JP2021153456A - Autonomously travelling combine - Google Patents

Abstract

To avoid a situation in which a failure is detected during travelling for reaping and repair is needed as much as possible in an autonomously travelling combine.SOLUTION: An autonomously travelling combine includes a travelling control device 1, a reaping control device 2, a threshing control device 3, a work machine control device 4, and a main machine control device 5, and is equipped with a robot control device 6 for controlling the respective control devices 1, 2, 3, 4, and 5 integrally. After the robot control device 6 is started, test driving of management equipment of the respective control devices 1, 2, 3, 4, and 5 is executed; tests of conduction or detection of sensors 10, 22, 26, 27, 28, 29, 33, 34, 35, 45, 46, 53, 54, 56, 57, and 58 are repeated a plurality of times; test signals are input to the robot control device 6; and after the test signals are determined to be within a normal range by the robot control device 6, a travelling start command is executed.SELECTED DRAWING: Figure 1

Description

The present invention relates to an autonomous traveling combine that autonomously travels and performs harvesting work.

A combine in which an operator autonomously travels without maneuvering is described in the following patent documents.

These autonomous traveling combine harvesters are provided with an electronic camera that captures the front of the aircraft, analyzes the projected image of the field, and automatically controls the traveling device to harvest the grain culms with the harvesting device.

Japanese Unexamined Patent Publication No. 2002-21143 Japanese Unexamined Patent Publication No. 2016-10372

The autonomous traveling combine controls a traveling control device that controls a traveling device that travels in the field, a cutting control device that controls a harvesting device that cuts the grain stalks that grow in the field, and a grain removal device that degrains and sorts grains from the harvested grain stalk. The machine control device that controls the grain removal control device and other accessory devices is integratedly controlled by the robot control device, and the grain is harvested while cutting the grain stalks that grow in the field while running automatically.

For this reason, in the robot control device, the plurality of control devices sequentially control while detecting the output of each sensor. Therefore, if any of the control devices has a defective function, a problem occurs in the integrated control. Harvesting work is interrupted in the field and repairs are required, but inspection and repair in the field is troublesome.

An object of the present invention is to avoid as much as possible the need for repair due to the discovery of a failure during harvesting in an autonomous driving combine.

The above-mentioned problem of the present invention is solved by the following technical means.

The invention of claim 1 includes a traveling control device 1, a cutting control device 2, a grain removal control device 3, a work machine control device 4, and a machine control device 5, and each of the control devices 1, 2, 3, 4, 5 is provided. In the autonomous traveling combine provided with the robot control device 6 for integrated control, after the robot control device 6 is activated, the management devices of the control devices 1, 2, 3, 4, and 5 are first tried and driven to drive each sensor 10, The continuity or detection test of 22, 26, 27, 28, 29, 33, 34, 35, 45, 46, 53, 54, 56, 57, 58 is repeated a plurality of times, and the test signal is input to the robot control device 6. The autonomous running combine is characterized in that the robot control device 6 executes a running start command after determining that the test signal is in the normal range.

The invention of claim 2 is a sensor 10, 22, 26, 27, 28, 29, 33, 34, 35, 45, 46, 53, 54, 56 of each control device 1, 2, 3, 4, 5. The autonomous driving combine according to claim 1, wherein the final detection value of the test signal detected by 57 and 58 a plurality of times is used as a material for determining the normal range of the robot control device 6.

The invention of claim 3 is the robot control device 6, and each sensor 10, 22, 26, 27, 28, 29, 33, 34, 35, 45, 46, 53 of each control device 1, 2, 3, 4, 5. , 54, 56, 57, 58 memorize the error history that outputs an error signal outside the normal range, and start trial drive from the management devices of each control device 1, 2, 3, 4, 5 having a large number of error histories. The autonomous traveling combine according to claim 1.

In the invention of claim 1, the autonomous traveling combine controls the traveling control device 1, the cutting control device 2, the grain removal control device 3, the work machine control device 4, and the machine control device 5 in an integrated manner by the robot control device 6, and the grain is grained. However, in the state of unstable operation or power fluctuation immediately after starting, each sensor 10, 22, 26, is tested by the trial drive of the equipment managed and controlled by each control device 1, 2, 3, 4, 5. 27, 28, 29, 33, 34, 35, 45, 46, 53, 54, 56, 57, 58 determine normality based on the detected values detected multiple times, and the robot control device 6 executes the command. Failure detection is ensured, and the possibility of interruption of harvesting work due to failure after the start of harvesting work is reduced.

According to the invention of claim 2, each sensor 10, 22, 26, 27, 28, 29, 33, 34, 35, 45, 46, 53, 54, 56 of each control device 1, 2, 3, 4, 5 The detection values detected by 57 and 58 a plurality of times are determined in the normal range by the final detection values in a state where the trial operation is stable, so that the failure can be detected more reliably.

In the invention of claim 3, each control device 1, 2, 3, 4, 5 is operated by trial driving from the management device of the control device 1, 2, 3, 4, 5 having a large error history and confirming. Abnormality detection before the start can be performed quickly, and inspection before the start of work can be performed quickly.

It is an automatic control block diagram of the combine of the embodiment in this invention. It is a front view of the meter panel of the combine of embodiment in this invention. This is a menu selection screen of the meter panel according to the embodiment of the present invention. It is an abnormality occurrence information screen of the meter panel of embodiment of this invention. This is a main body-related abnormality display screen of the meter panel according to the embodiment of the present invention. It is a conceptual diagram which uses the network of the field management server of embodiment of this invention. It is a block diagram of the use of the field data of the embodiment in this invention.

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

FIG. 1 is a control block diagram that automatically controls an autonomous traveling combine, which is also called an automatic control combine. The grain removal control device 3 to be performed, the work machine control device 4 to control the grain discharge auger, the machine control device 5 to control the operation relationship of the machine, and the control order of each control device 1, 2, 3, 4, 5 and the like. The robot control device 6 for controlling the above is 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, an alarm buzzer 14, a travel HST valve 15, an engine output 16, a DPF 17, and an engine stop. The signal 18, the side clutch left 19, the side clutch right 20, the turning brake 21, and the IGN / ON output 22 are controlled, and the engine rotation sensor 10 detects the rotation signal a few times in a trial drive and the robot passes through the travel control device 1. Output to the control device 6.

The cutting control device 2 controls the cutting ascending valve 23, the cutting descending valve 24, and the cutting HST motor 25, and the detection signals are input from the cutting rotation sensor 26, the grain sensor front A27, the grain sensor front B28, and the cutting lift sensor 29. Then, in the trial drive, the cutting rotation sensor 26 detects the rotation signal a few times and outputs it to the robot control device 6 through the cutting control device 2.

The grain removal control device 3 controls the motor output relay 30, the charging relay 31, and the clutch switching 32, and the detection signals are input from the handling cylinder rotation sensor 33, the feed chain sensor 34, and the straw chain sensor 35, and the signal of the automatic switch 36. Is input, and the handling cylinder rotation sensor 33, the feed chain sensor 34, and the straw chain sensor 35 detect the rotation signal two or three times in a trial drive and output the rotation signal to the robot control device 6 through the grain removal control device 3.

The work equipment control device 4 controls 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 drive relay 44, and a detection signal is transmitted from the auger turning sensor 45 and the auger raising / lowering sensor 46. After inputting, the auger turning sensor 45 and the auger elevating sensor 46 detect the operation signal two or three times in the trial drive and output the operation signal to the robot control device 6 through the work equipment control device 4.

The machine control device 5 controls the cutting elevating lever 50 and the main speed change lever 55, and has a cutting height sensor 51, a grain removal lever sensor 53, a cutting lever sensor 54, a grain sensor front left 56, a grain sensor front right 57, and speed. The detection signal is input from the sensor 58, the auger switch signal 52 is input, and each sensor 51, 53, 54, 56, 57, 58 detects the rotation signal two or three times in the trial drive and passes through the machine control device 5. Output to the robot control device 6.

The robot control device 6 controls the control order of each control device 1, 2, 3, 4, 5, communicates with the remote communication unit 60, displays the control status on the pilot monitor 61, and signals from the emergency release switch 62. Is input, and power is supplied from the constant energization circuit 63.

When the robot control device 6 of the autonomous travel combine is activated, first, the main speed change lever 55 of the machine control device 5 is disengaged, the travel control device 1 outputs the engine output 16 by trial drive, and the engine rotation sensor 10 The output is detected a few times, 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 and the side clutch right 20 are detected. The turning brake 21 is activated, the IGN / ON output 22 is confirmed a few times, and the engine stop signal 18 is output after confirming the operation of all the control devices.

Next, following the trial drive of the travel control device 1, the mowing control device 2 drives the mowing device, confirms the drive of the mowing ascending valve 23, the mowing descending valve 24, and the mowing HST motor 25, and the mowing rotation sensor 26. The sensor outputs of the grain sensor front A27, the grain sensor front B28, and the cutting lift sensor 29 are detected a few times.

Next, the threshing control device 3 confirms the operation of the motor output relay 30, the charging relay 31, the clutch changeover 32, and the automatic switch 36, and outputs the handle rotation sensor 33, the feed chain sensor 34, and the straw chain sensor 35. Is detected a few times.

Next, the work equipment control device 4 confirms the operation 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 drive relay 44, and confirms the operation of the auger turning sensor 45 and the auger raising / lowering sensor. The output of 46 is detected a few times.

Next, the control device 5 of this machine outputs the outputs of the cutting height sensor 51, the auger switch signal 52, the grain removal lever sensor 53, the cutting lever sensor 54, the grain sensor front left 56, the grain sensor front right 57, and the speed sensor 58. Detect a few times.

The drive unit of the head-to-driving combine is confirmed by driving the aircraft for a certain period of time while the vehicle is stopped, and the error check is determined by sending detection data to the robot control device 6 to determine an abnormality, but it is sent from the same sensor. For a plurality of detected data, the last data is used as a criterion for judgment. In addition, the parts that can be driven at the same time are driven at the same time, and the check result is determined after all are completed. Also, if one of them determines an error in simultaneous operation, even if the subsequent error check is completed, all error checks are performed in a predetermined order to the end, the error history is stored in chronological order, and the error location is displayed. You can do it.

By using the history of error occurrence points, priority is given to the trial drive of the control device having a large number of errors, and if an error is detected and the operation is interrupted, it is possible to speed up the check before starting the work. Further, the operation may be interrupted when all the checks are performed in the order of the oldest or newest occurrence points or when an error is determined.

If the error history is not stored, it is advisable to perform simultaneous operations at a plurality of locations or perform error checks in a predetermined order.

When the robot control device 6 determines that even one operation error or sensor error is of high importance or is registered in the error history, the robot control device 1, the cutting control device 2, and the grain removal control device 3 work together. The machine control device 4 and the machine control device 5 do not accept the next operation command from the robot control device 6.

Further, if any error, a highly important one, or one registered in the error history is detected during the error check of each control device 1, 2, 3, 4, 5, the operation command of the robot control device 6 is commanded until the robot is restarted. Do not accept.

Further, although the control devices 1, 2, 3, 4, and 5 do not receive the operation command from the robot control device 6 during the error check, the engine stop command is received and the engine stop signal 18 is output from the travel control device 1. do.

In addition, the check stop command is also executed by releasing the engine stop or engine start check and disengaging the work clutch to stop the engine.

If the result of the error check is that there is no error, the warning buzzer is sounded for a certain period of time without immediately starting the running, and then the running is performed at a very low speed until the running is a certain distance regardless of the command speed. Also, if there is one error in the error check result, if there is a high-risk error, or if there is the same error in the error history, the alarm buzzer continues to sound until the key is turned off. Even in this case, if the alarm continues for a considerable period of time or if a sonar sensor or millimeter-wave radar detects a person in the vicinity, the buzzer will stop. On the contrary, when a person is detected in the vicinity, the alarm buzzer may sound.

If there is no error in the error check result, the alarm buzzer sounds intermittently for a certain period of time, and the sonar sensor confirms that there are no obstacles in the surroundings for a certain period of time before starting driving.

FIG. 2 is a meter panel 80 provided in front of the driver's seat of the head-to-driving combine, which is provided with an abnormality display by a spanner mark 81 for displaying an abnormality. 86 is interrupted and displayed.

Then, when the menu switch 87 is pressed, the menu selection screen 83 of FIG. 3 is displayed on the meter panel 80, when the abnormality occurrence information is selected, the screen is switched to the abnormality occurrence information screen 84 of FIG. Switches to the main body-related abnormality display screen 85.

If the error affects the threshing work (such as wall insert or sheave abnormality), when the threshing clutch is disengaged, the operation instruction screen 86 is hidden while the spanner mark 81 is lit, and the threshing clutch is connected. By displaying the operation instruction screen 86, the error display related to threshing is turned off when the threshing work is not performed.

FIG. 6 shows a conceptual diagram of the 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 position information from the GNSS satellite 93 on the first base station 95A and the second base station 95B. It controls an unmanned aerial vehicle (drone) 91 that flies autonomously.

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

The field management server 89 determines the growth status of the crop by the field photo determination means that determines the crop photograph of the field by hue, and displays the crop photograph and the growth status determination for each field on the display 8 of the automatic control combine 7 through the network 90. do.

FIG. 7 is a block diagram of control. When a field photography request is transmitted from the operation terminal 94 to the communication processing unit 97 of the field management server 89, a photography command is sent to the drone command processing unit 98, and the management field is sent from the field division database 99. The position information of the field crop is sent, and the photo data 100 of the field crops projected by the unmanned aircraft 91 flying over the field 92 is sent to the photo database 101 of the field management server 89, digitized by the image recognition unit 102, and calculated / determined. The growth status 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.

1 Travel control device 2 Mowing control device 3 Grain control device 4 Work machine control device 5 Machine control device 6 Robot control device 10 Engine rotation sensor 22 IGN / ON output 26 Mowing rotation sensor A27 In front of grain sensor B28 In front of grain sensor 29 Mowing elevating sensor 33 Handling body rotation sensor 34 Feed chain sensor 35 Straw chain sensor 45 Auger swivel sensor 46 Auger elevating sensor 53 Grain removal lever sensor 54 Mowing lever sensor 56 Grain sensor front left 57 Grain sensor front right 58 Speed sensor

Claims (3)

It has a travel control device (1), a cutting control device (2), a grain removal control device (3), a work machine control device (4), and a machine control device (5), and each control device (1, 2, 3, In an autonomous traveling combine provided with a robot control device (6) that integrates and controls 4, 5), after the robot control device (6) is activated, first, the respective control devices (1, 2, 3, 4, 5) are first activated. ) Test drive and test the continuity or detection of each sensor (10, 22, 26, 27, 28, 29, 33, 34, 35, 45, 46, 53, 54, 56, 57, 58). Is repeated a plurality of times to input a test signal to the robot control device (6), and after the robot control device (6) determines that the test signal is within the normal range, a command to start traveling is executed. Autonomous driving combine. Each sensor (10, 22, 26, 27, 28, 29, 33, 34, 35, 45, 46, 53, 54, 56, 57, of each control device (1, 2, 3, 4, 5). The autonomous driving combine according to claim 1, wherein the final detection value of the test signal detected a plurality of times by 58) is used as a material for determining the normal range of the robot control device (6). In the robot control device (6), the sensors (10, 22, 26, 27, 28, 29, 33, 34, 35, 45, 46, of each of the control devices (1, 2, 3, 4, 5) 53, 54, 56, 57, 58) stores the error history that outputs an error signal outside the normal range, and the management device of each of the control devices (1, 2, 3, 4, 5) having a large number of error histories. The autonomous driving combine according to claim 1, wherein the trial drive is started from.

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