JP2020124175A - Automatic harvesting system - Google Patents

Abstract

To provide an automatic harvesting system capable of performing appropriate harvesting work while taking transplanting work by a transplanter into account.SOLUTION: There is provided an automatic harvesting system equipped with a combine 1 for harvesting crops while automatically travelling in a farm field F. The combine 1 can selectively perform automatic travelling based on satellite positioning information and automatic travelling along rows of crops detected by an along-the-row travelling sensor 35. The combine 1 specifies a travelling direction of a transplanter when crops as harvesting objects are transplanted by the transplanter based on the information on transplanting work by a transplanter, performs automatic travelling along the rows of crops when the two travelling directions of a travelling direction of the transplanter and the travelling direction of the combine 1 are parallel to each other, and performs automatic travelling based on the satellite positioning information when the two travelling directions are not parallel to each other.SELECTED DRAWING: Figure 7

Description

The present invention relates to automatic harvesting systems.

Patent Document 1 below discloses a combine that generates a traveling route in a field and performs harvesting work while automatically traveling along the generated traveling route. However, the harvesting work by the combine harvester should be performed in consideration of how the crop was transplanted to the field by the transplanter, but in Patent Document 1, the harvesting work considering the transplanting work by the transplanter is considered. Not not.

JP, 2005-170223, A

The present invention has been made in view of the above circumstances, and an object thereof is to provide an automatic harvesting system capable of performing an appropriate harvesting operation in consideration of a transplanting operation by a transplanter.

An automatic harvesting system according to the present invention is an automatic harvesting system including a harvester that harvests crops while automatically traveling in a field,
The harvester is capable of selectively executing automatic traveling based on satellite positioning information and automatic traveling along the rows of crops detected by the detection unit,
The harvester, based on the transplant work information by the transplanter, specifies the traveling direction of the transplanter when the crop to be harvested is transplanted by the transplanter,
When the traveling direction of the transplanter and the traveling direction of the harvester are parallel, the automatic traveling is performed along the row of the crop, and when the traveling directions are not parallel, the satellite positioning information is set. Based on the automatic driving.

According to such a configuration, when the traveling direction of the transplanting machine when transplanted and the traveling direction of the harvester are parallel, the automatic traveling along the row of the crop is performed, and if the traveling direction of the crop is not parallel, Since there is a possibility that the traveling direction changes greatly by executing the automatic traveling along the line, it is possible to perform an appropriate harvesting operation by executing the automatic traveling based on the satellite positioning information when the traveling directions are not parallel.

Left side view showing the overall structure of the combine Plan view showing a part of the reaper Block diagram showing the control configuration of the combine Block diagram showing automatic harvesting system Diagram showing porting work information The figure which shows an example of the traveling route of a combine The figure which shows another example of the traveling route of the combine The figure which shows the driving route which concerns on other embodiment.

FIG. 1 is a left side view showing the overall configuration of the combine 1. FIG. 2 is a plan view showing a part of the combine 1. FIG. 3 is a block diagram showing a control configuration of the combine 1. The combine 1 is a combine (autonomous combine) capable of traveling and working autonomously.

Combine 1 is a self-removing combine. The combine 1 includes a traveling unit 2, a mowing unit 3, a threshing unit 4, a sorting unit 5, a storing unit 6, a straw processing unit 7, a power unit 8, and a control unit 9.

While the combine 1 travels by the traveling unit 2, the combine 1 disperses the grain culms cut by the harvesting unit 3 by the threshing unit 4, sorts the grains by the sorting unit 5, and stores the grains in the Glen tank 11 of the storing unit 6. The grain stored in the Glen tank 11 is discharged by the discharge auger 12. In addition, the straw after threshing is processed by the straw processing unit 7. Power is supplied from the engine 13 of the power unit 8 to the traveling unit 2, the mowing unit 3, the threshing unit 4, the sorting unit 5, the storage unit 6, and the straw processing unit 7. The control unit 9 includes a cabin 16 in which driving operation tools such as a driver's seat 14 and a steering wheel 15 are installed. The power unit 8 may be an electric drive source (motor) instead of the engine 13 or in addition to the engine 13.

The combine 1 includes a stock tracing sensor 35 (corresponding to a detection unit) provided in the reaping unit 3. The stock tracing sensor 35 is provided below the left end divider 31 as a left end portion of the mowing unit 3. The stock tracing sensor 35 includes an arm 36 that rotates from the front to the rear and from the rear to the front with respect to the body of the mowing unit 3 and the combine 1. A vertical shaft 37 of the mowing frame which supports the divider 31 at the left end supports a support shaft 36a which is a rotation center of the arm 36, and the arm 36 is rotatably supported by the support shaft 36a. The arm 36 projects leftward from the center of the combine 1 from the divider 31 at the left end. The arm 36 projects to the left of the side divider 3S that is extended in a usable state.

When the arm 36 contacts the grain culm while the combine 1 is running, the arm 36 rotates from the front to the rear. A biasing member (not shown) is provided between the arm 36 and the vertical pipe 37, and even if the arm 36 contacts the grain stalk and rotates from the front to the rear, the arm 36 makes contact with the grain stalk. When is eliminated, it is possible to rotate from the rear to the front and return to the original standard position.

As shown in FIG. 2, the arm 36 can rotate backward from the illustrated standard position about the support shaft 36a. Further, a potentiometer 38 for detecting the rotation angle of the arm 36 with respect to the vertical pipe 37 is provided between the arm 36 and the vertical pipe 37. The potentiometer 38 detects the rotation angle θ as the rotation angle from the standard position. As described later, the combine 1 calculates the distance from the grain culvert on the left side of the cutting unit 3 to the divider 31 according to the rotation angle θ. With such a configuration, the stock tracing sensor 35 detects the distance from the grain culvert on the left side of the cutting unit 3 to the divider 31. In the present embodiment, the stock profiling sensor 35 is provided below the leftmost divider 31. However, the stock profiling sensor 35 may be provided in a divider 31 other than the leftmost divider 31, and the stock profiling sensor 35 may be provided for each of the plurality of dividers 31. A configuration may be provided in which a plurality of stock tracing sensors 35 are provided.

The combine 1 includes a positioning unit 20 that receives signals from positioning satellites and performs positioning. The positioning unit 20 has a mobile positioning antenna 22 and a data receiving antenna 23. The mobile positioning antenna 22 and the data receiving antenna 23 are arranged in the cabin 16. On the other hand, the fixed positioning antenna 32 and the data communication antenna 33 are arranged at predetermined positions. The combine 1 acquires position information by using the RTK-positioning method.

The control device 40 of the combine 1 has a processing unit 41 including a computer such as a CPU, and a storage unit 42 such as a ROM, a RAM, a hard disk, and a flash memory. The processing unit 41 can read a program or the like stored in the ROM onto the RAM and execute the program. The storage unit 42 stores data of specifications of the combine 1 such as the total length, the total width, and the total height of the combine 1, the length of the arm 36, and the stock tracing sensor 35 such as the inclination angle of the arm 36 with respect to the total width of the combine 1. Data of specifications are stored. The storage unit 42 also stores preset travel route data.

The control device 40 controls the operation of various constituent elements by the processing unit 41 executing the control program. Specifically, transmission/reception of information during communication, various input/output controls, control of arithmetic processing, and the like are performed. The control device 40 also has a communication unit 43 for data communication with the outside. Through the communication unit 43, the control device 40 can communicate with other external components such as other work vehicles (combines, trucks for transporting harvested products, etc.), mobile terminals, and the like.

The combine 1 has, as the configuration on the input side of the control device 40, a positioning unit 20, an engine rotation sensor 51 that detects the number of revolutions of the engine 13, a traveling speed sensor 52 that detects the traveling speed of the combine 1, and a combine 1 of the combine 1. A gyro sensor 53 that detects accelerations in three directions as displacement information of the machine body, a direction sensor 54 that detects a traveling direction of the combine 1, a steering sensor 55 that detects a rotation angle of the steering wheel 15, and a gren tank 11 are stored. And a grain sensor 56 for detecting the amount of grain.

The configuration on the output side of the control device 40 includes a traveling unit 2, a mowing unit 3, a threshing unit 4, a sorting unit 5, a storage unit 6, a straw processing unit 7, a power unit 8, and a control unit 9. And. The control device 40 is based on the input positional information from the positioning unit 20 and operating conditions detected by various sensors (for example, the operating state of the engine 13, the attitude and orientation of the airframe, the amount of grains in the grain tank 11, etc.). The traveling unit 2, the mowing unit 3, the threshing unit 4, the sorting unit 5, the storage unit 6, the straw processing unit 7, the power unit 8, and the control unit 9 are appropriately controlled. In this way, the combine 1 is controlled so as to autonomously run and work along a predetermined travel route based on the satellite positioning information acquired by the positioning unit 20.

Further, the information from the potentiometer 38 is transmitted to the control device 40. When the information on the rotation angle θ detected by the potentiometer 38 is transmitted, the processing unit 41 determines from the length and inclination angle of the arm 36 and the rotation angle θ to the grain stem on the left side of the cutting unit 3 to the divider 31. To calculate the distance.

The combine 1 can execute automatic traveling along the row of the crop detected by the stock tracing sensor 35. The combine 1 corrects the position of the uncut grain culm relative to the row according to the distance detected by the stock tracing sensor 35. In the stock tracing run, the combine 1 runs while moving left and right from a predetermined travel route such that the distance to the row of uncut grain culms is within a predetermined range.

Hereinafter, the automatic harvesting system will be described with reference to FIGS. 4 to 7. The automatic harvesting system includes a route generation unit 101, a transplantation direction identification unit 102, and a travel instruction unit 103. In the present embodiment, the units 101 to 103 are mounted on the combine 1, but not limited to this. For example, each unit 101 to 103 may be mounted on an external server or the like.

The route generation unit 101 stores a route generation program for generating a traveling route. The route generation unit 101 creates a traveling route for automatically driving the combine 1 based on the satellite positioning information.

The route generation unit 101 creates a travel route based on the transplant work information by the transplanter (rice transplanter). FIG. 5 shows an example of the transplant work information. The transplanting work information includes the transplanting width (number of lines) of the transplanting machine, the traveling route of the transplanting machine, the traveling direction of the transplanting machine, and the like. In the example of FIG. 5, the transplanting work is performed while traveling back and forth along the transplanting routes Q1 to Q8 in the center of the field F by the transplanting machine 1a for 6-row planting, and thereafter, traveling around it along the transplanting routes Q9 to Q10. While doing the porting work. The transplant work information is stored in the storage unit 42.

The transplantation direction identification unit 102 identifies a traveling direction (also referred to as a transplantation direction) of the transplanter when the crop to be harvested is transplanted by the transplanter based on the transplant work information.

When the traveling direction of the transplanter identified by the transplantation direction identifying unit 102 (transplanting direction) and the traveling direction of the combine 1 (also referred to as a mowing direction) are parallel, the traveling instruction unit 103 The combine 1 is instructed to automatically travel along the row of the crop (also referred to as “stock tracing”), and when both traveling directions are not parallel, the combine 1 is automatically traveled based on the satellite positioning information ( (Also referred to as positioning information traveling).

FIG. 6 shows an example of the travel route of the combine 1 generated by the route generation unit 101. Based on the transplanting work information of FIG. 5, the route generation unit 101 makes a round traveling route R1 to R2 that makes a round trip on the outer periphery of the field F and a reciprocating traveling route R3 that makes a round trip to the inside of the round travel route R1 to R2. ~R10 and are generated.

In the example of FIG. 6, the harvesting work is performed while traveling on the traveling routes R1 to R10 by the combine 1 for cutting six rows. The orbiting traveling route R1 is a route that runs backwards on the transplantation route Q10, and the orbiting traveling route R2 is a route that runs backwards on the transplantation route Q9. Further, the reciprocating traveling routes R3 to R10 are routes that run forward or backward in the transplanting routes Q1 to Q8. That is, the reciprocating traveling routes R3 to R10 are generated so as to be parallel to the transplanting routes Q1 to Q8.

When the combine 1 automatically travels based on the satellite positioning information, the combine 1 automatically travels along a preset travel route. In the example of FIG. 6, the combine 1 automatically travels along the travel routes R1 to R10.

In addition, the combine 1 can selectively execute automatic running based on satellite positioning information and automatic running along the row of crops detected by the stock lining sensor 35. Based on the transplanting work information, the traveling direction of the transplanting machine when the harvest target crop is transplanted by the transplanting machine is specified, and when the traveling direction of the transplanting machine and the traveling direction of the combine 1 are both parallel, Automatic traveling along the row of crops is performed, and when the two traveling directions are not parallel, automatic traveling based on satellite positioning information is executed. In the example of FIG. 6, since the traveling direction of the transplanter based on the transplanting work information and the traveling direction of the combine 1 based on the set traveling route are all parallel, the combine 1 automatically moves along the rows of crops. Carry out a run.

FIG. 7 shows another example of the travel route of the combine 1 generated by the route generation unit 101. The route generation unit 101, based on the transplanting work information in FIG. 5, makes a round traveling route P1 to P3 that makes a round trip on the outer peripheral portion of the field F and a reciprocating traveling route P4 that makes a round trip to the inside of the round travel route P1 to P3. ~P9 and are generated. The number of turns of the transplanter and the number of turns of the combine 1 are not necessarily the same, and the combine 1 may make about three turns as shown in FIG. 7.

In the example of FIG. 7, the harvesting work is performed while traveling on the traveling paths P1 to P9 by the combine 1 for cutting 6 rows. The orbiting traveling route P1 is a route that runs backwards on the transplantation route Q10, and the orbiting traveling route P2 is a route that runs backwards on the transplantation route Q9. The orbiting traveling route P3 includes a route P31 that runs in the reverse direction of the transplant route Q8, a route P32 that crosses the transplant routes Q7 to Q2 from the transplant route Q8 to the transplant route Q1, a route P33 that runs in the reverse direction of the transplant route Q1, and a transplant route. A route P34 that crosses the transplant routes Q2 to Q7 from Q1 to the transplant route Q8. Further, the reciprocating traveling routes P4 to P9 are routes that run forward or backward in the transplanting routes Q2 to Q7. That is, the reciprocating traveling paths P4 to P9 are generated so as to be parallel to the transplanting paths Q2 to Q7. Further, the route P31 and the route P33 of the circular traveling route P3 are generated so as to be parallel to the transplantation route Q8 and the transplantation route Q1.

The combine 1 automatically travels along the travel routes P1 to P9. In the example of FIG. 7, in the combine 1, the traveling direction (transplanting direction) of the transplanter based on the transplantation information and the traveling direction (mowing direction) based on the set traveling route are parallel (traveling routes P1 to P2. In the case of traveling P31, P33, P4 to P9), the automatic traveling along the row of the crop (running along the stock) is executed, and the traveling direction (transplanting direction) of the transplanter based on the transplant information is set. When the traveling directions (mowing directions) based on the traveling routes are not parallel (when traveling on the traveling routes P32 and P34), automatic traveling (positioning information traveling) based on the satellite positioning information is executed.

As a result, if the transplanting direction and the mowing direction are parallel, the mowing work can be appropriately performed by the stock sloping running, while if not parallel (for example, if they are orthogonal to each other), the traveling direction greatly changes by the stock sprinting running. Since there is a possibility, it is possible to properly perform the cutting work by executing the positioning information traveling.

As described above, the automatic harvesting system of the present embodiment is an automatic harvesting system including the combine 1 that harvests a crop while automatically traveling in the field F.
The combine 1 is capable of selectively executing automatic traveling based on satellite positioning information and automatic traveling along the rows of crops detected by the stock profiling sensor 35,
The combine 1 specifies the traveling direction of the transplanter when the crop to be harvested is transplanted by the transplanter based on the transplanting work information by the transplanter,
If the traveling direction of the transplanter and the traveling direction of the combine 1 are parallel, the automatic traveling is performed along the row of the crop, and if the traveling directions are not parallel, the automatic traveling based on the satellite positioning information is performed. Execute.

According to such a configuration, it is possible to perform an appropriate harvesting operation in consideration of the transplanting operation by the transplanter.

When the combine 1 cannot detect the row of the crop by the stock tracing sensor 35 while the two traveling directions are parallel and the automatic traveling along the row of the crop is being performed, the satellite positioning information is displayed. You may make it perform the automatic driving|running based on.

As a result, when the stock-like running cannot be performed due to stock-out, etc., the automatic running can be appropriately continued by running the positioning information run.

In addition, the combine 1 automatically travels along a preset traveling route when performing automatic traveling based on satellite positioning information,
When the automatic traveling along the row of crops is performed, if the deviation direction of the combine 1 with respect to the travel route is opposite to the deviation direction of the crop with respect to the travel route based on the transplant work information, satellite positioning is performed. You may make it perform automatic driving|running based on information.

Here, the deviation direction of the combine 1 with respect to the traveling route during the stock-tracing traveling is the direction in which the actual crop is located with respect to the traveling route, and the deviation direction of the crop with respect to the traveling route based on the transplanting work information is the transplanting information. It is the direction in which the crop is located with respect to the travel route included in the work information. If deviation of combine 1 occurs in the direction opposite to the deviation direction of the crop with respect to the traveling route based on the transplanting work information during the stock limb travel, it is judged as a slip and the stock profiling travel is interrupted and positioning information travel is performed. Execute.

A route generation unit 101 that generates a traveling route is provided,
The route generation unit 101 generates, based on the transplanting work information, a traveling route that travels around the outer periphery of the field F and a reciprocating route that travels back and forth inside the traveling route, as traveling routes.
The reciprocating traveling route may be generated such that the traveling direction of the combine 1 in the reciprocating traveling route and the traveling direction in the reciprocal transplanting work of the transplanter included in the transplanting work information are parallel to each other.

Considering the transplanting operation information, the traveling direction in the reciprocal transplanting operation by the transplanting machine and the cutting direction by the combine 1 at the position are made parallel to each other, so that the stock tracing traveling can be appropriately performed.

The combine 1 is a combine 1 with N cuttings,
The route generation unit 101 generates the reciprocating traveling route by specifying the number of crops in the direction orthogonal to the traveling direction in the reciprocal transplanting work of the transplanter based on the transplanting work information,
One or a plurality of unit traveling routes among a plurality of unit traveling routes forming the reciprocating traveling route may be set to a working width including N+1 crops.

For example, in the case where the field F which has been transplanted as shown in FIG. 5 by the transplanter for 6-row planting is cut with the combine 1 for 7-row cutting, the traveling route R7′ and the traveling route R8′ are as shown in FIG. Although there are two rows left between them, even if the combine 1 is a seven-row combine, it is possible to cut eight rows, so two of the two traveling paths R3' to R8' are mowed with eight rows. By doing so, the mowing work can be efficiently performed. Of the traveling routes R3′ to R8′, which traveling route is to be trimmed 8 rows is appropriately determined.

The route generation unit 101
Based on the transplant work information, identify the line with high transplant accuracy,
In the unit traveling route in which the working width including the N+1 crops is set, the reciprocating traveling route may be generated so that at least one laterally located strip has a high transplanting accuracy.

If there is variation in the transplantation by the transplanter (not planted straight) in the row located on the outermost side of the working width, it may not be possible to properly cut N+1 row with the combine 1 for N row cutting, so transplant Based on the work information, there is little variation in transplantation (planted straight), that is, the line with high transplant accuracy is specified, and the running route is generated so that the line is located on one side of the work width. Increased work efficiency and accuracy can be secured. It is desirable that both sides have high precision, but at least one side is sufficient. When the stock tracing sensor 35 is attached to the left side of the machine body as in the present embodiment, the travel route is generated so that the left side strip has high accuracy.

Whether or not the transplant accuracy is high is specified as follows, for example. That is, when the transplantation is performed by the transplanter that automatically runs, the actual running trajectory of the transplanter with respect to the automatically generated running route of the transplanter included in the transplant work information falls within the predetermined deviation. If so, it is specified that the porting accuracy is high. When the transplant is performed manually by the user, the transplant machine acquired between the transplant start position and the transplant end position with respect to the virtual travel route specified by connecting the transplant start position and the transplant end position. If the plurality of position coordinates of are within a predetermined deviation with respect to the virtual travel route, it is determined that the transplant accuracy is high.

In this embodiment, an example of a self-removing combine is shown, but the present invention is not limited to this, and the present invention may be a normal combine.

The present invention is not limited to the embodiments described above, and various improvements and modifications can be made without departing from the spirit of the present invention.

1 Combine 20 Positioning Unit 35 Stock Tracing Sensor 40 Control Device 101 Route Generating Unit 102 Transplanting Direction Identifying Unit 103 Travel Instructing Unit F Field

Claims (6)

An automatic harvesting system including a harvester for automatically harvesting a crop while traveling in a field,
The harvester is capable of selectively executing automatic traveling based on satellite positioning information and automatic traveling along the rows of crops detected by the detection unit,
The harvester, based on the transplant work information by the transplanter, specifies the traveling direction of the transplanter when the crop to be harvested is transplanted by the transplanter,
When the traveling direction of the transplanter and the traveling direction of the harvester are parallel, automatic traveling is performed along the row of the crop, and when the traveling directions are not parallel, the satellite positioning information is set. An automatic harvesting system that performs automated driving based on. When the harvester cannot detect the row of crops by the detection unit while executing the automatic traveling along the row of crops in which the two traveling directions are parallel, the satellite positioning is performed. The automatic harvesting system according to claim 1, which performs automatic driving based on information. The harvester, when performing automatic traveling based on the satellite positioning information, is to automatically travel along a preset traveling route,
When executing the automatic traveling along the row of crops, if the deviation direction of the harvester with respect to the traveling route is opposite to the deviation direction of the crop with respect to the traveling route based on the transplanting work information, The automatic harvesting system according to claim 1, which performs automatic traveling based on the satellite positioning information. A route generation unit for generating the traveling route,
The route generation unit, as the traveling route based on the transplanting work information, generates a circular traveling route that circularly travels around an outer peripheral portion in a field, and a reciprocal traveling route that travels back and forth inside the circular traveling route,
The reciprocating traveling route is generated such that the traveling direction of the harvester in the reciprocating traveling route and the traveling direction in the reciprocal transplanting work of the transplanter included in the transplanting work information are parallel to each other. Automatic harvesting system described. The harvester is a N-throw combine,
The route generation unit is for generating the reciprocating traveling route by specifying the number of rows of crops in a direction orthogonal to the traveling direction in the reciprocating transplanting work of the transplanter based on the transplanting work information,
The automatic harvesting system according to claim 4, wherein one or a plurality of unit traveling routes among a plurality of unit traveling routes constituting the reciprocating traveling route can be set to a working width including N+1 crops. The route generation unit,
Based on the transplantation work information, specify the line with high transplantation accuracy,
The reciprocating traveling route is generated so that at least one side portion of the unit traveling route in which a working width including N+1 crops is set is a strip having high transplant accuracy. Automatic harvesting system.

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