushing operation again. Moreover, the height position of the cutting part 2 at the time of cutting can be set by the dial operation of the cutting height setting dial 202.

  By operating the shift lever 203, the transmission such as HST can be shifted to a neutral state, acceleration / deceleration toward the forward travel side, and acceleration / deceleration toward the reverse travel side.

  By operating the steering device 204, the right side of the left and right crawler type traveling devices 12 and 12 is driven at high speed relative to the left side to turn the vehicle body to the left side. The vehicle body can be turned to the right side by driving the left side with respect to the right side at high speed. Further, the cutting unit 2 can be automatically raised or lowered by operating the cutting unit lifting / lowering operation means 205.

  The control device 180 has a communication unit 183. The communication unit 183 has a function of communicating with an external configuration of the combine 200. The control device 180 can communicate with the communication unit 83 of the combine 100 through the communication unit 183. The unmanned steerable combine 100 and the manned steerable combine 200 are wirelessly connected to each other when the control devices 80 and 180 have a short-range wireless communication function such as Wi-Fi (registered trademark) or Bluetooth (registered trademark). Communication can be carried out. Necessary work information is transmitted from the control device 180 to the control device 80 of the combine 100 via the communication unit 183.

  As a configuration on the output side of the control device 180, the combine 200 includes a display 206. The display 206 can display the state of travel and work of the combine 200 and an operation screen. Further, the display 206 can display surrounding images taken by a camera installed in the combine 200, a traveling state and a working state for each of the two combines 100 and 200, information on GPS, and the like.

  Therefore, the operator who gets on the combine 200 can know the information of the following combine 100 in addition to the leading screen for his / her operation by confirming the display on the display 206. In this manner, the operator can easily recognize the relative position of the two combines 100 and 200 and the working state of the following combine 200 while maintaining the attitude of maneuvering the combine 200 through the display 206.

  The combine 200 also includes an alarm device 207. The alarm device 207 issues an alarm by voice or display when the separation distance between the two combines 100 and 200 exceeds a predetermined range. Therefore, the operator can appropriately adjust the traveling speed and the traveling route of the combine 200 by manipulating the combine 200 so that the separation distance between the two combines 100 and 200 is within a predetermined range.

  The combine 200 also includes a follow-up instruction switch 208. By starting the tracking instruction switch 208, it is possible to instruct the combine 100 to start tracking.

  Although not shown, when the leading combine 200 is a normal combine, the configuration on the input side of the control device 180 includes a reel rotation setting dial, a reel advance switch, a reel reverse switch, a reel lift switch, And a reel down switch.

  The number of reel rotations of the cutting unit is changed according to the operation of the reel rotation setting dial. Further, in accordance with an operation for each reel rotation setting dial, control for switching the reel rotation speed to the detected traveling speed is switched on and off.

  In response to the operation of the reel advance switch and the reel retract switch, the reel moves back and forth with respect to the cutting portion via an advance / retreat cylinder (not shown). Further, in response to the operation of the reel up switch and the reel down switch, the reel ascends and descends with respect to the cutting unit via an elevating cylinder (not shown).

  Next, a description will be given of a method in which the combine 100 acquires the position information of the lead manned steerable combine 200 and its own position information following the combine using the GPS.

  As a positioning method using GPS, there are various methods such as single positioning, relative positioning, DGPS (differential GPS) positioning, RTK-GPS (real-time kinematics-GPS) positioning, and any of these methods can be used. It is. The combine 100, which is a following vehicle, employs the RTK-GPS positioning method to determine the current position. Further, the combine 200 as the leading vehicle adopts DGPS positioning to measure the current position.

An RTK-GPS positioning method will be described with reference to FIG.
RTK-GPS positioning performs GPS observation simultaneously with a reference station whose position is known and a mobile station that is a positioning target, and transmits the data observed by the reference station to the mobile station in real time by a method such as wireless communication. This is a method for obtaining the position of a mobile station in real time based on the results.

  On the cabin 8 of the combine 100, a mobile communicator 91 as a mobile station, a mobile GPS antenna 92, and a data receiving antenna 93 are arranged. In addition, a fixed communication device 94, a fixed GPS antenna 95, and a data transmission antenna 96 serving as a reference station are disposed at predetermined positions that do not interfere with work in a field such as a straw. For RTK-GPS positioning, phase measurement (relative positioning) is performed at both the reference station and the mobile station, and data measured by the fixed communication device 94 of the reference station is transferred from the data transmission antenna 96 to the data reception antenna 93 of the combine 100. Sent.

  The mobile GPS antenna 92 arranged in the combine 100 receives signals from the GPS satellites 90, 90. This signal is transmitted to the mobile communication device 91 for positioning. At the same time, a fixed GPS antenna 95 serving as a reference station receives signals from GPS satellites 90, 90. Data measured by the fixed communication device 94 is transmitted to the mobile communication device 91 via the data transmission antenna 96 and the data reception antenna 93. In the mobile communication device 91 of the combine 100, the observed data is analyzed to determine the position of the mobile station. The position information thus obtained is transmitted to the control device 80 of the combine 100.

  Thus, based on the signals transmitted from the GPS satellites 90, 90..., The mobile communication device 91 acquires the position information of the combine 100 at set time intervals, and the displacement of the combine 100 is detected from the gyro sensor 103 and the direction sensor 104. Information and orientation information are detected.

  Based on the position information, the displacement information, and the azimuth information, the control device 80 of the combine 100 controls the traveling unit 1 and the power unit 7 so that the combine 100 travels along a preset traveling route. Note that the preset travel route corresponds to a predetermined range set so that the relative position with another combine 200 traveling is within a communicable range, or a travel route of another combine 200. This corresponds to the predetermined route set to.

  For DGPS positioning, independent positioning is performed at both the mobile station and the reference station, and a positioning error is obtained at the reference station. The mobile station performs correction processing in real time by receiving the correction information.

  The combine 200 is provided with a communication device 97, a GPS antenna 98, and a data communication antenna 99. The correction information generated at the reference station is transmitted to the communication device 97 via the data communication antenna 99. In the communication device 97, the observed data is analyzed and the position of the mobile station is determined.

  In addition, although the DGPS positioning method is adopted for the combine 200 as the leading vehicle, it may be adopted for the combine 100 as the following vehicle. That is, each combine 100 and 200 may be configured such that the combine 100 is positioned using the DGPS positioning method and the combine 200 is positioned using the RTK-GPS positioning method.

  Based on the positions of the two combines 100 and 200 measured using GPS as described above, the separation distance between the two combines 100 and 200 is calculated. The combine 100 is positioned by the RTK-GPS positioning method, the combine 200 is positioned by the DGPS positioning method, and the separation distance between the two combines 100 and 200 is calculated. And the control apparatus 80 of the combine 100 controls required structures, such as the driving | running | working part 1 and the motive power part 7, so that the separation distance may be settled in the predetermined range. Or the operator of the combine 200 checks the separation distance displayed on the display 206, or confirms the position of the combine 100 from the steering position, and the two combines 100 and 200 travel at a separation distance within a predetermined range. Thus, the combine 200 is operated.

  On the other hand, the combine 100 travels according to the set route information so as to be linked to the travel speed of the combine 200. That is, the control device 80 of the combine 100 is configured so that the relative position with the combine 200 falls within a predetermined range set in advance or the travel unit 1 and the power so that the combine 100 travels on a preset travel route. Each component of the unit 7 and the like is controlled. Moreover, the combine 100 can implement a cutting work appropriately according to each operation | movement of the combine 200, when the control apparatus 80 recognizes the operation | movement of each structure of the combine 200 through work information.

  The work information transmitted from the combine 200 includes information on the set values of each component of the combine 200 regarding travel and mowing work. For example, the set values of the harvesting unit 2 and the conveyance unit 3 of the combine 200 include the height position of the harvesting unit 2, the harvesting speed, and the pulling speed and the conveyance speed that are linked to this. The set values of the threshing unit 4 and the sorting unit 5 include the number of rotations of the roller, the opening degree of the sheave mesh, the blowing intensity, the blowing amount, and the like. Further, information on switching between using and not using the cutter for waste is also transmitted from the combine 200.

  In addition, the information regarding the reduction ratio of the transmission 11 may be included as a set value regarding traveling. In addition, when the information of the cutting object selected by the operation of the selection dial 201 is included in the information transmitted from the combine 200, the control device 80 of the combine 100 transmits information on each setting value to be transmitted. However, it can correct | amend as needed. When the two combine machines 100 and 200 are ordinary combine machines, the reel front / rear position, the reel height, and the reel rotation speed are included in the set values of the cutting unit 2.

  Then, the combine 100 autonomously travels and works so as to correspond to the information transmitted from the combine 200. At the same time, the combine 100 accumulates corresponding work information for each position information of the combine 200.

  For example, when the cutting height and the cutting speed are changed in accordance with the change of the traveling speed in the combine 200, the combine 100 sets the height of the cutting unit 2 of the combine 100 as a set value corresponding to the cutting height and the cutting speed. Each setting value such as the position, the cutting speed, the pulling speed, the conveying speed, and the roller rotation speed is changed. When the traveling speed is changed or the meandering is started in the combine 200, the combine 100 uses the traveling speed of the combine 100, the reduction ratio of the transmission of the traveling unit 1, as setting values corresponding to the traveling speed and the traveling route, Change each setting value such as the steering angle of the steering wheel. In this way, when the work information of the combine 200 is changed, the set values for the travel and work of the combine 100 are set to the settings of the combine 200 so as to synchronize with the operation of the operator that is the basis of the work information. It changes according to the value.

  That is, the combine 100 accumulates the position information of the combine 200 and the work information corresponding thereto while performing the work autonomously based on the work information from the combine 200. Further, the combine 100 changes the corresponding setting value when the predetermined work information is changed. As described above, the control device 80 operates with the operation amount represented by the set value based on each set value of the work information input via the communication unit 183 and the communication unit 83 of the combine 200. Control is being executed.

  The control device 80 of the combine 100 refers to the work information for each position information of the leading combine 200 according to the position information of the combine 100 by accumulating the corresponding work information for each position information of the combine 200. be able to. Thereby, the combine 100 changes the setting value of each structure according to each setting value included in the work information input from the combine 200 each time, and the operation of the combine 200 at each position in the field. Based on the information, it is possible to change the setting value of each configuration. That is, the control apparatus 80 can change the setting value of each structure in the predetermined position so as to correspond to each setting value included in the work information of the combine 200 at the predetermined position in the field.

  Further, information such as the traveling state and working state of the combine 100 itself is also accumulated every set time. That is, the combine 100 accumulates its own position information and its own work information corresponding thereto. Accordingly, the control device 80 changes the travel route so as to travel on a route that does not follow the travel route of the combine 200 based on the accumulated information, or is appropriate for the information transmitted from the combine 200. The ability to learn such as performing individual tasks individually. That is, the combine 100 recognizes the state of the field from the accumulated position information and work information of the combine 200 and the accumulated position information and work information of itself, and changes a predetermined set value based on the state of the field.

  When the position of the combine 200 is lost, when the signal from the combine 200 is not received for a certain period of time or longer, the combine 100 stops working and running, and further the engine. Is configured to stop. In the combine 100, the emergency stop, temporary stop, restart, change of the running speed, change of the engine speed, automatic adjustment of the height position of the cutting unit 2, and the cutting speed of the harvested product, which are necessary for autonomous driving and work. The setting value for automatic adjustment and the like is stored in the storage unit 82 as a setting value different from the setting value included in the work information acquired from the combine 200.

  In the combine 100, field information fI including the lying state and the lying area Lg classified according to the degree of lying of the object to be cut in the field F is input in advance. Below, the field information fI input into the memory | storage part 82 of the combine 100 is demonstrated.

  As shown in FIG. 6, the field information fI is configured in a map. As the lodging region Lg in the predetermined field F, the region where the cutting object is lying is plotted. The degree of lodging of the harvest object is set in three levels: “heavy”, “medium”, and “light”. Furthermore, although not shown, the direction of lodging in each lodging region Lg, such as the traveling direction, the reverse direction, the left or right direction, and the inconsistent direction in which these are mixed, is also set as the field information fI. Further, the amount of moisture applied to the object to be cut and the amount of moisture remaining on the ground can also be set for each lodging region Lg separately from the degree of lodging as the lodging state.

  First, position information (map information) on the outer periphery of the field F that is the work range is set in advance. The field information fI is input to the control device 80 of the combine 100 in advance so as to correspond to this map information. The operator confirms the field F in advance by visual observation or the like, thereby specifying the lodging region Lg in the field F together with the lodging state including the degree of lodging. Alternatively, it is possible to adopt a method that replaces visual observation by utilizing satellite photographs, drones, and the like.

  The map information including the field information fI is input to the control device 180 of the combine 200 when the operator uses a terminal device such as a laptop personal computer. The input field information fI is stored in the storage unit 182 of the control device 180 and is transmitted to the control device 80 of the combine 100 via the communication unit 183. The storage unit 82 of the control device 80 stores the field information fI received from the communication unit 83. Alternatively, the operator can directly input the lodging region Lg and the lodging state in the field F as the field information fI to the control device 80 of the combine 100 using the terminal device.

  By creating the field information fI indicating such a lying state in advance, the operator can prepare in advance a set value for cutting the lying cut object. Therefore, each time the two combines 100 and 200 enter the lodging region Lg, the control devices 80 and 180 do not need to control the work set values to correspond to the lodging state.

  Further, the control device 80 of the combine 100 collates the position information acquired as described above with the input field information fI, so that the region where the combine 100 is traveling is the lodging region Lg of the field F. It can be determined whether or not. When only the combine 100 as the follower vehicle travels in the lodging region Lg separately from the combine vehicle 200 as the leading vehicle, the control device 80 changes the set value according to the degree of the lodging of each lodging region Lg, and thus the vehicle has fallen. The combine 100 can work appropriately with respect to a cutting object.

  At this time, the combine 100 can perform an appropriate operation by appropriately selecting a setting value necessary for the operation from among a plurality of setting values prepared in advance according to the degree of lodging indicated by the field information fI. Furthermore, when the set value of the work performed by the combine 200 in the lodging region Lg is different from the set value of the work performed by the combine 100 in the lying region Lg, the combine 200 is suitable for the work of the unmanned combine combine 100. Depending on the set value, the combine 100 can perform the work efficiently. That is, work efficiency of the unmanned steerable combine 100 that does not reflect the skill of the operator can be improved.

  More specifically, the cutting height, traveling speed, cutting speed, pulling speed, conveyance speed, and the like performed by the combine 200 in the lodging region Lg are preset in the combine 200 as respective setting values in the cutting work. On the other hand, in the combine 100, each set value is stored in the storage unit 82 of the control device 80 so as to be synchronized with the work performed by the combine 200 in the lodging region Lg. Thus, the combine 100 works with the same set value by preferentially adopting the same set value as each set value of the combine 200 set according to the lodging region Lg and the degree of lodging in the lodging region Lg. .

  As a specific operation in the lodging region Lg, the combine 100 reduces the traveling speed and accordingly reduces the cutting speed. Alternatively, in order to prevent the cereal from falling, the combine 100 meanders or lowers the cutting height according to the lodging direction in the lodging region Lg.

  When the two combine machines 100 and 200 are ordinary combine machines, in addition to the above-described work in the lodging region Lg, the combine machine 100 lowers the reel height to increase the reel rotation speed, and further Change the position according to the lodging direction.

  Each set value for the cutting operation is set so that the traveling speed and the cutting speed decrease as the lodging level increases from “light” to “heavy”. Further, in a region where the object to be harvested has fallen to the extent that it is not suitable for the mowing work, each set value may be set so as to travel around the area without performing the work.

  For each set value according to the degree of lodging, a plurality of modes are prepared for different lodging states. The combine 100 performs work by the control device 80 using each mode properly according to the lying state such as the degree of lying down, that is, according to the field information fI.

  Each setting value included in the plurality of modes employed in the combine 100 may be a value different from each setting value included in the plurality of modes employed in the combine 200. Further, the plurality of modes employed in the combine 100 may be different from the plurality of modes employed in the combine 200.

  Next, control for changing the setting value according to the work information acquired by the control device 80 will be described with reference to a flowchart.

  First, when the control device 80 of the combine 100 acquires a signal for starting the follow-up by turning on the follow-up instruction switch 208 (see FIG. 4) of the combine 200, the control device 80 follows the combine 200 and runs and cuts. Implement control. In addition, when the control device 80 obtains a signal for ending the follow-up due to the turning-off operation of the follow-up instruction switch 208 while performing the control for running and cutting following the combine 200, the control device 80 performs the control. finish.

  As shown in FIG. 7, in step S <b> 11, the control device 80 acquires work information by requesting reception of work information every predetermined time. At this time, the control device 80 stores work information for each position information of the combine 200 and the combine 100.

  In step S12, it is determined whether or not the setting value included in the work information acquired this time has been changed from the setting value included in the work information acquired last time. Here, when it determines with Yes, it progresses to step S14, and when it determines with No, it progresses to step S13.

  In step S13, each component is controlled according to the set value included in the work information acquired in the previous time and this time. After step S13, the process proceeds to step S11.

  On the other hand, in step S14, each component is controlled according to the changed set value. After step S14, the process proceeds to step S11.

  In this way, the control device 80 changes the set value according to the work information acquired from the combine 200 while performing control for running and cutting work following the combine 200.

  Next, the control in which the control device 80 changes the set value in the lodging region Lg, that is, the control in which the combine 100 changes the predetermined set value based on the field information fI will be described using a flowchart.

  As shown in FIG. 8, in step S20, the control device 80 collates the position information of the combine 100 and the field information fI. Thereby, the control device 80 can determine whether or not the current position of the combine 100 corresponds to the lodging region Lg at each predetermined position in the field F, that is, whether or not the combine 100 has entered the lodging region Lg. .

  In step S21, it is determined whether or not the combine 100 has entered the lodging area. Here, when it determines with Yes, it progresses to step S22, and when it determines with No, it progresses to step S24.

  In step S22, the cutting operation is performed with the set values corresponding to the lying state of each lying region Lg, that is, the field information fI. After step S22, the process proceeds to step S23.

  In step S23, it is determined whether or not the combine 100 has escaped from the lodging region Lg. Here, when it determines with Yes, it transfers to step S24, and when it determines with No, it returns to step S22.

  In step S24, each component is controlled according to the set value included in the work information currently acquired from the combine 200. After step S24, the process proceeds to step S20.

  In this way, the control device 80 changes the set value according to the degree of lodging of each lodging region Lg while performing control for running and cutting work following the combine 200.

  Next, the control device 80 changes the set value according to the state of the field F, that is, the combine 100 moves the field from the accumulated position information and work information of the combine 200 and the accumulated position information and work information. Control for recognizing the state of F and changing a predetermined set value based on the state of the field F will be described using a flowchart. Note that the control device 80 can perform the control shown in FIG. 9 regardless of whether or not the field information fI is input in advance.

  As shown in FIG. 9, in step S <b> 30, the control device 80 stores the accumulated combine 100 position information and work information corresponding to the current position, and the accumulated combine 200 position information and work information corresponding to the current position. And refer to. In other words, the control device 80 refers to the stored position information of the combine 100 and the corresponding work information according to the position information of the combine 100, and also refers to the position information of the combine 200 and the corresponding work information. To do.

  That is, the control device 80 obtains the work information of the position information of the combine 200 corresponding to the current position of the combine 100 and the work information of the position information of the combine 100 corresponding to the current position from the accumulated information on the field F. Read for each position. Thereby, the control device 80 recognizes each of the work performed by the combine 100 and the work performed by the combine 200 at each predetermined position in the field F. That is, the control device 80 recognizes the setting values of the components of the combine 100 and the setting values of the components of the combine 200 at each predetermined position in the field F. However, when the current position is a position where the combine 100 has not yet passed, the control device 80 refers to the work information for each position information of the combine 200 corresponding to the current position, so that the current position is Recognizes the work that the combine 200 was performing.

  In step S31, it is determined whether or not the combine 100 has entered the harvested area in the field F. Here, when it determines with Yes, it progresses to step S32, and when it determines with No, it progresses to step S34.

  In step S32, the cutting operation is interrupted, that is, control is performed so that the traveling unit 1 is operated so that the combine 100 travels at the increased traveling speed and the cutting unit 2 raises the cutting height position. After step S32, the process proceeds to step S33.

  In step S33, it is determined whether or not the combine 100 has escaped from the harvested area. Here, when it determines with Yes, it transfers to step S34, and when it determines with No, it returns to step S32.

  In step S34, as in step S24 (see FIG. 8), each component is controlled in accordance with the set value included in the work information currently acquired from the combine 200. After step S34, the process proceeds to step S30.

  In this way, the control device 80 changes the set value according to the state of the field F while performing control for traveling and cutting following the combine 200.

  Moreover, since the control apparatus 80 can recognize the setting value of each structure of the combine 200 for every positional information of the combine 100, even when it does not have the field information fI beforehand, it responds to a fall in the area | region where the grain straw fell. Each configuration can be controlled with the appropriate setting value. That is, in addition to changing the setting value according to the setting value included in the work information transmitted from the combine 200, the control device 80 sets the combine 200 corresponding to the current position for each current position of the combine 100. Each set value of the combine 100 can be changed according to the set value of each configuration. Therefore, when the control device 80 does not have the field information fI, even if the distance between the two combines 100 and 200 is relatively large, the combine 100 does not enter the position where the lodging appears. Therefore, it is possible to work using appropriate setting values at the position where lodging appears without starting work corresponding to lodging. In this way, by recognizing the setting values of each component of the combine 200 for each position information of the combine 100, the combine 100 operates using each appropriate setting value corresponding to the operation of the combine 200 at each predetermined position. it can.

  On the other hand, when the control device 80 has the field information fI in advance, the position information of the two combines 100 and 200 and the work information corresponding thereto are stored in the field information fI for each predetermined position in the field F. By adding or the like, the field information fI can be overwritten. The control device 80 can implement the control shown in FIG. 8 and the control shown in FIG. 9 in addition to the control shown in FIG. 7, using the field information fI overwritten in this way.

90 GPS satellite 100 Combine (follow-up combine)
200 (Manned and lead type) combine

Claims (3)

It is a follow-up type combine that can acquire the work information of the combine operated by the operator,
While performing the work autonomously based on the work information from the combine, the position information of the combine and the work information corresponding thereto are accumulated,
When the predetermined work information is changed, the corresponding setting value is changed.
Follow-up combine. The follow-up combine is pre-inputted with field information including the lodging state and the lodging area divided according to the degree of lodging of the harvested object in the field,
The follow-up combine according to claim 1, wherein a predetermined set value is changed based on the field information. Accumulate the position information of the follow-up combine and the work information of the follow-up combine corresponding to this,
Recognize the state of the field from the accumulated position information and work information of the combine and the accumulated position information and work information of the follow-up combine, and change a predetermined set value based on the state of the field The tracking type combine according to claim 1 or 2, characterized in that

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