JP2020000116A - Automatic control combine - Google Patents

Abstract

To enable an autonomous combine to efficiently move to a plurality of farm fields and perform harvesting work.SOLUTION: The automatic control combine 7 which has a travel control device 1, a harvesting control device 2, a threshing control device 3, a work machine control device 4 and a main machine control device 5 and includes a robot controlling device 6 for integrally controlling the control devices 1,2,3,4,5, obtains access to a network 90 of a farm field management server 89 by using a remote communication unit 60 provided in the robot controlling device 6 to obtain data on the situation of crop growth in the farm field, and displays the data on a display 8 of the autonomous combine 7.SELECTED DRAWING: Figure 6

Description

  The present invention relates to an automatic control combine that performs a harvesting operation by autonomous traveling.

  An autonomous traveling combine in which an operator autonomously travels without performing a steering operation is described in Patent Documents 1 and 2 below.

These autonomous traveling combiners are provided with an electronic camera that shows the front of the body, analyze the projected image of the field, and automatically harvest and harvest the culm with a harvester while automatically controlling the traveling device.
Further, Patent Document 3 discloses a system as an agricultural management prediction system in which a field is aerial photographed with a drone to notify a field manager of a growing condition of a crop.

JP 2002-21433A JP-A-2006-10372 JP 2018-46787 A

  The autonomous traveling combine controls a traveling control device that controls a traveling device that travels in a field, a harvesting control device that controls a cutting device that cuts a culm vegetated in a field, and a threshing device that threats and sorts kernels from the harvested culm. The robot controller controls the threshing control device and other control devices of the machine, and the robot controller automatically controls the device to cut the culm vegetated in the field and harvest the grain while threshing.

  However, when harvesting a plurality of fields with this autonomous traveling combine, it may take time to determine the next field to be reaped and moved.

  An object of the present invention is to make it possible to efficiently move a plurality of fields and perform a harvesting operation in an autonomous traveling combine.

  The object of the present invention is solved by the following technical means.

  The invention of claim 1 has a travel control device 1, a cutting control device 2, a threshing control device 3, a work implement control device 4, and a main machine control device 5, and each of the control devices 1, 2, 3, 4, 5 is In the automatic control combine 7 provided with the robot control device 6 that performs the integrated control, the remote communication unit 60 provided in the robot control device 6 accesses the network 90 of the field management server 89 to obtain the crop growth status data in the field. An automatic control combine is characterized in that the combination is displayed on the display 8 of the autonomous traveling combine 7.

  The invention of claim 2 provides an unmanned aerial vehicle 91 that autonomously flies in a network 90 of a field database 89, accesses the field management server 89 from the remote communication unit 60, and captures the latest field photograph taken with the unmanned aerial vehicle 91 by the autonomous traveling combine 7. The automatic control combine according to claim 1, wherein the automatic control combine is displayed on a display 8.

  According to a third aspect of the present invention, there is provided an automatic control combine according to the second aspect, wherein the latest field photos of a plurality of peripheral fields are displayed on the display 8 of the autonomous traveling combine 7.

  The invention according to claim 4 is characterized in that a field photograph determination means is provided in the management server 89 of the field management server 89 and the management server 89 notifies the robot controller 6 of a suitable harvest time. Combine.

  According to the first aspect of the present invention, the display 8 of the automatic control combiner 7 uses the data stored in the field management server 89 to display the crop growth status of the field where the harvesting operation is to be performed. Harvesting work can be performed efficiently in multiple fields.

  According to the second aspect of the present invention, in addition to the effect of the first aspect, it is possible to harvest the crop while grasping the latest crop growth status with the video projected on the unmanned aerial vehicle 91.

  According to the third aspect of the present invention, in addition to the effect of the second aspect, it is possible to harvest in order from the field in the most suitable harvesting time while comparing the crop growth status in a plurality of surrounding fields.

  According to the fourth aspect of the present invention, in addition to the effect of the first aspect, the operator of the automatic control combine 7 knows by a notification from the field management server 89 without searching for a field in a suitable harvesting time, so that an accurate harvesting operation can be performed. Can be done.

It is an automatic control block diagram of a combine. It is a front view of the meter panel of a combine. It is a menu selection screen of a meter panel. It is an abnormality occurrence information screen of a meter panel. It is a main body related abnormality display screen of a meter panel. It is a conceptual diagram which uses the network of a field management server. It is a utilization block diagram of field data.

  Hereinafter, embodiments of the present invention will be described with reference to examples shown in the drawings.

  FIG. 1 is a control block diagram for automatically controlling an autonomous traveling combine. A traveling control device 1 for controlling a traveling device, a cutting control device 2 for controlling a cutting and conveying device, and a threshing control device 3 for controlling a threshing device. And a work machine control device 4 for controlling the grain discharge auger, a main machine control device 5 for controlling the operational relationship of the machine, and a robot control for controlling the control order of the control devices 1, 2, 3, 4, and 5 The devices 6 are connected by CAN communication circuits 70, 71, 72, 73, 74, 75, 76, 77, 78, 79.

  The travel control device 1 receives a rotation signal from the engine rotation sensor 10 and receives an air conditioner presser 11, a work light relay 12, a headlight relay 13, a warning buzzer 14, a travel HST valve 15, an engine output 16, a DPF 17, and an engine stop. A signal 18, a side clutch left 19, a side clutch right 20, a turning brake 21, and an IGN / ON output 22 are controlled.

  The reaping control device 2 controls the reaping up valve 23, the reaping down valve 24, and the reaping HST motor 25, and detection signals are input from the reaping rotation sensor 26, the cereal culm sensor front A 27, the cereal culm sensor front B 28, and the reaping elevation sensor 29. I do.

  The threshing control device 3 controls the motor output relay 30, the charging relay 31, and the clutch switching 32, receives detection signals from the handling cylinder rotation sensor 33, the feed chain sensor 34, and the straw chain sensor 35, and outputs a signal from the automatic switch 36. Enter.

  The work machine control device 4 controls the auger up motor relay 40, the auger down motor relay 41, the auger swivel right 42, the auger swivel left 43, and the discharge drive relay 44, and a detection signal is output from the auger swivel sensor 45 and the auger up / down sensor 46. input.

  The machine control device 5 controls the mowing elevating lever 50 and the main speed change lever 55 to control the cutting height sensor 51, the threshing lever sensor 53, the mowing lever sensor 54, the grain stem sensor front left 56, the grain stem sensor front right 57, and the speed. A detection signal is input from the sensor 58, and an auger switch signal 52 is input.

  The robot control device 6 controls the control order of each of the control devices 1, 2, 3, 4, 5, communicates with the remote communication unit 60, displays the control status on the pilot monitor 61, and outputs a signal from the emergency release switch 62. , And power is supplied from the always-on circuit 63.

  When the robot controller 6 of the autonomous traveling combine is started, first, the main transmission lever 55 of the machine controller 5 is disengaged, and the traveling controller 1 outputs the engine output 16 to detect the output of the engine rotation sensor 10. Then, the air conditioner presser 11 is operated, the output of the work light relay 12, the headlight relay 13, the alarm buzzer 14, and the traveling HST valve 15 is detected, and the side clutch left 19, the side clutch right 20, and the turning brake 21 are operated. , IGN / ON output 22, and after confirming the operation of all the control devices, the engine stop signal 18 is issued. Next, the engine output 16 is performed, the mowing control device 2 drives the mowing device, and confirms the driving of the mowing lift valve 23, the mowing down valve 24, and the mowing HST motor 25, and the mowing rotation sensor 26 and the grain culm sensor. The sensor outputs of the front A27, the grain culm sensor front B28, and the cutting elevating sensor 29 are detected. Next, the threshing control device 3 confirms the operation of the motor output relay 30, the charging relay 31, the clutch switching 32, and the automatic switch 36, and confirms the outputs of the handling cylinder rotation sensor 33, the feed chain sensor 34, and the waste chain sensor 35. I do. Next, the work implement controller 4 confirms the operations of the auger raising motor relay 40, the auger lowering motor relay 41, the auger turning right 42, the auger turning left 43, and the discharge driving relay 44, and the auger turning sensor 45 and the auger lifting sensor Check the output of 46. Next, the output of the cutting height sensor 51, the auger switch signal 52, the threshing lever sensor 53, the cutting lever sensor 54, the grain stem sensor front left 56, the grain stem sensor front right 57, and the speed sensor 58 are output by the machine control device 5. Confirm.

  The drive unit confirmation of the autonomous traveling combine is performed by driving the aircraft for a certain period of time while the traveling of the aircraft is stopped, and it is determined that only one check or a plurality of checks is performed. The number of determinations may be changed depending on the part to be determined. In addition, the parts that can be operated at the same time are operated at the same time, and the check result is determined after all the operations are completed. Further, even if the subsequent error check is terminated when any one of them determines an error in the simultaneous operation, all error checks may be performed to the end in a predetermined order to display an error portion.

  Alternatively, the history of error occurrence locations may be stored, and the operation may be interrupted if all checks are performed to the end or the error is determined in the order of old or new occurrence locations.

  Further, when the error history is not stored, it is preferable to perform the error check at a plurality of locations simultaneously or in a predetermined order.

  When at least one of the operation error and the sensor error, the one with a high degree of importance, or the one registered in the error history reaches the robot control device 6, the traveling control device 1, the cutting control device 2, the threshing control device 3, and the work machine control The device 4 and the machine control device 5 do not receive the next operation command from the robot control device 6. When each of the control devices 1, 2, 3, 4, and 5 detects an error, a high-priority one, or a registered one in the error history during the error check, the operation command of the robot control device 6 is restarted until the controller is restarted. Not to accept. While each of the control devices 1, 2, 3, 4, and 5 does not receive an operation command from the robot control device 6 during error checking, it receives an engine stop command and outputs an engine stop signal 18 from the travel control device 1. I do. The check stop command is received and executed by releasing the stop of the engine or the starting of the engine and disengaging the work clutch to stop the engine.

  If there is no error as a result of the error check, if there is a traveling command, the traveling buzzer is sounded for a certain period of time without immediately starting the traveling, and then the vehicle travels at a low speed until traveling for a certain distance regardless of the command speed. If there is one error as a result of the error check, or if there is an error with a high risk, or if there is the same error in the error history, the alarm buzzer continues to sound until the key is turned off. In this case, the buzzer is stopped when the alarm continues for a considerable time or when a sonar sensor or a millimeter wave radar detects a nearby person. When a nearby person is detected, an alarm buzzer may sound.

  If there is no error as a result of the error check, an alarm buzzer is sounded intermittently for a certain period of time, and a sonar sensor is used to confirm that there are no obstacles around the vehicle for a certain period of time before starting traveling.

  FIG. 2 shows a meter panel 80 provided in front of a cockpit of an autonomous traveling combine, which is provided with an abnormality display by a wrench mark 81 for displaying an abnormality. 86 is interrupted and displayed.

  When the menu switch 87 is pressed, a menu selection screen 83 shown in FIG. 3 is displayed on the meter panel 80. When the abnormality occurrence information is selected, the screen is switched to an abnormality occurrence information screen 84 shown in FIG. Screen 85 is displayed.

  In the case of an error that affects the threshing operation (such as Karamin or sheave abnormality), if the threshing clutch is turned off, the operation instruction screen 86 is not displayed while the spanner mark 81 is lit, and the threshing clutch is connected. By displaying the operation instruction screen 86, the threshing-related error display is turned off when threshing is not being performed.

  FIG. 6 shows a conceptual diagram of a network 90 of the field management server 89. The field management server 89 and the operation terminal 94 are connected to the network 90, and the first base station 95A and the second base station 95B transmit position information from the GNSS satellite 93. And controls an unmanned aerial vehicle (drone) 91 that flies autonomously.

  When an operation terminal 94 issues a command to copy crops in a field arbitrarily or at predetermined time intervals, an unmanned aerial vehicle 91 copies crops in a field 92 through a network 90, and controls a field management server 89 and a robot control of the automatic control combine 7 through the network 90. The photograph data is transmitted to the device 6.

  In the field management server 89, the growing condition of the crop is determined by the field photograph determining means for determining the crop photograph of the field by the hue, and the crop photograph and the growing condition determination for each field are displayed on the display 8 of the automatic control combine 7 through the network 90. I do.

  FIG. 7 is a control block diagram. When a field shooting request is transmitted from the operation terminal 94 to the communication processing unit 97 of the field management server 89, a shooting command is sent to the drone command processing unit 98, and the management field Is sent to the photo database 101 of the field management server 89, and the photographic data 100 of the field crops reflected by the unmanned aerial vehicle 91 flying over the field 92 is digitized by the image recognition unit 102, and is calculated and determined. The growing state of the crop is determined by the unit 103, sent to the remote communication unit 60 of the automatic control combine 7, and displayed on the display 8.

REFERENCE SIGNS LIST 1 travel control device 2 harvesting control device 3 threshing control device 4 work implement control device 5 main machine control device 6 robot control device 7 automatic control combine 8 display 60 remote communication unit 89 field management server 90 network 91 unmanned aircraft

Claims (4)

  It has a traveling control device (1), a mowing control device (2), a threshing control device (3), a work implement control device (4), and a main machine control device (5). In an automatic control combine (7) provided with a robot control device (6) for integrating and controlling the 4,5), a field management server (89) is provided by a remote communication unit (60) provided in the robot control device (6). Automatically accessing the network (90) to obtain crop growth status data on the field and displaying the data on the display (8) of the autonomous traveling combine (7).   An unmanned aerial vehicle (91) that autonomously flies is provided on the network (90) of the field database (89), and the remote communication unit (60) accesses the field management server (89) to allow the unmanned aerial vehicle (91) to access the field management server (89). The automatic control combine according to claim 1, wherein the latest field photograph to be taken is displayed on the display (8) of the autonomous traveling combine (7).   The automatic control combine according to claim 2, wherein the latest field photos of a plurality of surrounding fields are displayed on the display (8) of the autonomous traveling combine (7). The field server determining means is provided in a management server (89) of the field management server (89), and the management server (89) notifies the robot controller (6) of a suitable harvest time. Automatic control combine as described.

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