JP2021103978A - Mobile vehicle - Google Patents

Abstract

To provide a mobile vehicle capable of performing properly a ground work.SOLUTION: A mobile vehicle for performing a ground work on a work object specified beforehand includes: a first information acquisition unit 71 for acquiring first information including a working condition of the work object in a ground work executed in the past, an apparatus setting value for setting ability of an apparatus used in a past ground work, and a work result of a ground work performed in the past ground work; a second information acquisition unit 72 for acquiring second information including a working condition of a work object in a ground work to be executed from now on; and an apparatus setting value calculation unit 73 for calculating an apparatus setting value of an apparatus 1 to be used in a ground work to be executed from now on based on the first information and the second information.SELECTED DRAWING: Figure 4

Description

The present invention relates to a work vehicle that performs ground work on a predetermined work object.

Conventionally, work vehicles that perform ground work have been used. This type of work vehicle is provided with, for example, a threshing device for threshing a grain harvested during traveling as described in Patent Document 1 and a grain tank for storing grains degrained by the threshing device. There is a combine.

The combine described in Patent Document 1 includes a mounting plate on which grains are placed in a grain tank, two light sources that irradiate light toward each of both sides of the mounting plate, and two light sources. The first image in which the grains on the mounting plate are imaged when light is irradiated from one side, and the second image in which the grains on the mounting plate are imaged when light is irradiated from the other of the two light sources. It is configured to include an imaging unit that captures images of and. The image processing means extracts an image showing a foreign substance from the first image, calculates the number of foreign substances, and calculates the number of damaged paddy and the number of branch stalks from the second image. The adjusting means adjusts the angle of the chaff sheave and the opening / closing of the dust feed valve and the processing barrel valve based on the calculated quantity of foreign matter, the quantity of damaged paddy, and the quantity of branch stalks.

Japanese Unexamined Patent Publication No. 2013-27340

As described above, the technique described in Patent Document 1 is calculated by calculating the quantity of foreign matter, the quantity of paddy, and the quantity of branch stems when the harvested grains are transported into the grain tank. The angle of the chaff sheave and the opening and closing of the dust feed valve and the processing barrel valve are adjusted based on the quantity of foreign matter, the quantity of paddy damaged, and the quantity of branch stems. Therefore, since the amount of foreign matter, paddy, and branch stems mixed in the grain tank is not zero, there is room for improvement in reducing the amount of foreign matter, paddy, and branch stems mixed in the grain tank. That is, there is room for improvement in the work vehicle (for example, combine) performing ground work (for example, harvesting work) on a predetermined work target (for example, a field).

Therefore, a work vehicle capable of appropriately performing ground work is required.

The characteristic configuration of the work vehicle according to the present invention is a work vehicle that performs ground work on a predetermined work target, and is used in the work conditions of the work target in the ground work performed in the past and in the past ground work. The first information acquisition unit that acquires the first information including the device set value for setting the capability of the device and the work result of the ground work performed in the past ground work, and the above-mentioned in the ground work to be performed from now on. A second information acquisition unit that acquires a second information including a work condition of a work target, and a device setting value of the device to be used in the ground work to be performed based on the first information and the second information. The point is that it is equipped with a device setting value calculation unit that calculates.

With such a characteristic configuration, the equipment to be used in the ground work to be carried out in the future based on the work conditions, the equipment setting values, and the work results in the ground work carried out in the past and the work conditions in the ground work to be carried out in the future. On the other hand, it is possible to easily set an appropriate device setting value. Therefore, the ground work can be appropriately performed.

Further, when the ground work is to be carried out from now on, the set value indicating unit for applying the calculated device set value to the device is provided, and the set value indicating unit is the work in which the past ground work was carried out. It is preferable to apply the device setting value when the ground and the work ground where the ground work is to be performed are the same.

With such a configuration, when the work area is the same, the device setting value calculated by the calculation unit can be automatically set. Therefore, it is possible to simplify the setting of the device setting value.

Further, it is preferable that the device set value calculation unit continuously calculates the device set value during the ground work.

With such a configuration, it is possible to set device setting values in real time and set appropriate device setting values even in the same work area.

Further, it is preferable that the device set value calculation unit automatically calculates the device set value as the ground work is performed.

With such a configuration, the calculated device setting value can be automatically set, so that the time and effort required for the setting can be reduced.

Further, it is preferable that the work conditions of the work target include position information indicating the position of the work site where the ground work is performed.

With such a configuration, for example, it is possible to manage appropriate device setting values and work results for each position in the work site, so that it is possible to appropriately set the device setting values to be used in the ground work to be performed in the future.

Further, it is preferable that the ground work is a threshing work for threshing a harvested culm cut in a field, and the device set value is a control parameter of a threshing device for performing the threshing treatment.

Further, the calculation of the device set value of the device to be used in the ground work to be carried out from now on is a neural network in which the learning to calculate the device set value is performed based on the first information and the predetermined work condition. It is preferable that the first information and the second information are input to the above.

With such a configuration, it is possible to calculate the device setting value more appropriately. Therefore, it becomes possible to more appropriately perform the ground work.

It is a side view of a combine. It is a top view of the combine. It is a longitudinal side view of the threshing device provided in the combine. It is a block diagram which shows the functional part which performs the process related to the calculation of a device set value. It is explanatory drawing about the effect on a device setting value.

The work vehicle according to the present invention is configured to perform ground work on a preset work target. The preset work target is an object on which the work vehicle performs work by using a functional unit, a device, or the like provided in the work vehicle. Specifically, if the work vehicle is a combine harvester, it corresponds to a harvesting object, if it is a rice transplanter, it corresponds to a planting object, and if the tractor cultivates or cuts grass, it corresponds to a field or the like. If the work platform is a construction machine, it corresponds to soil, rocks, wood, and the like. Ground work is work performed on a field or work area. In the present embodiment, the combine 20 will be described as an example of a work vehicle.

The combine according to the present invention is configured so that the quality of the grains can be inspected during the harvesting of the grains. Hereinafter, the combine 20 of the present embodiment will be described.

FIG. 1 is a side view of the combine 20, and FIG. 2 is a plan view of the combine 20. Further, FIG. 3 is a cross-sectional view of the threshing device 1 included in the combine 20. In the following, the combine 20 will be described by taking a so-called ordinary combine as an example. Of course, the combine 20 may be a head-feeding combine.

Here, in order to facilitate understanding, in the present embodiment, unless otherwise specified, "front" (direction of arrow F shown in FIG. 1) means front in the front-rear direction (traveling direction) of the aircraft, and " "Rear" (direction of arrow B shown in FIG. 1) means rearward in the front-rear direction (traveling direction) of the aircraft. Further, "up" (direction of arrow U shown in FIG. 1) and "down" (direction of arrow D shown in FIG. 1) are positional relationships in the vertical direction (vertical direction) of the aircraft, and are at ground clearance. It shall indicate the relationship. Further, the left-right direction or the lateral direction is the aircraft crossing direction (aircraft width direction) orthogonal to the aircraft front-rear direction, that is, "left" (direction of arrow L shown in FIG. 2) and "right" (arrow R shown in FIG. 2). Direction) shall mean the left and right directions of the aircraft, respectively.

As shown in FIGS. 1 and 2, the combine 20 includes an airframe frame 2 and a crawler traveling device 3. In front of the traveling machine body 17, a cutting section 4 for cutting the planted grain culm is provided. The cutting section 4 is provided with a scraping reel 5 for scraping the planted culm, a cutting blade 6 for cutting the planted culm, and an auger 7 for scraping the harvested culm.

A driving unit 8 is provided on the right side of the front portion of the traveling machine body 17. The driver unit 8 is provided with a cabin 10 on which the driver is boarded. An engine room ER is provided below the cabin 10, and in addition to the engine E, an exhaust purification device, a cooling fan, a radiator, and the like are housed in the engine room ER. The power of the engine E is transmitted to the crawler traveling device 3, the threshing unit 41, the sorting unit 42, and the like, which will be described later, by a power transmission structure (not shown).

Behind the cutting unit 4, a threshing device 1 for threshing the cut grain culm is provided. A feeder 11 for transporting the harvested culm toward the threshing device 1 is provided across the cutting section 4 and the threshing device 1. A grain tank 12 for storing the grains after the threshing process is provided on the side of the threshing device 1. The grain tank 12 is configured to swing open and close around an axis extending in the vertical direction over a working position and a maintenance position. At the rear of the threshing device 1, a waste straw shredding device 13 provided with a rotary blade 13a is provided.

The combine 20 is provided with a grain discharge device 14 for discharging the grains in the grain tank 12 to the outside. The grain discharge device 14 includes a vertical transport unit 15 that transports the grains in the grain tank 12 upward, and a horizontal transport unit 16 that transports the grains from the vertical transport unit 15 toward the outside of the machine body. Is provided. The grain discharge device 14 is configured to be rotatable around the axis of the vertical transport unit 15. The lower end of the vertical transport portion 15 is communicated with the bottom of the grain tank 12. The end of the horizontal transport portion 16 on the vertical transport portion 15 side is communicated with the upper end portion of the vertical transport portion 15 and is supported so as to be swingable up and down.

In the present embodiment, the threshing device 1 is provided on the traveling machine body 17. The threshing device 1 includes a threshing unit 41 and a sorting unit 42 as described above. The threshing unit 41 threshes the cut grain culms cut by the cutting unit 4. The grains that have been threshed by the threshing unit 41 are discharged as processed grains. The sorting unit 42 sorts the threshed processed product discharged from the threshing unit 41 as a sorting processed product. Therefore, the threshing unit 41 and the sorting unit 42 are provided on the traveling machine body 17. The threshing unit 41 is arranged at the upper part of the threshing device 1, and a receiving net 23 is provided at the lower part of the threshing unit 41. The sorting unit 42 is arranged below the threshing unit 41 and is configured to sort grains from the threshed product leaked from the receiving net 23. The sorting unit 42 includes a swing sorting device 24, a first product collecting unit 26, a second product collecting unit 27, and a second product reducing unit 32.

The threshing unit 41 accommodates the handling cylinder 22 in the handling chamber 21, and has a receiving net 23 in the lower part of the handling cylinder 22. The handling chamber 21 is formed as a space surrounded by a front wall 51 on the front side, a rear wall 52 on the rear side, left and right side walls, and a top plate 53 covering the upper part. A supply port 54a for supplying the harvested product is formed at the lower position of the front wall 51 in the handling chamber 21, and a guide bottom plate 59 is arranged below the supply port 54a. Further, a dust exhaust port 54b is formed on the lower side of the rear wall 52 of the handling chamber 21.

The handling body 22 has a body 60 and a rotary support shaft 55. As shown in FIG. 3, the body 60 is integrally formed by the scraping portion 57 at the front end portion and the handling processing portion 58 at the rear position of the scraping portion 57. The scraping portion 57 is provided with a double spiral spiral blade 57b on the outer peripheral portion of the tapered base portion 57a whose diameter becomes smaller toward the front end side of the handling cylinder 22. The handling processing unit 58 has a plurality of rod-shaped handling tooth support members 58a and a plurality of handling teeth 58b. The plurality of rod-shaped tooth handling support members 58a are provided at predetermined intervals in the circumferential direction of the tubular body 60, respectively. Each of the plurality of handle teeth 58b projects from the outer peripheral portion of each of the plurality of handle tooth support members 58a, and is attached at a predetermined interval along the rotation axis X in the front-rear posture.

The fuselage 60 has a coaxial core with the rotation axis X, and rotates integrally with a rotation support shaft 55 penetrating the front wall 51 and the rear wall 52 in the front-rear direction. That is, the front end of the rotary support shaft 55 is rotatably supported by the front wall 51 via the bearing, and similarly, the rear end of the rotary support shaft 55 is rotatably supported by the rear wall 52 via the bearing. .. In the threshing unit 41, the driving rotational force is transmitted from the rotational driving mechanism 56 to the front end portion of the rotary support shaft 55.

A plurality of plate-shaped dust feeding valves 53a are provided on the inner surface (lower surface) of the top plate 53 at predetermined intervals along the front-rear direction. The plurality of dust sending valves 53a are provided in a posture of being inclined with respect to the rotation axis X in a plan view so as to apply a force for moving the processed object rotating together with the handling cylinder 22 to the rear side in the handling chamber 21. .. In the present embodiment, the dust feed valve 53a is configured so that the mounting angle with respect to the top plate 53 can be changed. By changing this angle, the feed amount of the processed material in the body 60 can be changed.

The receiving net 23 has a plurality of vertical frames whose rotation axis X-view is arcuate so as to surround a region extending from the lower side to both sides of the handling cylinder 22, and which are arranged at predetermined intervals along the front-rear direction. By combining with the horizontal frame in the front-rear orientation supported with respect to the vertical frame of the above, it has a structure in which a gap is formed so that the processed material can leak.

In the combine 20 of the present embodiment, the harvested culm supplied to the handling chamber 21 is referred to as a harvested product, and the harvested product handled and processed in the handling chamber 21 is referred to as a processed product (corresponding to "threshing processed product"). .. The processed product includes grains and cut straw. The first product is a processed product mainly containing grains, and the second product is a processed product containing grains having insufficient single grain and cut straw and the like.

In the threshing unit 41, the harvested product from the feeder 11 is supplied to the handling chamber 21 via the supply port 54a. The supplied harvested product is scraped to the rear of the handling cylinder 22 along the guide bottom plate 59 by the spiral blade 57b of the scraping portion 57, and is supplied to the handling processing portion 58. In the handling processing unit 58, the harvested product is processed by the handling teeth 58b and the receiving net 23 as the handling cylinder 22 rotates, and as a result, threshing is performed.

When the threshing is performed in this way, the processed material rotates together with the handling cylinder 22, so that the processed material comes into contact with the dust valve 53a and is transported to the rear part of the handling chamber 21 to perform the threshing process. The grains obtained by the threshing process and short pieces of straw or the like leak through the receiving net 23 and fall into the sorting unit 42. On the other hand, the processed material (grain culm, long-sized cut straw, etc.) that cannot leak from the receiving net 23 is discharged to the outside of the handling chamber 21 from the dust discharge port 54b.

As shown in FIG. 3, the sorting unit 42 includes a rocking sorting device 24 that sorts grains (first thing) from the processed material by swinging in an environment where the sorting wind is supplied from the wall insert 25. It is composed of. Further, a first item collection unit 26 and a second item collection unit 27 are arranged below the swing sorting device 24.

The wall insert 25 is provided in the sorting unit 42 and generates a sorting wind along the transport direction of the processed material. The wall insert 25 is configured by accommodating a wall insert main body having a plurality of rotating blades 25b inside the fan case 25a. An upper discharge port 25c for sending the sorting air along the upper surface of the upper Glen pan 61 and a rear discharge port 25d for sending the sorting air rearward are formed on the upper portion of the fan case 25a.

The first item collection unit 26 collects the processed material as the first item. The processed material is configured to be guided to the first item collection unit 26 by the first item guide unit 62. The first item collection unit 26 is configured as a first item screw that laterally conveys the first item (grains of the first item) guided by the first item guide unit 62. The first item collected by the first item collection unit 26 is conveyed (lifted) upward toward the grain tank 12 by the first item collection and transportation unit 29. Therefore, the sorted products sorted by the sorting unit 42 are transported and stored in the grain tank 12. The first product transported by the first product collection and transport unit 29 is transported to the right by the storage screw 30 and supplied to the grain tank 12. The first item collection / transfer unit 29 corresponds to a bucket-type conveyor.

The second product collection unit 27 collects the processed product that has not been sorted as the sorted product among the threshed products as the second product. The sorted product is a grain sorted by the rocking sorting device 24, which will be described in detail later. For this reason, the processed product that has not been sorted as the sorting processed product corresponds to grains, culms, long-sized cut straw, etc. that have not been sorted by the rocking sorting device 24, and is referred to as a second product. NS. Such a second item is configured to be guided to the second item collection unit 27 by the second item guide unit 63. The second product collection unit 27 is configured as a second product screw that laterally conveys the second product guided by the second product guide unit 63. The second product collected by the second product collecting unit 27 is conveyed diagonally upward and forward by the second product reducing unit 32 and reduced to the upper side (upstream side) of the swing sorting device 24. The second product reducing unit 32 corresponds to a screw type conveyor.

The first item recovery unit 26 and the second item collection unit 27 are driven by the power of the engine E transmitted by a power transmission structure (not shown).

The power of the engine E is transmitted to the first item collection unit 26, transmitted from the first item collection unit 26 to the first item collection and transportation unit 29, and transmitted from the first item collection and transportation unit 29 to the storage screw 30. The first item collection / transportation unit 29 is provided on the right side portion (outside the right wall) of the threshing device 1.

The power of the engine E is transmitted to the second product recovery unit 27, and is transmitted from the second product recovery unit 27 to the second product reduction unit 32. The second product reducing unit 32 is provided on the right side portion (outside the right wall) of the threshing device 1.

The rocking sorting device 24 sorts grains from the processed material. The rocking sorting device 24 is arranged below the receiving net 23, and the processed material leaks from the receiving net 23. The swing sorting device 24 includes a frame-shaped sheave case 33 which is swing-operated in the front-rear direction by an eccentric cam type swing drive mechanism 43 using an eccentric shaft or the like and is formed in a rectangular shape in a top view. There is.

The sheave case 33 includes a first grain pan 34, a plurality of first sieve lines 35, a second sieve line 36, a first chaff sheave 38, a second chaff sheave 39, a grain sheave 40, an upper grain pan 61, and a lower grain pan 65. ..

A first chaf sheave 38 having a plurality of chaf flips 38A is arranged on the rear side of the upper Glen pan 61, and a second chaf sheave 39 is arranged on the rear side of the first chaf sheave 38. The plurality of chaflip 38A are arranged along the transport direction (rear direction) in which the processed material is conveyed, and each of the plurality of chaflip 38A is arranged in an inclined posture toward the rear end side diagonally upward. .. In the present embodiment, the opening degree of each of the chaflip 38A can be changed. The changeable opening means that the tilted posture is changed. Specifically, the closer the chaflip 38A is parallel to the front-rear direction, the smaller the opening degree, and the closer the chaflip 38A is parallel to the vertical direction, the larger the opening degree. The lower Glen Pan 65 is arranged below the front end portion of the first chaff sheave 38, and the Glen Sheave 40 formed of a net is arranged at a position connected to the rear side thereof. The second chaf sheave 39 described above is below the rear end of the first chaf sheave 38 and is located behind the grain sheave 40.

The sheave case 33 has an air passage for supplying the sorting air supplied from the upper discharge port 25c of the wall insert 25 along the upper surface of the upper Glen pan 61 and a lower Glen pan for the sorting air supplied from the rear discharge port 25d of the wall insert 25. An air passage is formed along the upper surface of the 65. The discharge portion 28 is formed by the rear end portion of the rocking sorting device 24 (the right end portion in FIG. 3) and the rear end portion of the receiving net 23.

In the swing sorting device 24 of the present embodiment, the sorting wind from the wall insert 25 is supplied from the front side of the machine body to the rear side of the machine body, and the sheave case 33 swings by the swing drive mechanism 43, so that the inside of the sheave case 33 is inside. Transport the processed material to the rear of the machine. For this reason, in the following description, in the swing sorting device 24, the upstream side in the transport direction of the processed material is referred to as a front end or a front side, and the downstream side is referred to as a rear end or a rear side.

The Glensive 40 is configured as a net-like body in which a plurality of wire rods made of metal are combined in a net-like shape, and is configured to leak grains from the mesh. A first chaf sheave 38 is provided above the grain sheave 40, and grains that have flowed between the chaf flip 38A of the first chaf sheave 38 are configured to leak to the grain sheave 40.

From such a configuration, among the processed products leaking from the receiving net 23 in the sorting unit 42, those received by the upper Glen pan 61 are supplied to the front end of the first chaff sheave 38 as the sheave case 33 swings. .. Further, the sheave case 33 receives most of the processed material leaking from the receiving net 23.

The first chaff sheave 38 conveys the processed product to the rear side by wind sorting by a sorting wind and specific gravity sorting due to rocking, and at the same time, leaks grains contained in the processed product. Among the processed products subjected to such sorting, stalk culms such as cut straw are delivered to the second chaff sheave 39, and are sent out from the rear end of the second chaff sheave 39 to the rear of the sheave case 33, and are discharged. It is discharged from 28 toward the waste straw shredding device 13. The stem culms discharged from the discharge unit 28 are shredded by the waste straw shredding device 13 and discharged to the outside of the threshing device 1. Further, the grains leaking directly to the second chaff sheave 39 via the receiving net 23 are sorted into grains and stalk culms such as cut straw by the second chaff sheave 39.

Here, considering the state of the processed material leaking from the receiving net 23, among the harvested products supplied to the handling chamber 21, grains, grains with insufficient single grain, or small pieces of straw are handled. When being transported inside the chamber 21, the receiving net 23 leaks at an early stage. For this reason, the amount of leakage of the processed material in the upstream region of the receiving net 23 in the transport direction tends to be larger than that in the downstream region in the transport direction. Further, as described above, since the processed material is supplied from the upper Glenpan 61 to the front end of the first chaf sheave 38, the amount of the processed material leaking from the front end of the first chaf sheave 38 is larger than that on the rear end side. ..

In addition, the processed product leaking from the front end side of the first chaff sheave 38 is removed by sending a part of the processed product to the rear side by a sorting wind immediately after the leak, and the processed product containing a large amount of grains is the Glen Sheave 40. It is received on the upper surface of. Further, since the wind pressure of the sorting wind and the oscillating force act on the processed product supplied to the Glen Sheave 40, the straw or the like contained in the processed product is sent backward on the upper surface of the Glen Sheave 40 and leaks from the Glen Sheave 40. Contains many grains. The grains leaking from the Glensive 40 flow down from the first item guide unit 62 to the first item collection unit 26 and are collected, and are stored in the grain tank 12 by the first item collection and transportation unit 29.

Further, the processed product is supplied to the Glen Sheave 40 from the region on the rear side of the first chaff receive 38, but among the processed products that did not leak in the Glen Sheave 40, the cut straws are sent backward by the sorting wind. Therefore, the sorting process is performed without significantly reducing the sorting efficiency in the region on the rear side of the Glen Receive 40.

Further, the first material (grain) leaked on the front side from the rearmost end of the Glen Sheave 40 flows down from the first material guide unit 62 to the first material collection unit 26 and is collected, and is collected by the first material collection and transportation unit 29. It is stored in the grain tank 12.

On the other hand, the processed product that leaked from the rearmost portion of the Glen Sheave 40 or the processed product that fell from the second chaff sheave 39 flowed down from the second product guide unit 63 to the second product collection unit 27 and was collected. , It is returned to the upstream side of the swing sorting device 24 by the second product reducing unit 32. Then, dust such as straw dust as the third processed product generated by the sorting process is sent from the rear end of the swing sorting device 24 to the rear, and is discharged from the discharging unit 28 to the discharging straw shredding device 13.

As described above, the second product is reduced to the upstream side, which is the front portion of the swing sorting device 24, by the second product reducing unit 32. Specifically, the second product is on the side of the receiving net 23 in the threshing unit 41, and is reduced to a position where the second product does not pass through (distribute) the receiving net 23. Therefore, the second product discharge port 32A of the second product reduction unit 32 is provided at a position on the outer side in the radial direction of the arc-shaped receiving net 23, and the second product is discharged at this position.

As described above, in the combine 20, the threshing unit 41 and the sorting unit 42 provided in the threshing device 1 perform the threshing work of the harvested culm cut in the field. Therefore, in the combine 20, the above-mentioned "ground work" corresponds to the threshing work.

Further, as described above, among the harvested products supplied to the handling chamber 21, grains having insufficient single grain or small pieces of straw are received at an early stage when they are transported inside the handling chamber 21. 23 is leaked, and a part of the leaked processed material is removed by being sent to the rear side by a sorting wind. Further, the processed product containing a large amount of grains is received on the upper surface of the Glen Seeb 40, and the straw and the like contained in the processed product are removed by being sent backward on the upper surface of the Glen Sheave 40. However, depending on the amount of harvested grain culms supplied to the threshing device 1 and parameters for setting the capacity of each part of the threshing unit 41 and the sorting unit 42 (for example, the above-mentioned air volume of the sorting wind, the opening degree of the chaflip 38A, etc.). In this case, grains, straws, etc. (hereinafter referred to as "foreign substances") that are insufficiently single-grained may reach the first item collection / transportation unit 29 via the first item guide unit 62. Such foreign matter will be stored in the grain tank 12.

Since such foreign matter lowers the sorting degree (or sorting efficiency) of the threshing apparatus 1, it is preferable that the amount of foreign matter transported to the grain tank 12 is small. Therefore, the combine 20 of the present embodiment is configured so that the amount of foreign matter stored in the grain tank 12 can be reduced. Hereinafter, reduction of the amount of such foreign matter will be described with reference to FIG.

In order to realize the above functions, the combine 20 is provided with the work conditions of the work target in the ground work performed in the past, the equipment setting value for setting the capacity of the equipment used in the past ground work, and the past ground work. The first information acquisition unit 71 for acquiring the first information including the work result of the ground work is provided.

The work target in the ground work carried out in the past is the threshing work performed when the combine 20 harvested crops in the field in the past. The work condition is position information indicating the position of the work site where the ground work is performed in the present embodiment. Therefore, the work condition of the work target in the ground work carried out in the past corresponds to the position information indicating the position of the field where the combine 20 performed the threshing work when the crop was harvested in the field in the past. Such position information is information indicating the latitude, longitude, and altitude of the field. For example, when the combine 20 performs harvesting work in the field, it is acquired by a GPS device (not shown) and stored in the storage unit of the combine 20. It may be stored, or it may be stored in a server connected by a network.

The equipment used in the past ground work is the equipment used in the threshing work performed by the combine 20 when harvesting crops in the field in the past, that is, the threshing device 1. Therefore, the device setting value for setting the capacity of the device is a control parameter of the threshing device 1 that performs the threshing process, and specifically, a threshing setting parameter that can set the threshing ability of the threshing unit 41 included in the threshing device 1. Or, a sorting parameter that can set the sorting ability of the sorting unit 42 corresponds to this. The threshing parameters that can set the threshing ability in the threshing unit 41 include a set value for setting the rotation speed of the rotary support shaft 55 of the handling cylinder 22 and a set value for setting the mounting angle of the dust feed valve 53a with respect to the top plate 53. Equivalent to. Further, the sorting parameters that can set the sorting ability in the sorting unit 42 include a set value for setting the air volume of the sorting wind from the wall insert 25, a set value for setting the opening degree of the chaflip 38A, and a swing sorting device 24. Corresponds to the set values for setting the swing speed and swing amount of the swing drive mechanism 43.

Therefore, the device setting value for setting the capacity of the device used in the past ground work is the rotary support shaft 55 of the handling cylinder 22 used in the threshing work performed when the combine 20 harvested the crop in the field in the past. The setting value for setting the rotation speed of the dusting valve 53a, the setting value for setting the mounting angle of the dusting valve 53a with respect to the top plate 53, the setting value for setting the air volume of the sorting wind from the wall inserter 25, and the opening degree of the chaflip 38A. The set value to be set and the set value to set the swing speed and swing amount of the swing drive mechanism 43 that swings the swing sorting device 24 correspond to each other. Such a setting value may also be stored in the storage unit of the combine 20 or may be stored in a server connected by a network.

Further, the work result of the ground work performed in the past ground work is the result of the threshing work performed when the combine 20 harvested the crop in the field in the past. Specifically, it is a calculation result of the amount of foreign matter stored in the grain tank 12. The amount of such foreign matter can be calculated, for example, based on an image of the processed material that has been threshed in the threshing apparatus 1 and transported to the grain tank 12, or has been stored. It is also possible to calculate based on the captured image of the situation when the grains are discharged from the grain tank 12 of the combine 20 to the grain transport vehicle via the grain discharge device 14. Of course, it is also possible to calculate by other methods.

In the present embodiment, the position information indicating the position of the field where the threshing work was performed when the crop was harvested in the field in the past described above, the set value of the equipment used in the threshing work performed in the past, and the field in the past The result of the threshing work performed when the crop is harvested in is treated as the first information and is acquired by the first information acquisition unit 71.

In addition, the combine 20 is also provided with a second information acquisition unit 72 that acquires second information including the work conditions of the work target in the ground work to be performed. The above-mentioned first information is information related to the ground work carried out in the past. On the other hand, the second information acquisition unit 72 acquires the information related to the ground work to be carried out as the second information. Specifically, the work condition of the work target in the ground work to be carried out is the position information indicating the position of the work site to be carried out in the ground work, and the combine 20 will thresh when harvesting the crop in the field from now on. The position information indicating the position of the field where the work is performed corresponds. Such position information is information indicating the latitude, longitude, and altitude of the field, and can be acquired by, for example, a GPS device (not shown) when the combine 20 performs harvesting work in the field. Alternatively, when a work plan is assigned to the combine 20 in advance, it is possible to configure such a work plan to be acquired based on the stored information.

Further, in the combine 20, the device setting of the device to be used in the ground work to be performed from now on based on the first information acquired by the first information acquisition unit 71 and the second information acquired by the second information acquisition unit 72. The device set value calculation unit 73 for calculating the value is provided. The equipment setting value of the equipment to be used in the ground work to be carried out is a setting for setting the rotation speed of the rotation support shaft 55 of the handling cylinder 22 to be used in the threshing work to be performed when the combine 20 is harvesting crops in the field from now on. A value, a setting value for setting the mounting angle of the dust transmission valve 53a with respect to the top plate 53, a setting value for setting the air volume of the sorting wind from the wall inserter 25, a setting value for setting the opening degree of the chaflip 38A, and shaking. The set values for setting the swing speed and swing amount of the swing drive mechanism 43 that swings the dynamic sorting device 24 correspond to this.

Here, the first information includes the position information indicating the position of the field where the threshing work was performed when the crop was harvested in the field in the past as described above, and the setting of the equipment used in the threshing work performed in the past. Includes values and the results of threshing work performed when crops were harvested in the field in the past. On the other hand, the second information includes position information indicating the position of the field where the combine 20 will perform the threshing work from now on. Therefore, the device setting value calculation unit 73 extracts the first information including the position information that matches or is similar to the position information included in the second information, and further, from the result of the threshing work included in the first information. Calculate the set value of the device when there is little foreign matter mixed in. In this case, it is preferable that the device set value calculation unit 73 calculates the set value by extracting not only the position information but also the first information in which the types of the harvested objects match.

Here, the device setting value calculation unit 73 has learned to calculate the device setting value based on the first information and the predetermined work conditions for the calculation of the device setting value of the device to be used in the ground work to be carried out from now on. It is preferable that the first information and the second information are input to the neural network. Here, the neural network is an algorithm that imitates the human brain to be executed by a computer. For example, when the above-mentioned first information and the second information are input, it is as if the human brain discriminates. As a result, it is configured to output the calculation result of the device set value. As the neural network of the present embodiment, a neural network that has been trained in advance is used so that a device setting value that reduces the mixing of foreign substances can be calculated.

Specifically, in the present embodiment, the neural network is a calculation result of a device setting value of a device that does not contain foreign substances when a predetermined work condition is input as teacher data regardless of the presence or absence of foreign substances. The one that has been trained to output is used. That is, before inputting the above-mentioned second information into the neural network, the device setting values and labels that do not contain foreign substances and the device setting values and labels that contain foreign substances are given in advance, and the characteristics of the device setting values for each label are described. Let me learn. As a result, when the second information is given, it is possible to easily calculate the device setting value (device setting value in which foreign matter is reduced) in which foreign matter is not mixed. It should be noted that this learning can be continuously performed in the combine 20 without using the teacher data when the threshing process is actually performed. In this way, the device set value calculation unit 73 calculates the device set value using the neural network.

It is preferable that the device set value calculation unit 73 continuously calculates the device set value during the ground work. That is, it is preferable that the device set value calculation unit 73 continuously calculates the device set value when the combine 20 is performing the harvesting work (threshing work). As a result, even when the second information is changed, it is possible to calculate the device setting value according to the changed second information.

Further, it is preferable that the device set value calculation unit 73 automatically calculates the device set value as the ground work is performed. That is, when the combine 20 is performing the harvesting work (threshing work), the device set value calculation unit 73 may continue to calculate the device set value regardless of, for example, whether or not there is an operator's instruction.

It is preferable that the combine 20 includes a set value indicating unit 74 that applies the calculated device set value to the device when the ground work is to be carried out from now on. The device set value of the device is calculated by the device set value calculation unit 73 described above, and is transmitted to the set value indicating unit 74 before the combine 20 performs the threshing operation. The set value indicating unit 74 sets the calculated device set value in the device before the combine 20 performs the threshing operation.

As described above, in the present embodiment, the position information of the field is included as the condition of the work target. Therefore, it is preferable that the set value indicating unit 74 applies the device set value when the work site where the soiled ground work has been performed in the past and the work site where the ground work will be performed from now on are the same. As a result, the device set value suitable for the threshing work can be set in the threshing unit 41 and the sorting unit 42, so that the threshing work can be appropriately performed.

As described above, in the present embodiment, the device setting value of the device to be used in the ground work to be carried out is set based on the device setting value used in the past ground work. As a result, as illustrated in FIG. 5, the amount of change (FIG. 5) is set from the initial value (for example, ± 0) shown in (I) to the device setting value (III) of the device to be used in the ground work to be performed. In this case, it is better to set the device setting value (II) used in the past ground work to the device setting value (III) of the device to be used in the ground work to be performed in the future than in X) (Fig. 5). In that case, Y) becomes smaller. Therefore, the device set value can be set quickly, and the amount of change can be reduced, so that the set value can be set accurately.

[Other Embodiments]
In the above embodiment, the work vehicle has been described by taking a normal combine as an example, but it may be a head-feeding combine. Further, the work vehicle may be a rice transplanter or a tractor. Further, it may be an agricultural machine other than these, or it may be a construction machine.

In the above embodiment, it has been described that the combine 20 includes a setting value indicating unit 74 that applies the calculated device setting value to the device when performing ground work from now on. However, the combine 20 has a setting value indicating unit. It is not necessary to have 74. In such a case, for example, a display device may be provided in the combine 20, and the display device may be configured to display the device setting value calculated by the device setting value calculation unit 73 as advice to the operator. As a result, the operator can manually change the device setting value of the device, and the ground work can be appropriately performed.

Further, in the above embodiment, the set value indicating unit 74 has been described as applying the device set value when the work site where the past ground work has been performed and the work site where the ground work will be performed from now on are the same. , The set value indicating unit 74 performs the work site where the past ground work was performed and the work site where the ground work is to be performed even if the work site where the past ground work was performed and the work site where the ground work is to be performed are not the same. It is possible to configure the device setting value to be applied when the distance from the work site to be carried out is within a predetermined distance, and it is also possible to apply the device setting value regardless of the distance.

In the above embodiment, the device setting value calculation unit 73 has been described as continuously calculating the device setting value during the execution of the ground work, but the device setting value calculation unit 73 has a predetermined timing (for example, the start of the ground work). It is also possible to configure the device setting value to be calculated only at the time, etc.).

In the above embodiment, the device setting value calculation unit 73 has been described as automatically calculating the device setting value as the ground work is performed, but the device setting value calculation unit 73 responds to, for example, an operator's instruction (for example, It can also be configured to calculate device settings (according to switch operation).

In the above embodiment, it has been described that the work condition of the work target includes the position information indicating the position of the work site where the ground work is performed, but the work condition of the work target is configured so as not to include the position information. Is also possible. In such a case, for example, as described in the above embodiment, information indicating the type of crop to be harvested, information indicating the condition of the work site (field), information indicating the season, temperature, weather, etc. should be included. It is also possible to configure.

In the above embodiment, the ground work has been described as a threshing work for threshing the harvested culm cut in the field, but the ground work does not have to be the threshing work as described above, for example, in a rice planting work. It may be cultivated, it may be mowing work, or it may be mowing work. Moreover, only the sorting work may be performed.

In the above embodiment, the calculation of the device set value has been described as being performed using the neural network, but the calculation may be performed without using the neural network.

As described above, the present work vehicle has been described by taking the combine 20 as an example, but when the work vehicle is the combine 20, the calculation of the device set value is performed by the grain transported from the threshing device 1 to the grain tank 12. It is also possible to configure it to be based on the quality of. The work vehicle can be configured as follows.

The work vehicle includes a threshing unit 41 that threshes the cut threshed grain and discharges the threshed product, a sorting unit 42 that sorts grains from the discharged threshed product as a threshing product, and a sorting product. The grain tank 12 that is transported and stored, the photographing unit that acquires an image of the inside of the transport path that transports the sorted material from the sorting unit 42 to the grain tank 12, and the threshed grain sack are threshed to produce grains. The first work condition information acquisition unit that acquires the first work condition information indicating the work conditions when the grains are sorted, and the threshing unit 41 that was set for the threshing unit 41 when the harvested grain stalk was threshed. Control to acquire control parameter information indicating the control parameter for threshing that defines the ability and the control parameter for sorting that defines the sorting ability of the sorting unit 42 that was set for the sorting unit 42 when the sorted object was sorted. The parameter information acquisition unit, the evaluation result acquisition unit that acquires the evaluation result of evaluating whether or not the sorted product contained in the captured image is a normal grain that satisfies the desired quality, and the threshing of the harvested grain stalk from now on. The second work condition information acquisition unit that acquires the second work condition information indicating the work conditions when sorting the grains, the first work condition information, the control parameter information, the evaluation result, and the second work condition. Based on the information, it is provided with a control parameter calculation unit for calculating a threshing control parameter set when threshing a harvested grain stalk and a sorting control parameter set when sorting grains.

Further, in the above configuration, the calculated threshing control parameter and sorting control parameter are the threshing and grain grains of the harvested culm harvested in the same field where the harvested culm used for the calculation was harvested. It is suitable to be used for sorting.

Further, in the above configuration, it is preferable that the control parameter calculation unit continuously calculates during threshing of the harvested culm and during selection of grains.

Further, in the above configuration, it is preferable that the calculated threshing control parameter and sorting control parameter are automatically applied during the operation of the threshing unit 41 and the sorting unit 42.

Further, in the above configuration, the first working condition information includes the first position information indicating the position where the sorted product was harvested in the field, and the second working condition information includes the harvested culm to be threshed. It is preferable that the second position information indicating the position in the field is included.

Further, in the above configuration, the threshing unit 41 is provided with a handling cylinder 22 having a tubular body 60 to which a plurality of handling teeth 58b are attached to the outer peripheral portion and a handling cylinder shaft supporting the body 60, and controls for threshing. The parameter is a control parameter for setting the feed amount of the wall insert in the body, and the sorting unit 42 is arranged along the transport direction in which the threshed product is transported, and the opening degree of each can be changed. A chaff sheave having a chaflip 38A and a wall insert 25 for generating a sorting wind along the transport direction are provided, and the sorting control parameter is a control parameter for setting the opening degree of the chaflip 38A and the air volume of the sorting wind. Suitable.

Further, in the above configuration, the evaluation of whether or not the sorted processed product contained in the captured image is a normal grain is generated from the captured image by a neural network that has learned to discriminate normal grains from the sorted processed product. It is preferable that the image data is input.

In addition, the neural network determines that the selected product contains normal grains when the learning image data generated from the captured image containing normal grains is input as the teacher data. When learning is performed so as to output and the learning image data generated from the captured image containing foreign substances other than normal grains is input as teacher data, it is assumed that the sorted object contains foreign substances. It is preferable that learning is performed so as to output the discrimination result.

The present invention can be used for a work vehicle that performs ground work on a predetermined work target.

1: Threshing device (equipment)
20: Combine (work vehicle)
71: 1st information acquisition unit 72: 2nd information acquisition unit 73: Device set value calculation unit 74: Set value indicator unit

Claims (7)

A work vehicle that performs ground work on a predetermined work target.
The work conditions of the work target in the ground work performed in the past, the device setting value for setting the capacity of the equipment used in the past ground work, and the work result of the ground work performed in the past ground work are shown. The first information acquisition unit that acquires the first information including
The second information acquisition unit that acquires the second information including the work conditions of the work target in the ground work to be carried out, and the second information acquisition unit.
A device setting value calculation unit that calculates the device setting value of the device to be used in the ground work to be performed based on the first information and the second information.
Work vehicle equipped with. It is provided with a setting value indicating unit that applies the calculated device setting value to the device when the ground work is to be carried out from now on.
The first aspect of the present invention, wherein the set value indicating unit applies the device set value when the work site where the ground work was performed in the past and the work site where the ground work is to be performed from now on are the same. Work vehicle. The work vehicle according to claim 1 or 2, wherein the device set value calculation unit continuously calculates the device set value during the ground work. The work vehicle according to any one of claims 1 to 3, wherein the device set value calculation unit automatically calculates the device set value when the ground work is performed. The work vehicle according to any one of claims 1 to 4, wherein the work condition of the work target includes position information indicating the position of the work site where the ground work is performed. The ground work is a threshing work for threshing a harvested culm cut in a field.
The work vehicle according to any one of claims 1 to 5, wherein the device set value is a control parameter of the threshing device that performs the threshing process. The calculation of the device set value of the device to be used in the ground work to be carried out is performed by the neural network that has learned to calculate the device set value based on the first information and the predetermined work conditions. The work vehicle according to any one of claims 1 to 6, which is performed by inputting the first information and the second information.

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