JP2024059333A - Combine harvester traction control system - Google Patents

Abstract

[Problem] There is a technology that assists the operator in operating the machine by displaying the recommended movement trajectory of the left and right grass bodies on a monitor when the machine turns during harvesting work. However, this technology does not record the coordinates of a designated position in a field and make the machine autonomously travel to the designated coordinates when a specified condition is met. Therefore, a travel control system for a combine harvester is provided that makes the machine autonomously travel to the designated coordinates when a specified condition is met. [Solution] In a travel control system for a combine harvester that is equipped with a positioning device that acquires the current position of the machine and a control device that records an arbitrary designated position coordinate A and makes the machine autonomously travel to the designated coordinate A when a specified condition is met, when the machine is autonomously traveled, the machine is automatically turned so that it can travel straight toward the designated coordinate A, and after the automatic turn, the machine is automatically made to travel straight to the designated coordinate A, and during the automatic straight travel, the travel speed is reduced a specified distance before the designated coordinate A. [Selected Figure] Figure 2

Description

The present invention relates to a combine harvester travel control system.

There is a technology that assists the operator in maneuvering the machine by displaying the recommended movement trajectory of the left and right grass bodies on a monitor when the machine turns during harvesting work (see Patent Document 1).

JP 2019-080496 A

However, this does not involve recording the coordinates of a specified position within a field and having the drone autonomously navigate to the specified coordinates when certain conditions are met.

The present invention has been made in consideration of the above, and provides a combine harvester travel control system that autonomously drives the machine to a specified position coordinate when certain conditions are met.

The invention described in claim 1 is a combine harvester travel control system that includes a traveling device 4, a harvesting device 15 that harvests crops from a field, a threshing device 6 that takes over the crops and threshes them, a storage device 7 that stores the threshed grains, a positioning device 27 that acquires the current position of the machine, and a control device 26 that records an arbitrary designated position coordinate A, and that causes the machine to travel autonomously to the designated position coordinate A when a predetermined condition is met. When the machine is travelling autonomously, the system automatically turns the machine so that it can travel straight towards the designated position coordinate A, automatically travels the machine straight to the designated position coordinate A after the automatic turn, and decelerates the travel speed when traveling automatically straight ahead a predetermined distance before the designated position coordinate A.

According to the invention described in claim 1, when a certain condition is met, such as when the storage device 7 is full of grain or when fuel runs out, the machine can autonomously travel to the specified position coordinate A, eliminating the need for the operator to perform unnecessary operations and improving workability.

In addition, by slowing down the travel speed a certain distance before the designated position coordinate A, the vehicle can be stopped reliably at the designated position coordinate A, so that operations such as discharging grains and refueling can be carried out appropriately and easily.

The invention described in claim 2 is a travel control system for a combine harvester described in claim 1, in which the travel speed during automatic turning is set to a first set speed, and the travel speed during automatic straight traveling is set to a second set speed that is faster than the first set speed.

According to the invention described in claim 2, the running speed during automatic turning is set to a first set speed, and the running speed during automatic straight running is set to a second set speed that is faster than the first set speed. Since the running speeds during turning and straight running are fixed, the pilot can grasp the moving speed of the aircraft, and the movement is less likely to feel slow.

In addition, there is no need to set the travel speed too fast, making the vehicle safer even when driven autonomously.

The invention described in claim 3 is a travel control system for a combine harvester described in claim 1 or claim 2, in which a combine harvester 1 performing harvesting work by autonomous travel along a work path is moved to a start position S of the next work process when the combine harvester 1 reaches an end position E of the current work process.

According to the invention described in claim 3, when the combine harvester 1, which is autonomously traveling along the work path and performing harvesting work, reaches the end position E of the current work process, it moves to the start position S of the next work process, making it possible to automate the work and reduce the number of man-hours required by the operator.

The invention described in claim 4 is a travel control system for a combine harvester described in claim 3, which sets the travel speed for moving from the end position E of the current work process to the start position S of the next work process at a predetermined third set speed, and stops the combine harvester if the main speed change lever 24, steering lever 25, or stop switch is operated during the movement.

According to the invention described in claim 4, by setting the travel speed to a predetermined third set speed, it is possible to check whether the travel path is correct and whether there are obstacles on the path, and by performing a stopping operation if there is a problem, it is possible to stop the vehicle before the path deviates significantly or before it comes into contact with an obstacle.

In addition, if the main shift lever 24, steering lever 25, stop switch, etc. are operated while moving, the vehicle will be stopped, so that if a problem with driving is identified, it can be dealt with more quickly.

The invention described in claim 5 is a travel control system for a combine harvester described in claim 1 or claim 2, which determines that an abnormality has occurred and stops the combine harvester when the positioning device 27 receives a signal from a positioning satellite and the travel distance calculated by the GNSS does not change for a predetermined time, or when the travel distance calculated by the travel distance sensor that detects the operation of the traveling device 4 is longer than the travel distance calculated by the GNSS.

According to the invention described in claim 5, by detecting abnormalities during turning or movement by comparing the distance traveled by GNSS or the distance traveled by GNSS and the travel distance sensor, the vehicle can be stopped when an abnormality occurs, thereby preventing damage to the aircraft.

1 is a side view of a combine harvester according to an embodiment of the present invention. FIG. 2 is a schematic diagram showing the operation of a combine harvester travel control system according to an embodiment of the present invention. FIG. 2 is a schematic diagram showing the operation of a combine harvester travel control system according to an embodiment of the present invention. FIG. 2 is a schematic diagram showing the operation of a combine harvester travel control system according to an embodiment of the present invention.

The following describes a combine harvester 1, which is one embodiment of the present invention, with reference to the attached drawings. Note that to facilitate understanding, directions are conveniently indicated as the front side, the rear side, the right hand side, and the left hand side as seen from the operator, but the configuration is not limited to these.

As shown in FIG. 1, the combine harvester 1 has a traveling device 4 on the lower side of the chassis 2, which has a pair of left and right traveling crawlers 3 that travel on the soil surface. On the left and right sides of the chassis 2, a threshing device 6 that threshes and sorts the stalks that are clamped and transported by a feed chain 5, a grain tank 7 that temporarily stores the grains, and a grain discharge auger 8 that discharges the grains stored in the grain tank 7 outside the machine are mounted. A straw discharge processing device 9 is mounted on the rear end of the threshing device 6. The grain discharge auger 8 is raised and lowered by operating an auger lifting cylinder 10 when discharging grains.

In front of the threshing device 6, a harvesting device 15 is suspended from the front end of the chassis 2 so that it can be raised and lowered freely relative to the soil surface by a harvesting lifting cylinder 16. The harvesting device 15 has a grass dividing body 11 that divides the uncut stalks from the front end, a raising section 12 that raises the divided stalks, a cutting blade section 13 that cuts the raised stalks, and a supply adjustment conveying section 14 that rakes in the harvested stalks and adjusts the handling depth during transport and transfers them to the feed chain 5.

The operating device 20 that controls the operation of the combine harvester 1 and the operating seat 21 where the operator sits are provided at the upper rear of the harvester 15. An engine 22 is mounted below the operating seat 21, the grain tank 7 is located at the rear, and a cabin 23 is provided to cover the operating device 20 and the operating seat 21. The traveling device 4, threshing device 6, harvester 15, operating device 20, engine 22, cabin 23, etc. are attached to the chassis 2 of the combine harvester.

The grain tank 7 is equipped with a full sensor that detects when the grain tank 7 is full of grains (full enough to store a specified amount of grains, or full enough to perform one harvesting process in a standard field). The fuel tank of the engine 22 is also equipped with a fuel shortage sensor that detects when fuel is running low.

In addition, a monitor installed on the operation panel inside the cabin 23 displays a grain tank full alarm when the full sensor detects that the grain tank 7 is full of grains, and a fuel low alarm when the fuel low sensor detects that there is little fuel remaining in the fuel tank.

The operating device 20 is equipped with various operating tools such as a main speed change lever 24 that is operated forward and backward by the operator seated in the operating seat 21 to operate a speed change actuator that switches between forward and backward travel and stopping and switches the main speed change lever, a left and right traveling actuator that operates the left and right side clutches and left and right side brakes of the left and right traveling crawlers 3, 3 by tilting left and right to perform left and right steering when traveling straight and turning in various turning modes, and a steering lever 25 that operates the harvesting lifting cylinder 16 by operating in the forward and backward directions to raise and lower the harvesting device 15, a harvesting and de-husking lever that operates the harvesting and de-husking clutch actuator to turn the harvesting device 15 and the threshing device 6 on and off, an auger operating lever that moves the position of the discharge port 8a at the tip of the threshing auger 8 up and down by operating the auger lifting cylinder 10 and moves it left and right by operating the left and right turning actuator, and an auger drive switching lever that operates the auger drive electromagnetic clutch that turns the drive of the threshing auger 8 on and off to discharge the grains in the grain tank 7 from the discharge port 8a to the outside of the machine.

The combine harvester 1 can be freely switched between an automatic harvesting mode in which it travels autonomously and performs harvesting work automatically, a remote operation mode in which it performs harvesting work by remotely operating it with a remote operating device such as a tablet, and a manual operation mode in which the operator on board manually performs harvesting work, as will be described in detail below.

The operation panel inside the cabin 23 is equipped with a harvesting mode switching dial, which is used to switch between automatic harvesting mode, remote control mode, and manual operation mode.

A control device 26 is provided inside the cabin 23, and a GNSS antenna 27 and a wireless device 28 are provided on the top surface of the cabin 23 as positioning devices.

The control device 26 operates the speed change actuator to switch between forward/reverse travel and stopping and to switch the main speed to automatically control forward/reverse travel and stopping and to change the vehicle speed, operates the left/right travel actuator to automatically control left/right turning, operates the harvesting lift cylinder 16 to control the lifting and lowering of the harvesting device 15, and operates the harvesting/de-husking clutch actuator to automatically control the drive of the harvesting device 15 and the threshing device 6.

The control device 26 also stores map data that includes the reciprocating mowing work path or circular mowing work path in the field F and the designated position coordinates A (the position where the grain stored in the grain tank 7 is discharged outside the machine and the position where fuel is supplied to the fuel tank).

The designated position coordinate A is the position at the edge of the field F facing the road R where the grains stored in the grain tank 7 are transferred to a grain transport vehicle stopped on the road R using the grain discharge auger 8, and where fuel is supplied to the fuel tank from the road R.

Then, when the harvest mode switch dial is set to the automatic harvesting mode, the GNSS antenna 27 receives signals from positioning satellites in the field, and the GNSS (Satellite Positioning System) is used to calculate position information while autonomously traveling along the work route to automatically perform harvesting work, and when the conditions are met, the GNSS automatically travels to the specified position coordinates A.

When the operator operates the main speed change lever 24, steering lever 25, mowing lever, or other operating devices 20 during automatic travel, the automatic harvesting mode is switched to the manual operation mode, and the operator then operates the combine harvester 1 manually.

When the harvest mode switch dial is set to remote operation mode, various operations of a remote control device such as a tablet are received by the wireless device 28, and the combine harvester 1 can be remotely operated by the remote control device to perform harvesting work.

The various operations of the remote control device include a main speed change operation that operates the speed change actuator to switch between forward/reverse travel and stopping and to switch between main speed changes, a left/right steering operation when traveling straight and a turning operation in various turning modes that operates the left/right side clutches and left/right brakes of the left/right traveling crawlers 3, 3 by operating the left/right traveling actuator, a lifting operation that operates the harvesting lifting cylinder 16 to raise and lower the harvesting device 15, a harvesting/threshing drive on/off operation that operates the harvesting/threshing clutch actuator to turn the harvesting device 15 and the threshing device 6 on/off, an auger operation that operates the auger lifting cylinder 10 to move the position of the discharge port 8a at the tip of the threshing auger 8 up and down and activates the left/right turning actuator to move the auger in the left/right direction, and an auger drive on/off operation that operates the auger drive electromagnetic clutch to turn the threshing auger 8 on/off.

When the harvesting mode switch dial is set to manual operation mode, the operator can operate the operating device 20 to perform harvesting work manually.

The control device 26 also calculates the travel distance of the combine 1 based on information from a travel distance sensor that detects the number of rotations of the drive shaft of the traveling device 4 on which the left and right traveling crawlers 3 are tensioned.

<Combine harvester travel control system>
The travel control system when the harvesting mode switching dial is set to the automatic harvesting operation mode will be described.

Figure 2 shows a schematic diagram of a combine harvester 1 that is autonomously traveling and performing automatic harvesting operations, interrupting the harvesting operations and automatically traveling to a specified position coordinate A (a position where grains stored in the grain tank 7 are discharged outside the machine and where fuel is supplied to the fuel tank).

The control device 26 of the combine harvester 1, which is autonomously traveling along a reciprocating or circular mowing path in the field F and performing automatic harvesting work, operates the speed change actuator at the end position E of the current work process to stop the progress of the machine when it receives information from a full sensor that the grain tank 7 is full of grains or information from a fuel-out sensor that the fuel tank is low on fuel, and when the culm sensor installed on the harvester 15 no longer detects the harvested culms being transported, it operates the harvester clutch actuator to cut off the drive of the harvester 15, and operates the harvester lift cylinder 16 to raise the harvester 15 to a non-working position.

The aircraft's halt of movement prompts the pilot to check whether it is safe, allowing the pilot to confirm the safety of their surroundings.

If safety is not ensured, when the operator operates the operating device 20, the automatic harvesting mode is switched to the manual operation mode, and thereafter the operator operates the combine harvester 1 manually.

The control device 26 then operates the speed change actuator to set the main gear to a low first set speed, and operates the traveling actuator on the inside of the turn to disengage the side clutch of the traveling crawler 3 on the inside of the turn to start turning. The GNSS antenna 27 receives a signal from the positioning satellite, and while calculating position information using the GNSS (Satellite Positioning System), the vehicle turns to a position where it can move straight toward the specified position coordinate A.

In addition, it is also possible to control the turning of the aircraft so that it faces the specified position coordinate A at a constant turning ratio over a certain distance (or at a constant turning ratio over a certain time) using a direction sensor or gyro sensor without relying on GNSS position information.

Then, the control device 26 operates the gear change actuator to set the main gear to a second set speed that is faster than the first set speed, and the GNSS antenna 27 receives a signal from the positioning satellite and calculates position information using the GNSS (Global Navigation Satellite System) while moving the aircraft in a straight line toward the specified position coordinate A.

The second set speed can be controlled to be faster as the distance between the position after turning and the designated position coordinate A increases, resulting in an efficient working style.

Then, when the distance to the designated position coordinate A becomes a predetermined distance (a position just before reaching the designated position coordinate A), the control device 26 activates the gear change actuator to decelerate the main gear from the high second set speed, and when the designated position coordinate A is reached, the control device 26 activates the gear change actuator to neutralize the main gear and stop the aircraft from moving forward.

When the aircraft stops at the specified position coordinate A, the pilot looks at the monitor on the operation panel inside the cabin 23 and, if a warning indicating that the grain tank is full is displayed, operates the auger operation lever to align the discharge outlet 8a at the tip of the grain discharge auger 8 with the opening of the storage tank of the grain transport vehicle parked on road R, and operates the auger drive switch lever to turn on the drive of the grain discharge auger 8, causing the grain discharge auger 8 to discharge the grains stored in the grain tank 7 into the storage tank of the grain transport vehicle.

If the pilot sees a fuel shortage warning displayed on the monitor on the operation panel inside the cabin 23, he or she will refuel the fuel tank at a fuel tank located on the road R.

The driving control system therefore allows the aircraft to autonomously drive to the designated position coordinate A at the required timing, such as when the grain tank is full or when fuel runs out, eliminating the need for the pilot to perform unnecessary operations and improving operability.

In addition, by slowing down the travel speed at a position a specified distance before the designated position coordinate A, the vehicle can be stopped reliably at the designated position coordinate A, so that operations such as discharging grains and refueling can be carried out appropriately and easily.

In addition, the control turns from the end position E of the current work process at a slow first set speed, and then moves straight toward the designated position coordinate A at a second set speed that is faster than the first set speed. Since the running speed during turning and straight running is determined to some extent, the pilot can grasp the moving speed of the aircraft to some extent, so the movement is less likely to feel slow.

In addition, there is no need to set the travel speed too fast, making the vehicle safer even when driven autonomously.

When the work at the specified position coordinate A is completed and the automatic harvesting work return switch on the operation panel is pressed, the machine moves from the specified position coordinate A to the start position S of the next work process on the reciprocating mowing work path or circular mowing work path, and continues the automatic harvesting work by autonomous driving along the reciprocating mowing work path or circular mowing work path.

Figure 3 shows a schematic diagram of a combine harvester 1 performing automatic harvesting work by autonomous travel along a reciprocating mowing work path in a farm field F, turning from the current work process to the next work process.

When the combine harvester 1, which is performing automatic harvesting work by autonomous travel along a reciprocating harvesting work path in the field F, reaches the end position E of the current work process, the control device 26 of the combine harvester 1 activates the harvesting lift cylinder 16 to raise the harvesting device 15 to a non-working position, activates the speed change actuator to set the main gear to the third set speed, which is a medium speed, and operates the traveling actuator to move the machine to the start position S of the next work process by operating the side clutch and side brake of the traveling crawler 3, while the GNSS antenna 27 receives a signal from the positioning satellite and calculates the position information using the GNSS (Satellite Positioning System).

The above turning starts after turning from the end position E of the current work process in a direction away from the uncut section, or after proceeding straight from the end position E of the current work process and moving away from the uncut section.

Also, near the end of the turn, it turns toward a straight line behind the start position S of the next work process, and then moves straight to the start position S of the next work process.

In addition, turning is controlled to maintain a constant turning ratio over a fixed distance or a constant turning ratio over a fixed time.

In addition, a direction sensor or gyro sensor may be used to control turning so that a constant turning ratio is achieved over a certain distance or over a certain time period.

The third medium speed setting is set to a speed faster than the first low speed setting and slower than the second high speed setting.

Figure 4 shows a schematic diagram of a combine harvester 1 moving autonomously along a circular mowing work route in a farm field F and performing automatic harvesting work, moving from the current work process to the next work process.

When the combine harvester 1, which is performing automatic harvesting work while autonomously traveling along a circular mowing work path in the field F, reaches the end position E of the current work process, the control device 26 of the combine harvester 1 activates the harvesting lift cylinder 16 to raise the harvesting device 15 to a non-working position, activates the speed change actuator to set the main gear to the third set speed, which is a medium speed, receives a signal from the positioning satellite with the GNSS antenna 27, calculates the position information using the GNSS (Satellite Positioning System), activates the traveling actuator to move the machine to the start position S of the next work process, operates the side clutch and side brake of the traveling crawler 3, and activates the speed change actuator to operate forward and backward movement to move the machine forward and backward.

The above movement involves moving forward from the end position E of the current work process, turning toward the uncut section, stopping, and then moving backwards away from the uncut section to the start position S of the next work process.

The third medium speed setting is set to a speed faster than the first low speed setting and slower than the second high speed setting.

In addition, when the operator operates the main shift lever 24 or steering lever 25 during rotation and movement from the end position E of the current work process to the start position S of the next work process, or operates a stop switch provided on a remote control device such as a tablet, the control device 26 stops the machine and switches from the automatic harvesting work mode to the manual operation mode, and thereafter the operator operates the combine harvester 1 manually.

Therefore, by keeping the speed during turning and moving at a medium third set speed, it is possible to check whether the driving trajectory is correct and whether there are any obstacles in the path, and by performing a stopping operation if there is a problem, it is possible to stop the vehicle before the trajectory deviates significantly or before it comes into contact with an obstacle.

In addition, if the main shift lever 24, steering lever 25, or stop switch is operated, the vehicle will stop immediately, allowing for quicker response if a problem with driving is identified.

When turning and moving by autonomous driving from the end position E of the current work process to the specified position coordinate A within the field F described above, or when turning and moving from the end position E of the current work process to the start position S of the next work process while performing automatic harvesting work by autonomous driving along a reciprocating mowing work path or a circular mowing work path, if the travel distance calculated by the GNSS (Satellite Positioning System) does not change over a predetermined period of time or if the travel distance (travel distance) calculated using information from the travel distance sensor is longer than the travel distance calculated by the GNSS (Satellite Positioning System) by a predetermined amount or more, the control device 26 determines that an abnormality has occurred and controls the vehicle to stop.

Therefore, by detecting abnormalities during turning or movement by comparing the distance traveled by GNSS or the distance traveled by the GNSS and the travel distance sensor, it is possible to stop the aircraft from traveling if an abnormality occurs, thereby preventing damage to the aircraft.

<Other embodiments>

(1) In the above embodiment, the control device 26 of the combine harvester 1, which is performing automatic harvesting work by autonomously traveling along a reciprocating mowing work path or a circular mowing work path in the field F, sets the condition for moving toward the designated position coordinate A as receiving information from a full sensor that the grain tank 7 is full of grains or information from a fuel-out sensor that the fuel tank is low on fuel, but it may also be controlled to move toward the designated position coordinate A under other conditions.

That is, the condition for moving toward the designated position coordinate A may be that the cumulative travel distance when the stalk sensor installed in the harvesting device 15 detects the harvested stalks being transported has reached a predetermined distance. When the cumulative travel distance during harvesting work reaches the predetermined distance, it is determined that the grain tank 7 is almost full of grains.

In addition, the condition for moving toward the designated position coordinate A may be that the cumulative time during which the culm sensor installed in the harvesting device 15 detects the harvested culms being transported has reached a predetermined time. When the cumulative time during which harvesting work has been performed reaches the predetermined time, it is determined that the grain tank 7 is almost full of grains.

Also, the number of times the harvesting lift cylinder 16 is operated to raise the harvesting device 15 to the non-working position can be counted, and the condition for moving toward the designated position coordinate A can be set as the number of times the count reaches a predetermined number. The harvesting device 15 is raised to the non-working position when turning from the current work process to the next work process, and when the number of turns reaches a predetermined number, it is determined that the grain tank 7 is almost full of grains.

(2) In the above embodiment, the control device 26 of the combine harvester 1 performing automatic harvesting work by autonomously traveling along a reciprocating mowing work path or a circular mowing work path in the field F is controlled to perform mowing work up to the end position E of the current work process and then move toward the designated position coordinate A after satisfying the condition for moving toward the designated position coordinate A. However, if the current position is within a predetermined distance from the designated position coordinate A, the control may be such that the mowing work is stopped and the combine harvester moves toward the designated position coordinate A when the condition for moving toward the designated position coordinate A is satisfied.

1 Combine 4 Traveling device 6 Threshing device 7 Storage device (grain tank)
15 Harvesting device 24 Main shift lever 25 Steering lever 26 Control device 27 Positioning device (GNSS antenna)
A: Designated position coordinates E: End position S: Start position

Claims (5)

A travel control system for a combine harvester that includes a travel device (4), a harvesting device (15) that harvests crops from a field, a threshing device (6) that takes over and threshes the crops, a storage device (7) that stores the threshed grains, a positioning device (27) that acquires the current position of the machine, and a control device (26) that records any designated position coordinate (A), and that causes the machine to autonomously travel to the designated position coordinate (A) when a predetermined condition is met, the travel control system for a combine harvester that, when causing the machine to autonomously travel, automatically turns the machine so that it can travel in a straight line toward the designated position coordinate (A), automatically travels the machine in a straight line to the designated position coordinate (A) after the automatic turn, and decelerates the travel speed when traveling automatically in a straight line a predetermined distance before the designated position coordinate (A). The combine travel control system according to claim 1, characterized in that the travel speed during automatic turning is set to a first set speed, and the travel speed during automatic straight travel is set to a second set speed that is faster than the first set speed. The combine harvester travel control system according to claim 1 or 2, characterized in that when a combine harvester (1) performing harvesting work while traveling autonomously along a work path reaches the end position (E) of a current work process, it moves to the start position (S) of the next work process. The travel control system for a combine harvester according to claim 3, characterized in that the travel speed during movement from the end position (E) of the current work process to the start position (S) of the next work process is set to a predetermined third set speed, and the system is stopped if the main speed change lever (24), steering lever (25), or stop switch is operated during the movement. The combine harvester travel control system according to claim 1 or 2, characterized in that if the positioning device (27) receives a signal from a positioning satellite and the travel distance calculated by the GNSS does not change for a predetermined time, or if the travel distance calculated by the travel distance sensor that detects the operation of the traveling device (4) is longer than the travel distance calculated by the GNSS, it is determined that an abnormality exists and the combine harvester is stopped.

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