JP2020018255A - Harvesting work system - Google Patents

Abstract

To provide a harvesting work system capable of performing harvesting work smoothly by detecting a state of crops and existence of an obstacle at a place away from a combine by imaging information from an unmanned flying body flying over a farm field.SOLUTION: A combine is provided with a control unit for receiving information from an unmanned flying object and causing a machine body to perform harvesting work while automatically travelling along a travelling route set in a farm field. The unmanned flying object is provided with a control unit for transmitting imaging information by a camera provided to a machine body to the combine, and causing the unmanned flying object to fly along a flight route set over the farm field or along a position set to the machine body of the combine. Also, the unmanned flying object is caused to fly to a position ahead of the combine, and image standing grain culms in the farm field by the camera. A lodged state of the standing grain culms is detected from the imaging information, and work travelling speed of the combine is controlled according to the lodged state.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a harvesting operation system.

  Conventionally, as exemplified in Patent Literature 1, there is known a technique of performing a harvesting operation while automatically running a combine along a travel route set in a field.

  Further, as exemplified in Patent Literature 2, a technique is known in which a field is photographed by an unmanned aerial vehicle equipped with a camera, and a growing state of a crop is detected.

JP 2018-092620 A JP-A-11-235124

  However, the above-mentioned patent document does not disclose a technique for reflecting photographing information of an unmanned aerial vehicle in automatic traveling of a combine.

  In addition, sensors and cameras mounted on the combine cannot detect the condition of the crop or the presence of obstacles at a position far away from the combine, delaying response, and preventing crop harvest loss and obstacles. There is a risk of collision.

  The present invention provides a harvesting operation system capable of detecting the state of a crop or the presence of an obstacle at a position distant from a combine by photographing information from an unmanned aerial vehicle flying over a field and performing a harvesting operation smoothly. With the goal.

  In order to solve the above-described problems, the present invention takes the following technical measures.

  In other words, the invention according to claim 1 is a harvesting work system including a combine and an unmanned aerial vehicle, wherein the combine receives information from the unmanned aerial vehicle and travels in a field. The unmanned aerial vehicle is provided with a control unit for performing a harvesting operation while the aircraft is automatically traveling along a route, transmitting photographing information by a camera provided to the aircraft to the combine, and flying the flyover set over a field. A harvesting operation system comprising a control unit for flying a position set with respect to a route or a combine body.

  The invention according to claim 2 is to fly the unmanned aerial vehicle to a position ahead of the combine, photograph the planted cereal culm in the field by the camera, and detect the lodging state of the planted cereal culm from this photographing information. The harvesting work system according to claim 1, wherein the work traveling speed of the combine is speed-change-controlled in accordance with the falling state.

  According to a third aspect of the present invention, the falling state of the planted grain culm in a plurality of areas in the field is detected from the photographing information obtained by the camera, and the work traveling speed of the combine is controlled for each area according to the falling state. The harvesting operation system according to claim 2 is configured to perform the above operation.

  The invention according to claim 4 is to fly the unmanned aerial vehicle to a position ahead of the combine, photograph the planted cereal culm in the field by the camera, and detect the lodging state of the planted cereal culm from this photographing information. The harvesting operation system according to claim 1, wherein the harvester of the combine is positioned at a height near a field scene in accordance with the falling state.

  According to a fifth aspect of the present invention, a combine and a field are simultaneously photographed by a camera provided on the unmanned aerial vehicle, and it is detected from the photographed information that the traveling direction of the combine is deviated from the set traveling route. In this case, the harvesting operation system according to claim 1 is configured to perform steering control for returning the combine to the set traveling route.

  According to a sixth aspect of the present invention, the combine and the field are photographed simultaneously by a camera provided on the unmanned aerial vehicle, and when it is detected from the photographed information that there is an obstacle ahead of the combine, the traveling and harvesting of the combine are performed. The harvesting operation system according to claim 1, wherein the driving of the device is automatically stopped.

  According to a seventh aspect of the present invention, a combine and a field are simultaneously photographed by a camera provided on the unmanned aerial vehicle, and when it is determined from the photographed information that there is an obstacle ahead of the combine, the obstacle is avoided. The harvesting operation system according to claim 1, wherein the combine is automatically steered so as to perform the operation.

  According to the first aspect of the present invention, by transmitting the photographing information by the camera provided on the unmanned aerial vehicle to the combine, it is possible to detect the state of the position away from the combine and to optimize the work traveling of the combine. In addition, the harvesting operation can be performed smoothly.

  According to the invention described in claim 2, in addition to the effect of the invention described in claim 1, the lodging state of the planted grain culm is detected from the information captured by the camera provided on the unmanned aerial vehicle, When the lodging of the planted grain culm is detected at a position in front of the combine, the work traveling speed is reduced before cutting the fallen grain culm. The culm can be raised to cut and the occurrence of harvest loss can be reduced.

  According to the third aspect of the present invention, in addition to the effects of the second aspect, the lodging state of the planted grain culm in a plurality of areas in the field is detected from the photographing information obtained by the camera provided on the unmanned aerial vehicle. However, since the work traveling speed of the combine is speed-changed for each area in accordance with the state of lodging, if lodging of the planted grain culm is detected in the area in front of the combine, before cutting down the laid grain culm, The work traveling speed can be reduced, the lodging grain can be raised and cut, and the occurrence of harvest loss can be reduced.

  According to the invention described in claim 4, in addition to the effect of the invention described in claim 1, the unmanned aerial vehicle is caused to fly to a position ahead of the combine, and a camera shoots the planted grain culm in the field, and this photographing is performed. The lodging state of the planted grain culm is detected from the information, and the combine harvester is positioned at the height near the field scene in accordance with the laid down state, so that even the laid grain culm can be raised and cut, resulting in a harvest loss. Can be reduced.

  According to the fifth aspect of the present invention, in addition to the effect of the first aspect of the present invention, the combine and the field are simultaneously photographed by the camera provided on the unmanned aerial vehicle, and the traveling direction of the combine is set from the photographing information. When the deviation from the travel route is detected, steering control is performed to return the combine to the set travel route, so that the traveling state of the combine is monitored by an unmanned aerial vehicle flying on the set route. Even when an abnormal running is performed, the combine can be returned to the set running route.

  According to the invention of claim 6, in addition to the effect of the invention of claim 1, the combine and the field are simultaneously photographed by the camera provided on the unmanned aerial vehicle, and from this photographing information, there is an obstacle ahead of the combine. When this is detected, the traveling of the combine and the driving of the reaper are automatically stopped, so that a collision with an obstacle in the field can be avoided.

  According to the seventh aspect of the invention, in addition to the effect of the first aspect, the combine and the field are simultaneously photographed by the camera provided on the unmanned aerial vehicle, and there is an obstacle ahead of the combine based on the photographing information. When the determination is made, the combine is automatically steered so as to avoid the obstacle, so that the work traveling can be continued while avoiding the obstacle in the field.

It is an outline explanatory view of a control system of a combine concerning an embodiment. It is a schematic side view of a combine. It is a schematic plan view of a combine. It is a schematic perspective view of an unmanned aerial vehicle. It is a functional block diagram centering on a control part. It is an explanatory view of a display example on a display screen. It is a flowchart which shows the processing procedure of a run stop control (the 1). It is a flowchart which shows the processing procedure of a run stop control (the 2). It is a flow chart which shows the processing procedure of traveling stop control (the 3). It is a flowchart which shows the processing procedure of a run stop control (the 4). It is an explanatory view of an optimal route display. It is a flowchart which shows the processing procedure of optimal route display control. It is explanatory drawing of an attention point display. It is a flowchart which shows the processing procedure of attention point display control. It is explanatory drawing of the modification of a control system of a combine.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. The components in the embodiments include those that can be easily assumed by those skilled in the art, or those that are substantially the same, that is, those that have a so-called equivalent range. The present invention is not limited by the following embodiments.

  FIG. 1 is a schematic explanatory diagram of a combine control system 1 according to the embodiment. The control system 1 of the combine is incorporated into a work management system of various work vehicles. In FIG. 1, the combine control system 1 is indicated by a dashed line. As shown in FIG. 1, the combine control system 1 includes a combine 2 and an unmanned aerial vehicle 20.

  Further, the combine control system 1 is portable, like a tablet terminal, with an airframe control unit 150 constructed by a computer including a storage device 152 and an information processing device (not shown) described below. Alternatively, the information processing terminal 10 includes a wirelessly connectable information processing terminal 10 (see FIG. 5).

  The information processing terminal 10 is connected to the Internet or a predetermined communication network via the base station 50. The information processing terminal 10 is connected to, for example, a server owned by an administrator who performs work management by the combine control system 1 and a plurality of terminal devices such as personal computers. Note that the work management of the combine control system 1 can also be performed from the terminal device via the server.

  The combine (hereinafter, referred to as an airframe) 2 includes a traveling device 3 and a working device 4. The traveling device 3 and the working device 4 will be described later with reference to FIGS. The airframe 2 is provided with a receiving antenna 6 such as a GPS (Global Positioning System) antenna or a GNSS (Global Navigation Satellite System) antenna above the cabin 5.

  In addition, the cabin 5 is provided at the front of the body frame, and in addition to the cockpit 5b on which an operator (also referred to as a pilot) is seated, various operation levers and instruments, the information processing terminal 10 and various information. A control unit 5a provided with a display unit (monitor) 12 for displaying information is provided in the internal space.

  On the other hand, the unmanned aerial vehicle 20 is an aerial vehicle called a drone, receives a controller (control unit) 200 (see FIG. 5), a camera 22, and radio waves transmitted from a plurality of navigation satellites S to determine its own position. And a positioning device 21 (see FIG. 5) for measuring. An unmanned aerial vehicle (hereinafter, referred to as a drone) 20 captures an image of the airframe 2, the vicinity of the airframe 2, and the field by the camera 22 while flying over the airframe 2 and over the field. The controller 200 includes a computer having a storage device and an information processing device.

  In the work management system as described above, for example, the control unit 100 provided on the side of the aircraft 2 includes an image (image information) captured by the camera 22 of the drone 20 and an image captured by the camera 22 acquired by the positioning device 21. Field information indicating a position is synthesized to generate field information, and a work management process is executed based on the generated field information.

  Next, the configuration of the combine 2 will be described with reference to FIGS. FIG. 2 is a schematic side view of the combine 2, and FIG. 3 is a schematic plan view of the combine 2. In the following description, the front-rear direction, the left-right direction, and the up-down direction in the normal use mode of the combine (body) 2 will be described as the front-rear direction, the left-right direction, and the up-down direction of each part.

  Of these, the “front” direction is the traveling direction of the body 2 during the mowing operation, the “left” direction is a left-hand direction toward the front, and the “right” direction is a right-hand direction toward the front. The "down" direction is the direction in which gravity acts. These directions are defined for the sake of convenience for easy understanding of the description, and the present invention is not limited by these directions.

  As shown in FIGS. 2 and 3, the fuselage 2 includes a traveling device 3 provided at a lower part of the body frame, and various working devices 4 provided at a front part and an upper part of the body frame. Further, the aircraft body 2 is provided with a cabin 5 that covers a steering section 5a provided with a cockpit 5b and the like above a front portion, and a receiving antenna 6 is provided above the cabin 5.

  The traveling device 3 includes a pair of left and right crawler belts that rotate by being transmitted with power from an engine E (see FIG. 1) installed on the body frame. The traveling device 3 causes the machine body 2 to travel by rotating the crawler belt. The crawler belt is formed endlessly by an elastic body such as rubber.

  The working device 4 includes, for example, a mowing device 4A provided at the front of the body frame, a threshing device 4B provided at one side (left side) at the upper part of the body frame, and other left and right sides at the upper part of the body frame. (Right tank) and a discharge device having a vertical auger standing upright behind the storage device 4C and a horizontal auger lying above the threshing device 4B and the storage device 4C in the standby state. (Grain discharge auger) 4D.

  The reaping device 4A includes a weeding rod for weeding the culm in the field, a raising device for causing the culled culm, a cutting blade for cutting the root of the culled culm, and the like. The reaper 4A divides the culm planted in the field with a weeding rod, raises the weeded culm with a raising device, and cuts the raised culm with a cutting blade. Behind the reaper 4A, there is provided a cereal culm transport device that transports the cut culm toward the threshing device 4B.

The threshing device 4B sends the grains sorted by the sorting unit after threshing to the storage device 4C by a frying device. The storage device 4C sends the stored grains to the lower part of the vertical auger of the discharge device 4D.
The discharge device 4D feeds the grains sent to the vertical auger from the top of the vertical auger to the horizontal auger, and transports the grains sent to the horizontal auger from the discharge cylinder provided at the tip of the horizontal auger to the outside of the machine body. Discharge to vehicles.

  Here, the drone 20, which is an unmanned aerial vehicle, will be described with reference to FIG. FIG. 4 is a schematic perspective view of the unmanned aerial vehicle (drone) 20. As shown in FIG. 4, the drone 20 is provided with rotating blades 24 at the tips of four arms 20b extending radially from the main body 20a. A camera 22 and a radar 23 are provided below the main body 20a.

  The camera 22 is mounted so as to be able to change its posture by, for example, two-point support. The radar 23 is provided as a field scene shape measuring device capable of measuring the shape of a field scene. Further, a controller 200 for performing flight control and a positioning device 21 (see FIG. 5) capable of recognizing its own position are provided inside the main body 20a.

  Next, a control system in the combine control system 1 will be described with reference to FIG.

  FIG. 5 is a functional block diagram centering on the control unit 100. The control unit 100, which is the core of the control system, includes a body control unit 150 mounted on the body 2 and, for example, a tablet-type information processing terminal (tablet terminal) 10 carried by an operator. Note that the information processing terminal 10 can also be installed in the control unit 5a of the aircraft 2. As described above, the control unit 100 may be configured to include the airframe control unit 150 and the information processing terminal 10, or may be configured to include only one of the airframe control unit 150 and the information processing terminal 10. May be constructed.

  The information processing terminal 10 includes, for example, a storage unit 11 including a hard disk, a ROM (Read Only Memory), and a RAM (Random Access Memory), a display unit 12 including a touch panel, and an operation unit 13. Various keys and buttons may be provided as the operation unit 13.

  In the combine control system 1 described above, each unit can be controlled by electronic control. The body control unit 150 included in the body 2 includes various programs such as a processing unit having a CPU (Central Processing Unit) and the like. A storage device 152 in which necessary data such as planned traveling route data predetermined for each field is stored, and a plurality of controllers.

  As the controller, for example, a traveling system controller 151 that drives and controls the traveling device 3 that is a traveling system, a work management controller 153 that performs control related to work management, a reaper 4A that is a work system, a threshing device 4B, a storage device 4C, and a discharge device There is a work controller 154 that drives and controls the work device 4 such as the device 4D (see FIGS. 2 and 3). The storage device 152 is configured by a hard disk, a ROM, a RAM, and the like, and data stored in the storage device 152 is shared with the information processing terminal 10 and servers and terminal devices configuring the work management system. Is also possible.

  The traveling system controller 151, the work management controller 153, and the work system controller 154 each include a processing unit having a CPU and the like, a storage unit such as a ROM in which a control program is stored, a RAM for a work area, and an input / output unit. By being provided and connected to each other, it is possible to exchange signals with each other. In the ROM of the storage unit, a control program or the like corresponding to a control target of each controller is stored.

  In addition, the traveling device 3, various traveling system sensors 31, the working device 4, and various working system sensors 41 are connected to the body control unit 150.

  In this way, the control system 1 of the combine performs the predetermined work while the operator runs on the body 2 while traveling, and also performs the predetermined work while automatically traveling with the automatic traveling unit 155 by the body control unit 150. Can be.

  When the aircraft 2 is to be automatically driven, a planned traveling route according to the work content is determined in advance for each field, converted into data, and stored in the storage device 152. The planned traveling route is set according to the shape and size of the field, the width, length and number of ridges formed in the field, and furthermore, the type of crop and the like. The setting of the scheduled traveling route can be set using, for example, a server or a terminal device of the work management system.

  Further, the automatic traveling of the aircraft 2 executed according to the scheduled traveling route may be executed by the aircraft control unit 150, or may be executed, for example, via the information processing terminal 10. Further, the program may be executed via the terminal device.

  Further, as shown in FIG. 5, the control unit 100 and the drone 20 can perform wireless communication. That is, both the information processing terminal 10 and the aircraft control unit 150 can communicate with the drone 20 via the communication device provided in the controller 200 of the drone 20.

  The controller 200 of the drone 20 includes a storage unit. The controller 200 of the drone 20 flies around the aircraft 2 or over a field according to the flight path information, the flight program, and the imaging program for the camera 22 stored in the storage unit. And the image of the vicinity of the machine body 2 and the field. The flight route information, the flight program, the imaging program, and the like stored in the storage unit can be transmitted from the airframe control unit 150, the information processing terminal 10, or the server or the terminal device to the controller 200 of the drone 20. It is. Further, the operation control of the drone 20 can be controlled by the information processing terminal 10 or the above terminal device.

  Here, an image captured by the camera 22 of the drone 20 is displayed in real time on a display screen 121 (see FIG. 6) of the display unit (monitor) 12. Next, the display of the display screen 121 of the display unit 12 will be described with reference to FIG. FIG. 6 is an explanatory diagram of a display example on the display screen 121. As shown in FIG. 6, the display screen 121 is partitioned into, for example, first, second, and third display areas 121a, 121b, and 121c. In each of the display areas 121a, 121b, and 121c, for example, an image of the aircraft 2 and a predetermined location around the aircraft 2 captured by the cameras 22 of the plurality of drones 20 are displayed.

  In the example shown in FIG. 6, in the first display area 121a in the left half of the display screen 121, an image of the body 2 traveling (reaping work) in the field F, taken from above, is planted in the field F. The state of the machine body 2 that cuts while traveling on a grain culm (also referred to as a planted grain culm) Ga is displayed in a plan view. From the first display area 121a, it is possible to confirm, for example, the straight traveling state and the cutting state of the body 2 from the images of the planted grain culm Ga and the stump Gb. Further, from the first display area 121a, the lodging state of the cereal culm Ga can be confirmed. Further, foreign substances such as empty cans and empty bottles in the field F can be confirmed.

  The second display area 121b in the right half and the upper half of the display screen 121 is an image of the machine body 2 traveling on the field F (cutting work), which is taken from the rear part of the machine body 2, The state of the machine body 2 that cuts while traveling on the culm Ga is displayed in a rear view from the machine body 2. From the image of the planted grain culm Ga and the stump Gb, for example, the straight-running state or the cutting state of the body 2 can be confirmed from the second display area 121b at a different angle from the image of the first display area 121a. .

  In the third display area 121c in the right half and the lower half of the display screen 121, the grains Gc are discharged toward the carrier of the carrier, which is photographed from above the carrier stopped on a ridge or the like. The image of the discharging device 4D is displayed. From the image displayed in the third display area 121c, for example, it is possible to confirm the discharge state of the grain Gc, the free space of the cargo bed, and the like. In addition, by adjusting the discharge direction while viewing the display screen 121, the grains Gc can be discharged uniformly.

  According to such a configuration, while the machine body 2 is traveling or working, the surroundings of the machine body 2 can be photographed, and the photographed image can be checked by the operator on the display screen 121 of the display unit 12. The operator can grasp the situation around the body 2 during traveling or working. Thus, for example, when the grain culm Ga is lying down, the running speed is reduced to a low speed such as the grain culm transport speed that is linked to the running speed, so that the stock removal of the grain culm Ga during cutting is suppressed. be able to. In addition, for example, when there is a foreign object in front of the traveling of the body 2 in the field F, by performing the avoiding operation, it is possible to prevent damage to the cutting blade and the like. In this way, when an abnormality occurs, the operator can perform an operation to avoid the abnormality and improve safety.

  Further, for example, by photographing the situation of the field F several meters ahead of the aircraft 2 while the drone 20 flies ahead of the aircraft 2, the operator can quickly recognize an abnormality in the field F, for example. . In addition, by looking at the color of the planted cereal culm Ga several meters away from the machine body 2, for example, the operator can quickly recognize the degree of growth of the cereal culm Ga.

  In addition, the control unit 100 displays the image captured by the camera 22, analyzes the image captured by the camera 22, and controls driving of at least one of the traveling device 3 and the working device 4 using the analysis result. Thus, if there is an abnormality, control is performed to automatically avoid the abnormality. According to such a configuration, when an abnormality occurs around the body 2 while the body 2 is running or working, the abnormality can be automatically avoided.

  Next, with reference to FIGS. 7 to 10, a processing procedure for automatically avoiding an abnormality will be described with reference to an example of travel stop control of the body 2 when a person (such as an assistant) is approaching the body 2. explain. 7 to 10 are flowcharts illustrating the processing procedure of the traveling stop control. Note that the processing illustrated in FIGS. 7 to 10 is executed by the control unit 100 controlling each unit.

  First, a processing procedure of a first example of the traveling stop control will be described with reference to FIG. As shown in FIG. 7, the periphery of the body 2 is photographed by the camera 22 mounted on the drone 20 (step S101).

  The control unit 100 acquires an image captured by the camera 22, and displays the acquired image on the display screen 121 of the display unit 12 in real time (step S102). In addition, the control unit 100 displays the image captured by the camera 22 on the display unit 12 and analyzes the image captured by the camera 22 (step S103). In this image analysis, for example, shape determination is performed, a person around the body 2 is recognized based on the determination result, and a distance from the body 2 is measured when a person around the body 2 is recognized.

  Next, the control unit 100 determines whether or not the body 2 is traveling (step S104). In the process of step S104, when it is determined that the body 2 is running (step S104: Yes), it is determined whether a person is within a predetermined distance from the body 2 (step S105). In the process of step S105, when it is determined that the person is within the predetermined distance from the aircraft 2 (step S105: Yes), the traveling of the aircraft 2 is stopped by controlling the driving of the traveling device 3 (step S106). . For stopping the traveling of the body 2, for example, the main transmission lever is moved to the neutral position, that is, the trunnion shaft of the continuously variable transmission (HST) is moved to the neutral position. As a result, the traveling of the aircraft 2 stops. In addition, when the traveling of the airframe 2 is stopped, control for urgently stopping the engine E may be performed.

  In addition, in the process of step S104, when it is determined that the body 2 is not traveling (step S104: No), the control unit 100 returns to the process of step S103. Further, in the process of step S105, even when the person is not within a predetermined distance from the machine body 2 (step S105: No), the control unit 100 returns to the process of step S103.

  According to such a configuration, when an abnormality occurs around the body 2 while the body 2 is running or working, the abnormality can be automatically avoided. For example, when a person such as an assistant is approaching the machine body 2, by automatically stopping traveling of the machine body 2, contact with the person can be prevented. Thereby, safety is improved. In addition, since the avoidance operation is performed automatically, the labor of the operator can be saved, and a decrease in workability can be suppressed.

  Next, a processing procedure of a second example of the traveling stop control will be described with reference to FIG. Note that the second example described with reference to FIG. 8 differs from the first example described above in that it includes a process of generating an alarm (step S206). That is, among the processes in the second example, the processes in steps S201 to S205 are the same as the processes in steps S101 to S105 in the first example. Further, the processing in step S207 in the second example is the same as the processing in step S106 in the first example. For this reason, in the second example, only differences from the first example will be described.

  As illustrated in FIG. 8, when it is determined in the process of step S206 that a person is within a predetermined distance from the aircraft 2 (step S205: Yes), the control unit 100 causes the alarm unit 14 (see FIG. 5) to perform the process. An alarm such as a buzzer sound is generated (step S206). Then, the control unit 100 stops the traveling of the body 2 (step S207).

  According to such a configuration, while the body 2 is traveling, if there is a person such as an assistant within a predetermined distance from the body 2, the body 2 is automatically stopped, so that contact between the body 2 and a person can be prevented. And safety can be improved. For example, when a person such as an assistant is approaching the body 2, a warning can be generated to make the person aware of danger, and the traveling of the body 2 can be automatically stopped to make contact with the person. Can be prevented. Thereby, safety is improved.

  In addition, since the avoidance operation is performed automatically, the labor of the operator can be saved, and a decrease in workability can be suppressed.

  In the second example, an alarm is generated and the traveling of the body 2 is stopped. However, a configuration may be used in which only an alarm is generated. Even with this configuration, an alarm is issued when a person such as an assistant is present within a predetermined distance from the aircraft 2 during traveling of the aircraft 2, so that an operator can grasp that there is a person near the aircraft 2. And making the person aware of the danger, contact with the person can be prevented and safety can be improved.

  Next, a processing procedure of a third example of travel stop control will be described with reference to FIG. Note that the third example described with reference to FIG. 9 differs from the first example in that a process when it is determined that the aircraft 2 is not running in the process of step S104 of the first example is added. Is different. That is, among the processes in the third example, the processes in steps S301 to S306 are the same as the processes in steps S101 to S106 in the first example. Therefore, in the third example, only differences from the first example will be described.

  As illustrated in FIG. 9, when it is determined in the process of step S304 that the body 2 is not running (step S304: No), the control unit 100 determines whether a person is within a predetermined distance from the body 2 or not. Is determined (step S307). When it is determined in step S307 that a person is within a predetermined distance from the body 2 (step S307: Yes), the control unit 100 invalidates the traveling operation by the worker (step S308). Regarding the invalidation of the traveling operation, for example, by performing control to cut off the electrical connection between the main transmission and the continuously variable transmission, the operation of the main transmission lever by the operator is not accepted.

  In addition, in the process of step S307, when the person is not within the predetermined distance from the machine body 2 (step S307: No), the control unit 100 returns to the process of step S303.

  According to such a configuration, while the body 2 is stopped, when a person is approaching the body 2, contact with a person can be prevented by invalidating a traveling operation of the body 2 by an operator, Safety can be improved.

  Here, the control unit 100 may provide a plurality of thresholds according to the distance of the person from the body 2 and set the traveling conditions of the body 2 for each of the plurality of thresholds. That is, the control unit 100 regulates the traveling of the body 2 so that the traveling condition becomes more severe as the person is closer to the body 2. The control unit 100 sets, for example, three thresholds, and does not limit the travel at the first threshold farthest from the body 2 when a person is within a predetermined distance from the body 2. In addition, the control unit 100 limits (decelerates) the traveling speed to only low speed at the second threshold value far from the body 2. Further, the control unit 100 stops running at the third threshold value closest to the aircraft.

  According to such a configuration, when there is a person such as an assistant within a predetermined distance from the aircraft 2 during traveling of the aircraft 2, a step-by-step operation such as unrestricted, deceleration, and stop is performed according to the approach of the human to the aircraft 2. Therefore, it is possible to suppress a stop of traveling when a person is at a safe distance that does not need to be stopped, and to suppress a decrease in workability while ensuring safety.

  Next, a processing procedure of a fourth example of travel stop control will be described with reference to FIG. Note that the fourth example described with reference to FIG. 10 is different from the third example described above in that a stop release process by a stop release switch 13a (see FIG. 5) is included. That is, among the processes in the fourth example, the processes in steps S401 to S408 are the same as the processes in steps S301 to S308 in the third example. Therefore, in the fourth example, only differences from the third example will be described.

  As shown in FIG. 10, after disabling the traveling operation, the control unit 100 detects an operation of the stop release switch 13a provided near, for example, the cockpit 5b (step S409). When the operation of the stop release switch 13a is detected (step S409: Yes), the driving of the traveling device 3 is controlled to permit only low-speed traveling. When the operation of the stop release switch 13a is not detected in the process of step S409 (step S409: No), the control unit 100 continues to invalidate the traveling operation.

  According to such a configuration, the operator confirms safety and then returns the body 2 to the original state (a state in which the vehicle can travel), so that safety can be ensured. When the body 2 is returned, the traveling of the body 2 is restricted to a low speed, so that safety can be ensured.

  The control unit 100 is configured to permit only low-speed traveling by operating the stop release switch 13a, but may be configured to not particularly limit the traveling speed. Even with such a configuration, the operator can confirm the safety and then return the body 2 to the original state, so that safety can be ensured.

  Further, an image captured by the camera 22 while the drone 20 flies over the field F can be used for improving workability such as a mowing operation.

  Next, the optimal route R display control for each field F will be described with reference to FIGS. FIG. 11 is an explanatory diagram of the optimal route R display. Note that FIG. 11 illustrates the display unit 12a in a state where the optimum route R is displayed. FIG. 12 is a flowchart illustrating a processing procedure of the optimum route R display control.

  The control unit 100 executes a process of mapping an aerial image of the field F captured by the camera 22, and based on the map data of the field F and parameters indicating the model and performance of the aircraft 2, The route R is displayed on the display screen of the display unit 12a. For example, as shown in FIG. 11, a counterclockwise cutting route, in which the corn stalk is cut while turning counterclockwise in the field F from the entrance Fa, is displayed as the optimum route R on the display screen.

  As shown in FIG. 12, the control unit 100 acquires an image captured by the camera 22, and maps the acquired image (step S501). Next, the control unit 100 determines the optimal route R based on the map data and the parameters of the aircraft 2 (step S502), and displays the determined optimal route R on the display screen of the display unit 12a (step S503). .

  According to such a configuration, since the optimum route R is displayed according to the parameters of the machine body 2 for each field F, for example, the operator can roughly grasp the time required for the work in the field to start the reaping work. it can. Thus, even inexperienced workers who are not skilled workers can work efficiently, and workability can be improved.

  Next, the display control of the attention point P for each field F will be described with reference to FIGS. FIG. 13 is an explanatory diagram of the attention point P display. Note that FIG. 13 illustrates the display unit 12a in a state where the attention point P is displayed. FIG. 14 is a flowchart showing a procedure of the attention point P display control.

  The control unit 100 executes a process of mapping an aerial image of the field F captured by the camera 22, and based on the map data of the field F and parameters indicating the model and performance of the aircraft 2, The point P, that is, the place to be careful in the field F is displayed on the display screen of the display unit 12a.

  As shown in FIG. 14, the control unit 100 acquires an image captured by the camera 22, and maps the acquired image (step S601). Next, the control unit 100 determines the attention point P based on the map data and the parameters of the aircraft 2 (step S602), and displays the determined attention point P on the display screen of the display unit 12a (step S603). .

  Next, when the aircraft 2 starts work, the control unit 100 detects whether the aircraft 2 is close to the attention point P (step S604), and when it is detected that the aircraft 2 is near the attention point (step S604). : Yes), an alarm is generated in the alarm unit 14 (see FIG. 5). In the process of step S604, when it is not detected that the body 2 is close to the caution point P (step S604: No), the process is repeated until it is detected that the body 2 is close to the caution point P.

  According to such a configuration, the attention point P in the field F is displayed for each field F in accordance with the parameters of the body 2, so that even an inexperienced worker can grasp the attention point P, and Work can be avoided, and troubles during the work can be prevented beforehand and work can be performed efficiently. Thereby, workability can be improved.

  Further, an image taken by the camera 22 while the drone 20 flies over the field F or an image around the machine body 2 can be used for the operation evaluation of the worker. In this case, the state of the stump Gb (see FIG. 6), that is, the straight-moving operability of the body 2 and the accuracy of cutting may be evaluated based on the cutting trace of the grain stalk. As a result, not only the measurement of the fuel consumption and the load factor, etc., which can be determined from the state of the machine body 2 after the operation, but also the operation evaluation can be performed in the state of the field F during or after the operation, and a more accurate operation evaluation can be performed. Can be. In the case of farming, it is also possible for management to use it for employee evaluation.

  Next, a modified example (control system 1A) of the combine control system will be described with reference to FIG. FIG. 15 is an explanatory diagram of a modification (control system 1A) of the combine control system. Note that FIG. 15 schematically shows the aircraft 2 traveling in the field F and the drone 20 flying before the aircraft 2 in a schematic left side view, in which the traveling directions of the aircraft 2 and the drone 20 are shown. Are indicated by arrows.

  As shown in FIG. 15, when the field F is dry during the mowing operation, the drone 20 flying ahead of the aircraft 2 causes water to flow from the sky toward the front of the aircraft 2 in accordance with the advance of the aircraft 2. May be configured to be injected. In this case, the drone 20 is provided with a tank for storing the water to be injected. According to such a configuration, the generation of dust during the mowing operation can be suppressed by moistening the field F surface.

  Further, a tank for storing water may be provided on the body 2 side, and the tank of the drone 20 may be replenished. Further, a charging device may be provided on the body 2 side so that the drone 20 can be charged on the body 2 side. According to such a configuration, water and a battery can be replenished on the body 2 side, and continuous operation can be performed.

  The drone 20 may be provided with an illuminating device, and the drone 20 flying ahead of the fuselage 2 may illuminate, for example, the front of the fuselage 2. According to such a configuration, the field can be efficiently illuminated during nighttime work. By providing the receiving antenna 6 such as GPS on both the aircraft 2 and the drone 20, the flight route of the drone 20 with respect to the aircraft 2 can be set arbitrarily.

  Note that, when the drone 20 is not used, the control unit 100 may control the drone 20 to be moved to the upper surface of the storage device 4C and parked. In this case, fixing means is provided on the upper surface of the storage device 4C, and the drone 20 is fixed to the upper surface of the storage device 4C by the fixing device. According to such a configuration, the drone 20 does not hinder the opening and closing of the handling drum cover of the threshing device 4B and the turning of the discharge device 4D.

  Further, when the control unit 100 detects that the HST lever has been operated in the reverse direction, the control unit 100 may control the drone 20 to be positioned behind the body 2 so that the camera 22 functions as a back monitor. . According to such a configuration, an operator can check the rear of the machine body 2 on the display screen 121 of the display unit 12, and can improve safety.

  In addition, the control unit 100 may be configured to control the drone 20 to be positioned above the fuselage 2 during the mowing operation so that the camera 22 captures an image of the fuselage 2 in a plan view. According to such a configuration, the operator can also check the left side of the fuselage 2 which is difficult to see from the cockpit 5b. For example, when there is a person such as an assistant, an avoidance operation can be performed, so that safety is improved. Can be secured.

(Harvesting work system)
The control unit 100 includes a positioning device similar to the positioning device 21 provided on the unmanned aerial vehicle 20. (The RTK type is preferable.) The storage device 152 stores the shape of the field and a traveling route set based on the shape. The combine 2 includes a reaper 4A, a threshing device 4B, and the like. Automatically travels along this travel route while driving the work device of

  The controller 200 of the unmanned aerial vehicle 20 stores the shape of the field and the flight path (including the altitude) set based on the shape, and the unmanned aerial vehicle 20 flies along the flight path. . Further, the distance to the combine 2 can be measured by the radar 23, and the flight can be performed while maintaining a constant distance from the combine 2.

  Photographing information by the camera 22 provided in the unmanned aerial vehicle 20 is transmitted from the controller 200 of the unmanned aerial vehicle 20 to the combine 2 side. On the combine 2 side, the shooting information is received by the machine control unit 150.

  As a result, the unmanned aerial vehicle 20 is caused to fly to a position preceding the combine 2, the planted cereal culm in the field is photographed by the camera 22, and the lodging state of the planted cereal culm is detected from this photographing information. The speed of the work traveling speed of the combine 2 is controlled in accordance with.

  In addition, the lodging state of the planted grain culm in a plurality of areas in the field is detected from the photographing information by the camera 22, and the work traveling speed of the combine 2 is controlled for each area according to the falling state.

  Further, the unmanned aerial vehicle 20 is caused to fly to a position ahead of the combine 2, an image of the planted cereal culm in the field is taken by the camera 22, and the lodging state of the planted cereal culm is detected from this photographing information. Accordingly, the harvester 4A of the combine 2 is positioned at a height near the field scene.

  In addition, when the combine 22 and the field are simultaneously photographed by the camera 22 provided in the unmanned aerial vehicle 20, and it is detected from this photographing information that the traveling direction of the combine 2 is deviated from the set traveling route, Steering control for returning the combine 2 to the set traveling route is performed.

  The combine 2 and the field are simultaneously photographed by the camera 22 provided on the unmanned aerial vehicle 20, and when it is detected from the photographed information that an obstacle is present in front of the combine 2, the traveling and reaping device 4A of the combine 2 is used. Automatically stops driving.

  Further, the combine 22 and the field are simultaneously photographed by the camera 22 provided on the unmanned aerial vehicle 20, and when it is determined from this photographing information that there is an obstacle ahead of the combine 2, the obstacle is avoided. A traveling route is newly generated, and the combine 2 is automatically steered along the traveling route. After avoiding the obstacle, the vehicle is steered to return to the original setting route.

(Another Example 1)
Of the travel routes set to automatically run the combine 2, a field area for harvesting is calculated from the outermost travel route, and the field area and the average vehicle speed of the combine 2 are used for harvesting in the field. The estimated time at which the harvesting operation is to be completed may be displayed on the display unit 12 of the information processing terminal 10 or the portable terminal of the worker monitoring the side of the field, by calculating and transmitting the required time.

  Further, as described above, the time until the storage device 4C becomes full is calculated and transmitted from the field area and the average vehicle speed of the combine 2C, and is monitored on the display unit 12 of the information processing terminal 10 or on the side of the field. The estimated time at which the grain discharging operation is required may be displayed on the portable terminal of the worker who is present.

(Another Example 2)
When the combine 2 is automatically driven along the set traveling route, the reaping device 4A may rush into the cereal stalks to cause a so-called "strain split", and the culms may be pushed down to leave the mowing.

  In order to cope with this, the mowing device 4A is supported movably in the left-right direction with respect to the body frame, and a copying sensor that is turned ON / OFF by contact with the planted grain culm is provided, and based on the detection result of the copying sensor. Alternatively, a driving device such as an electric motor may be operated to move the reaper 4A in the left-right direction.

  With this configuration, while automatically driving the combine 2 along the set traveling route, the harvester 4A is controlled to move in the left-right direction so as to be always positioned between the adjacent stalk rows, thereby preventing stock splitting. it can.

  Further, the driving device for moving the reaper 4A in the left-right direction is configured to be operated by the operation of a manual operation tool, and the manual operation tool is arranged at a position where the operator seated on the cockpit 5b can reach. Good. In addition, it is preferable to arrange this manual operation tool on the left side of the cockpit 5b.

(Another embodiment 3)
The combine 2 used in this harvesting operation system is a small combine (2-row combine) or a medium-size combine (4-row combine) and a large combine (6-row combine). Is set, and a route for harvesting and traveling in an area other than the outer peripheral area of the field is set in the large combine. This allows the small and medium-sized combine harvester to travel around the outer periphery of the field, thereby making it difficult for troubles to occur on the ridges, and reducing the likelihood of the field being roughened by the traveling device. Also, the small or medium-sized combine harvester travels the outer peripheral area of the first field and then moves to the next field to harvest and travel the outer peripheral area of the field. After harvesting and traveling in an area other than the outer peripheral area of the first field, the large combine harvester performs traveling in an area other than the outer peripheral area of the next field. That is, the efficiency of the harvesting operation can be improved by sharing the harvesting traveling area in the field with the small or medium-sized combiner and the large combiner.

(Reference Example 1)
The angle of the sheave provided in the sorting unit of the threshing device 4B is controlled by an electric motor, and the culm and branch stalks in the first thing to be put into the storage device 4C by the camera provided in the upper part of the storage device 4C May be detected, and when the amount is large, the electric motor is operated to control the sheave to be closed.

  Thereby, it is possible to reduce culm breaks and branch stalks input to the storage device 4C.

(Reference Example 2)
The amount of Karino air provided in the sorting section of the threshing device 4B is controlled by an electric motor, and the culm and branch stalks in the first thing to be put into the storage device 4C by a camera provided in the upper portion of the storage device 4C. A configuration may be adopted in which the amount of particles is detected, and when the amount is large, the electric motor is operated to increase the amount of Karin wind, and when the amount is small, the amount of Karin wind is decreased.

  Thereby, it is possible to reduce culm breaks and branch stalks input to the storage device 4C.

(Reference Example 3)
The angle of a dust valve provided in the upper part of the threshing room of the threshing device 4B is configured to be controlled by an electric motor, and a culm in the first thing to be put into the storage device 4C by a camera provided in the upper portion of the storage device 4C Detects the amount of cuts, branch stalks, or damaged particles.If the amount is large, the electric motor is operated to control the angle of the dust valve to the feed direction. The angle may be controlled to the resistance side.

  As a result, it is possible to reduce the number of cut culms, branch stalks and damaged grains that are put into the storage device 4C.

(Reference Example 4)
An electric motor controls the air flow of the kara minos provided in the sorting unit of the threshing device 4B, and a water sensor is provided for detecting the amount of water in the grains fed into the storage device 4C. It may be configured to control so as to increase the air volume.

  Thereby, the input of the straw waste to the storage device 4C can be reduced.

  Further effects and modifications can be easily derived by those skilled in the art. Thus, the broader aspects of the present invention are not limited to the specific details and representative embodiments shown and described above. Accordingly, various modifications may be made without departing from the spirit or scope of the general inventive concept as defined by the appended claims and equivalents thereof.

2 Combine 4A Reaper 20 Unmanned aerial vehicle 22 Camera 100 Control unit 200 Controller (control unit)

Claims (7)

  A harvesting work system including a combine and an unmanned aerial vehicle, wherein the combine receives information from the unmanned aerial vehicle while automatically traveling the aircraft along a traveling route set in a field. The unmanned aerial vehicle includes a control unit that performs a harvesting operation.The unmanned aerial vehicle transmits photographing information obtained by a camera included in the airframe to the combine, and sets a flight path set above a field, or the airframe of the combine. A harvesting work system comprising a control unit for flying a set position.   Fly the unmanned aerial vehicle to a position preceding the combine, photograph the planted cereal culm in the field with the camera, detect the lodging state of the planted cereal culm from this photographing information, and combine 2. The harvesting work system according to claim 1, wherein a speed of the work traveling speed is controlled.   3. A structure in which a falling state of a planted grain culm in a plurality of areas in a field is detected from information photographed by the camera, and a speed of a work traveling speed of the combine is controlled for each area according to the falling state. Harvesting work system.   Fly the unmanned aerial vehicle to a position preceding the combine, photograph the planted cereal culm in the field with the camera, detect the lodging state of the planted cereal culm from this photographing information, and combine The harvesting system according to claim 1, wherein the harvester is positioned at a height near a field scene.   The combine and the field were simultaneously photographed by the camera provided on the unmanned aerial vehicle, and when it was detected from this photographing information that the traveling direction of the combine was deviated from the set traveling route, the combine was set. The harvesting operation system according to claim 1, wherein steering control for returning to a traveling route is performed.   The combine and the field are simultaneously photographed by the camera provided on the unmanned aerial vehicle, and when it is detected from the photographed information that an obstacle is present in front of the combine, the traveling of the combine and the driving of the reaper are automatically stopped. The harvesting operation system according to claim 1, wherein the harvesting operation system is configured to perform the operation.   The combine and the field are simultaneously photographed by the camera provided on the unmanned aerial vehicle, and when it is determined from this photographing information that an obstacle is present in front of the combine, the combine is automatically controlled to avoid the obstacle. The harvesting operation system according to claim 1, wherein the harvesting operation system is configured to be steered.

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