JP6735047B1 - Mowing work method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a mowing work method capable of preventing contact of a combine. SOLUTION: After moving a first combine (1A) along a preset first mowing path to perform a mowing operation of a grain culm planted near a ridge of a field, the first combine (1A) is moved to the outside of the field. Then, the second combine (1B) is moved to the inside of the field after the first combine (1A) is moved to the outside of the field, and the uncut grain culm is cut along the preset second cutting path. To perform. [Selection diagram] Fig. 9

Description

The present invention relates to a method for cutting grain culms using a plurality of combine harvesters.

In the conventional harvesting method for grain culms, in the harvesting method for grain culms, a plurality of combine harvesters carried into the field are traveling along the harvesting route set based on the signals of the positioning satellites. A method of performing a reaping work is known. (See Patent Document 1)

JP, 2018-108034, A

However, in the conventional method for harvesting grain culm, when an abnormality occurs in the communication means of the combine or the communication from the positioning satellite is interrupted, the mutual combine performing the harvesting work in the same field is not performed. There was a risk of contact.

Therefore, the present invention is to provide a reaping work method capable of preventing contact of a combine.

MEANS TO SOLVE THE PROBLEM This invention which solved the said subject is as follows.
That is, the invention according to claim 1 is a mowing work method for mowing grain culms planted in a field using a plurality of combine harvesters,
After moving the first combine (1A) along a preset first cutting path to perform a cutting operation on the grain culm planted near the ridge of the field, the first combine (1A) is moved to the outside of the field to The combine (1B) is moved to the inside of the field after the first combine (1A) is moved to the outside of the field, and the uncut grain culm is cut along the preset second cutting path. This is a reaping work method characterized by making it possible.

In the invention according to claim 2, the first mowing path is set as a path that circulates the outer peripheral portion of the field in a counterclockwise direction, and the second mowing path is arranged inside the first mowing path in a counterclockwise direction. The cutting operation method according to claim 1, wherein the cutting route is set as a circulating path or as a third path that goes straight from one side of the field to the other side and then changes direction to go straight from the other side to the one side.

In the invention according to claim 3, the number of cutting lines of the first cutting device (4A) provided in the first combine (1A) is set to the cutting number of the second cutting device (4B) provided in the second combine (1B). It is the reaping work method according to claim 1 or 2, wherein the setting is made smaller than the number of threads.

According to a fourth aspect of the present invention, a space for allowing the second combine (1B) to be turned around is formed in the outer peripheral portion of the field by the cutting work along the first cutting path of the first combine (1A). Item 3. The reaping work method according to any one of Items 1 to 3.

In the invention according to claim 5, the positions of the first combine (1A) and the second combine (1B) are based on information from a positioning satellite (11) and a base station (12) whose position is known in advance. It is the reaping work method according to any one of claims 1 to 4, which is calculated.

In the invention according to claim 6, in the second combine (1B), the first combine (1A) is moved to the outside of the first field by a communication unit (23B) provided in the second combine (1B). After receiving the information, after moving to the inside of the first field and performing the mowing work, after receiving the information that the first combine (1A) has moved to the outside of the second field by the communication unit (23B). The harvesting method according to any one of claims 1 to 5, wherein the harvesting operation is performed by moving inside the second field.

According to the invention of claim 1, since the second combine (1B) moves inside the field after the first combine (1A) moves outside the field, the first combine (1B) moves even if a failure occurs in the communication means. It is possible to prevent contact between the combine (1A) and the second combine (1B). In addition, when a small or medium-sized combine is selected as the first combine (1A) and a large combine is selected as the second combine (1B), the first combine (1A) that is lightweight and has a small turning radius is It is possible to reduce the trouble of traveling due to subsidence by shortening the cutting work time by performing the cutting work on the outer peripheral part of the field where there are a lot of fields, and to reduce the uncut portion of the grain stalks planted on the edge of the ridge. In addition, the second combine (1B), which can cut many grain culms at one time, can be used to cut the inside of the field to significantly reduce the cutting time and improve the efficiency of the cutting work. You can

According to the invention of claim 2, in addition to the effect of the invention of claim 1, in addition to the effect of the invention of claim 1, the first combine (1A) can efficiently mow the grain culm planted in the vicinity of the ridge of the field, and the second combine In (1B), the grain culms planted in the central part of the field can be efficiently mowed.

According to the invention of claim 3, in addition to the effect of the invention of claim 1 or 2, it is possible to mow almost all grain stalks planted in the vicinity of the ridge of the field with the first combine (1A). The harvest loss can be reduced.

According to the invention of claim 4, in addition to the effect of the invention of any one of claims 1 to 3, the second combine combine (1B) is used to step on the grain culm planted near the ridge of the field. This can be prevented and yield loss can be reduced.

According to the invention of claim 5, in addition to the effect of the invention of any one of claims 1 to 4, the traveling position, the stop position, etc. of the first combine (1A) and the second combine (1B), etc. Can be accurately calculated, and the contact between the first combine (1A) and the second combine (1B) can be further prevented.

According to the invention described in claim 6, in addition to the effect of the invention described in any one of claims 1 to 5, the positioning unit is abnormal due to a communication error from the positioning satellite (11) or the base station (12). Even in the case of occurrence of, the first combine harvester (1A) and the second combine harvester (1B) can be prevented from contacting each other, and the harvesting work can be safely performed.

It is a left side view of a medium-sized combine. It is a connection diagram of a positioning unit of a medium-sized combine. It is a connection diagram of the controller of a medium-sized combine. It is a left side view of a large combine. It is a connection diagram of the positioning unit of a large combine. It is a connection diagram of the controller of a large combine. It is explanatory drawing of the joint work of a small/medium-sized and large combine, (a) has shown the 1st farm field, (b) has shown the 2nd farm field. It is explanatory drawing of the drive method of a small/medium-sized combine. It is explanatory drawing of the drive method of a large combine. It is a front view of a drone. It is a connection diagram of the positioning unit of a drone. It is a connection diagram of the controller of a drone. It is explanatory drawing of the joint work of a drone and a large combine, (a) shows the drone, (b) has shown the path of a large combine. It is explanatory drawing at the time of moving an obstacle after an obstacle is detected by the drone ahead of a large combine, (a), (b) is a drone, (c) has shown the path of a large combine. It is explanatory drawing in the case where an obstacle continues to exist after an obstacle is detected in front of a large combine by a drone, (a), (b) is a drone, (c) shows the path of a large combine. ing. It is explanatory drawing in the case where detachment cannot be corrected after a large combine has come off the set mowing route, (a) and (c) show the drone, (b) shows the route of a large combine. It is explanatory drawing in the case where a large combine is removed from the set mowing path, and the removal can be corrected, (a), (c) shows the drone, (b) has shown the path of a large combine. FIG. 17 is an explanatory diagram when a deviation occurs in the travel route of the large combine in FIG. 16, where (a) and (d) (are drones, and (b) and (c) are large combine routes. It is explanatory drawing of the drive method of a drone. It is explanatory drawing of the drive method of a large combine. It is explanatory drawing of the drive method of a large combine. It is a rear view of a traveling device, (a) is a horizontal state, (b) is an explanatory view of a state of descending to the left. It is a front view of a reaping device, and is an explanatory view of a state of a grain culm sensor and an uncut grain culm.

<Collaboration of small/medium-sized combine and large combine>
First, the joint work of a medium-sized combine for performing the ridge cutting work and a large combine for performing the reaping work other than the ridge cutting work will be described.

(Small/medium-sized combine)
As shown in FIG. 1, a combine (“first combine” in the claims) 1A is a medium-sized combine or two-section combine having a cutting width for cutting three or four rows of grain culms planted in a field. It is a small combine harvester that harvests the rice culm.

The combine 1A is provided with a traveling device 3A composed of a pair of left and right crawlers traveling on the soil surface below the machine body frame 2A, and a mowing device for mowing the grain culms in the field on the front side of the machine body frame 2A. 1A mowing device”) 4A is provided, and a threshing device (not shown) that threshes and sorts the mowed culms is provided on the left rear side of the mowing device 4A, and the operator rides on the rear right side of the mowing device 4A. A control unit 6A is provided. In addition, a grain tank 7A that stores the grains that have undergone threshing/sorting processing is provided on the rear side of the control unit 6A, and the lifted grain that extends in the vertical direction that discharges the grains to the outside on the rear side of the grain tank 7A. And a discharge auger 8A including a horizontal discharge portion extending in the front-rear direction.

As shown in FIG. 2, a positioning unit 10A that is an RTK-GPS positioning system includes a positioning satellite 11, a base station 12 provided at a known position, and a mobile station 16A provided in the combine 1A. .. Accordingly, the position of the mobile station 16A can be accurately obtained from the position information transmitted from the positioning satellite 11 to the mobile station 16A and the correction position information transmitted from the base station 12 to the mobile station 16A.

The base station 12 is composed of a fixed communication device 13, a fixed GPS antenna 14 for receiving position information from the positioning satellite 11, and a fixed data transmission antenna 15 for transmitting correction position information to the mobile station 16A. ing. Further, the mobile station 16A includes a mobile communication device 17A, a mobile GPS antenna 18A that receives position information from the positioning satellite 11, and a mobile data transmission antenna 19A that receives correction position information from the base station 12. It is composed of. The position information of the mobile station 16A is calculated in the mobile station 16A based on the position information from the positioning satellite 11 and the correction position information from the base station 12.

As shown in FIG. 3, the controller 20A of the combine 1A includes a processing unit 21A including a CPU, a storage unit 22A including a ROM, a RAM, a hard disk drive, a flash memory, and the like, and a communication unit 23A for data communication with the outside. Are formed from.

The processing unit 21A is a program that is stored in advance in the storage unit 22A and stores the position of the field, the shape of the field, the ridge cutting route, the number of ridge cutting cycles, the traveling speed, the combine carry-in position, and the combine carry-out position. Can be read into the RAM and the program can be executed to control the operation of the combine 1A.

On the input side of the controller 20A, a mobile communication device 17A of the mobile station 16A that is position information of the combine 1A, a communication unit 23B of the combine 1B, and a left crawler 60A of the traveling device 3A are supported as shown in FIG. The left height sensor 30A supported by the frame, the right height sensor 31A supported by the frame supporting the right crawler 60B, and the left grain provided at the left end portion of the reaping device 4A as shown in FIG. The culm sensor 32A, the right inner grain culm sensor 33A provided at the right end of the reaping device 4A, and the right outer grain culm sensor 34A provided at a predetermined interval on the right side of the right inner grain culm sensor 33A It is connected through the input interface circuit. An infrared sensor or an ultrasonic sensor can be used for the left height sensor 30A, the left culm sensor 32A, and the like.

On the output side of the controller 20A, a start switch 40A for driving the traveling device 3A, a stop switch 41A for stopping the driving of the traveling device 3A, a path setting switch 42A for resetting a preset setting path, and a mowing device. There are a mowing switch 43A for driving 4A, an operating switch 45A for the traveling HST, a left changeover switch 46A for the left transmission, a right changeover switch 47A for the right transmission, and an elevating switch 48A for the elevating cylinder of the mowing device 4A. It is connected through a predetermined output interface circuit.

(Large combine)
As shown in FIG. 4, the combine (“the second combine” in the claims) 1B is a large combine having a cutting width for cutting 5 to 7 rows of grain culms planted in the field.

The combine 1B is provided with a traveling device 3B composed of a pair of left and right crawlers traveling on a soil surface below the machine body frame 2B, and a mowing device for mowing the grain culms in the field on the front side of the machine body frame 2B. 2 Mowing device”) 4B is provided, and a threshing device (not shown) that threshes and sorts the harvested grain culms is provided on the rear left side of the mowing device 4B, and the operator boarded the rear right side of the mowing device 4B. A control unit 6B is provided. In addition, a grain tank 7B that stores the grains that have undergone threshing/sorting processing is provided on the rear side of the control unit 6B, and a vertically extended grain that discharges the grains to the outside on the rear side of the grain tank 7B. And a discharge auger 8B including a horizontal discharge portion extending in the front-rear direction.

As shown in FIG. 5, a positioning unit 10B, which is an RTK-GPS positioning system, includes a positioning satellite 11, a base station 12 provided at a known position, and a mobile station 16B provided in the combine 1B. .. As a result, the position of the mobile station 16B can be accurately obtained from the position information transmitted from the positioning satellite 11 to the mobile station 16B and the correction position information transmitted from the base station 12 to the mobile station 16B.

The base station 12 includes a fixed communication device 13, a fixed GPS antenna 14 that receives position information from the positioning satellite 11, and a fixed data transmission antenna 15 that transmits correction position information to the mobile station 16B. ing. The mobile station 16B includes a mobile communication device 17B, a mobile GPS antenna 18B that receives position information from the positioning satellite 11, and a mobile data transmission antenna 19B that receives correction position information from the base station 12. It is composed of. The position information of the mobile station 16B is calculated in the mobile station 16B based on the position information from the positioning satellite 11 and the correction position information from the base station 12.

As shown in FIG. 6, the controller 20B of the combine 1B includes a processing unit 21B including a CPU, a storage unit 22B including a ROM, a RAM, a hard disk drive, a flash memory, and the like, and a communication unit 23B for external data communication. Are formed from.

The processing unit 21B stores a program, which is stored in advance in the storage unit 22B, in which a field position, a field shape, a mowing path, a number of mowing rounds, a traveling speed, a combine carry-in position, and a combine carry-out position are stored. Then, the program can be executed and the operation of the combine 1B can be controlled.

On the input side of the controller 20B, the mobile communication device 17B of the mobile station 16B, which is the position information of the combine 1B, the communication unit 23A of the combine 1A, the communication unit 23C of the drone 50, and the traveling as shown in FIG. A left height sensor 30B supported by a frame that supports the left crawler 60B of the device 3B, a right height sensor 31B supported by a frame that supports the right crawler 61B, and as shown in FIG. The left grain culm sensor 32B provided at the left end, the right inner grain culm sensor 33B provided at the right end of the reaping device 4B, and the right provided with a predetermined interval on the right side of the right inner grain culm sensor 33B. The outer grain culm sensor 34B is connected via a predetermined input interface circuit. An infrared sensor or an ultrasonic sensor can be used for the left height sensor 30B, the left culm sensor 32B, and the like.

On the output side of the controller 20B, a start switch 40B for driving the traveling device 3B, a stop switch 41B for stopping the driving of the traveling device 3B, a route setting switch 42B for resetting a preset setting route, and a mowing device. A reaping switch 43B for driving 4B, an operating switch 45B for the traveling HST, a left changeover switch 46B for the left transmission, a right changeover switch 47B for the right transmission, and an elevating switch 48B for the elevating cylinder of the reaper 4B. It is connected through a predetermined output interface circuit.

(group work)
As shown in FIG. 7, after the small/medium-sized combine harvester 1A performs field ridge mowing, the large combine 1B performs harvesting work other than field ridge harvesting. As a result, the first combine harvester 1A can perform mowing work on the outer periphery of a field with a lot of soft ground, reduce traveling trouble due to subsidence, and shorten mowing work time, and mowing the grain stalks planted on the ridge. Remaining can be reduced. In addition, the second combine harvester 1B capable of cutting a large number of grain culms at one time can perform the cutting work on the inside of the field, and the cutting work time can be significantly shortened, and the efficiency of the cutting work can be improved. ..

The combine 1A moves to the inside of the first field to perform the ridge cutting work, and moves to the outside of the first field when the ridge cutting work ends. Next, the combine 1A moves into the second field to perform the ridge cutting work, and when the ridge cutting work ends, moves to the outside of the second field.

The combiner 1B moves to the first field after the communication section 23B of the combiner 1B has received the information that the combiner 1A has moved outside the first field, and performs the mowing operation. 1 Move out of the field. Next, in the combine 1B, the communication unit 23B of the combine 1B receives the information that the combine 1A has moved outside the second field, and then moves into the second field to perform the mowing work, and the mowing work ends. Then, it moves out of the second field. Accordingly, even if an abnormality occurs in the positioning units 10A and 10B due to a communication error from the positioning satellite 11 or the base station 12, the combine 1A and the combine 1B can be prevented from contacting with each other and the reaping work can be performed safely. ..

(Drive method for small and medium-sized combine)
As shown in FIG. 8, in step S1A, the combine 1A stops at the standby position outside the first field, and then the processing unit 21A of the controller 20A causes the shape of the first field stored in the storage unit 22A, The set route of the ridge cutting work, the set number of rounds of the ridge cutting work, the set traveling speed, the combine carry-in position, the combine carry-out position, the field to be worked on the day, and the like are read, and the process proceeds to step S2A.

In step S2A, the processing unit 21A inputs the reaping switch 43A to drive the combine 1A, move the combine 1A from the carry-in position of the combine to the first field, and then set the ridge cutting operation and the ridge cutting operation. The ridge cutting work is started based on the set number of laps and the set traveling speed, and the process proceeds to step S3A. As a result, the combine 1 having a small turning radius is used to perform the ridge cutting work to reduce the uncut portion of the grain stalks, and to efficiently form the turning space of the large combine 1B. In FIG. 7, the set number of laps of the ridge cutting work is illustrated as one, but it is often set to 2 to 4 times.

In step S3A, the processing unit 21A determines whether or not the ridge cutting work has been completed, for example, whether or not the number of laps in which the combine 1A has actually performed the ridge cutting operation has reached the set number of laps, and the number of laps is determined. Is less than the set number of laps, it is determined that the ridge cutting work is not completed, and the process returns to step S2A. When the number of laps reaches the set number of laps, it is determined that the ridge cutting work is completed. And proceeds to step S4A.

In step S4A, processing unit 21A moves combiner 1A from the combine carry-out position to the retracted position outside the first field, and proceeds to step S5A.

In step S5A, the communication unit 23A transmits information that the combine 1A has moved to the retracted position outside the first field to the communication unit 23B of the combine 1B, and proceeds to step S6A.

In step S6A, the processing unit 21A determines whether or not there is a second field in which the combine 1A continues to perform ridge cutting work. If there is a second field, the process proceeds to step S7A, and there is no second field. In this case, a series of work is finished.

In step S7A, the processing unit 21A inputs the activation switch 40A to drive the combine 1A, move the combine 1A to the standby position in the second field, and return to step S1A. In addition, in step S1A, the processing unit 21A determines the shape of the second field, the set route of the ridge cutting work, the set number of laps of the ridge cutting work, the set traveling speed, the carry-in position of the combine, the carry-out position of the combine, and the current day work. Read the field etc.

(How to drive a large combine)
As shown in FIG. 9, in step S1B, the combine 1B stops at the standby position outside the first field, and then the processing unit 21B of the controller 20B causes the combiner 1A to evacuate outside the first field by the communication unit 23B. It is determined whether or not the information moved to the position is received. When the combine 1A has not moved to the retracted position outside the first field, the process proceeds to step S2B, and when the combine 1A has moved to the retracted position outside the first field, the process proceeds to step S3B. As a result, contact between the combine harvester 1A and the combine harvester 1B can be prevented in the first field, and the ridge harvesting operation and the harvesting operation can be performed safely.

Further, it is preferable to calculate the time for finishing the ridge cutting work of the combine 1A from the traveling speed of the combine 1A and move the combine 1B to the standby position of the first field before the ridge cutting work of the combine 1A is finished. As a result, the time required for the combine 1B to move can be reduced and the working time can be shortened.

In step S2B, the processing unit 21B inputs the stop switch 41B to continuously stop the combine 1B at the standby position outside the first field and returns to step S1B.

In step S3B, the processing unit 21B inputs the activation switch 40B to drive the combine 1B, move the combine 1B from the carry-in position of the combine to the first field, and proceed to step S4B.

In step S4B, the processing unit 21B causes the shape of the first field stored in the storage unit 22B, the set route of the mowing work, the set number of laps of the mowing work, the set traveling speed, the carry-in position of the combine, the carry-out position of the combine, and The field or the like to be worked on the day is read and the process proceeds to step S5B. It should be noted that the set route may be a combination of a circular route that circulates counterclockwise in the field, a straight route that goes straight from one side of the field to the other side, and a reverse route that goes backward from one side of the field to the other side. ..

In step S5B, the processing unit 21B inputs the reaping switch 43B, starts the reaping work based on the set route of the reaping work, the set number of laps of the reaping work, and the set traveling speed, and proceeds to step S6B. As a result, it is possible to efficiently perform the harvesting work with the combine 1B having a high harvesting ability. In addition, in FIG. 7, the set number of laps of the mowing work is illustrated as two laps, but it can be set to an arbitrary number of laps based on the size of the first field.

In step S6B, the processing unit 21B determines whether or not the reaping work has been completed, for example, whether or not the number of laps that the combine 1B has performed the reaping work has reached the set number of laps, and the number of laps is the set number of laps. If it is less than the above, it is determined that the mowing work is not finished and the process returns to step S5B. If the actual number of laps reaches the set number of laps, it is determined that the mowing work is finished and the process proceeds to step S7B. ..

In step S7B, the processing unit 21B moves the combine harvester 1B from the combine carry-out position to the retracted position outside the first field, and proceeds to step S8B.

In step S8B, the processing unit 21B determines whether or not there is a second field in which the combine 1B continues to perform ridge cutting work. If there is a second field, the process proceeds to step S9B, and there is no second field. In this case, a series of work is finished.

In step S9B, the processing unit 21B inputs the activation switch 40B to drive the combine 1B, moves the combine 1B to the standby position in the second field, stops the vehicle, and returns to step S1B. In step S1B, the processing unit 21B determines whether the communication unit 23B receives the information that the combine 1A has been moved to the retracted position outside the second field.

<Collaboration of drone and large combine>
Next, we will discuss the joint work of drones and large combine harvesters led by drones.

(Drone)
As shown in FIG. 10, the drone 50 has a camera 51 mounted on the bottom of the main body for photographing the field.

As shown in FIG. 11, a positioning unit 10C that is an RTK-GPS positioning system includes a positioning satellite 11, a base station 12 provided at a known position, and a mobile station 16C provided in the drone 50. .. Thereby, the position of the mobile station 16C can be accurately obtained from the position information transmitted from the positioning satellite 11 to the mobile station 16C and the correction position information transmitted from the base station 12 to the mobile station 16C.

The base station 12 includes a fixed communication device 13, a fixed GPS antenna 14 that receives position information from the positioning satellite 11, and a fixed data transmission antenna 15 that transmits correction position information to the mobile station 16C. ing. Further, the mobile station 16C includes a mobile communication device 17C, a mobile GPS antenna 18C that receives position information from the positioning satellite 11, and a mobile data transmission antenna 19C that receives correction position information from the base station 12. It is composed of. The position information of the mobile station 16C is calculated in the mobile station 16C based on the position information from the positioning satellite 11 and the correction position information from the base station 12.

As shown in FIG. 12, the controller 20C of the drone 50 includes a processing unit 21C including a CPU and the like, a storage unit 22C including a ROM, a RAM, a hard disk drive, a flash memory, and the like, and a communication unit 23C for external data communication. Are formed from.

The processing unit 21C stores a program that is stored in advance in the storage unit 22C and stores the position of the field, the shape of the field, the flight path corresponding to the cutting path, the flight height, and the flight speed corresponding to the traveling speed of the combine. The operation of the drone 50 can be controlled by reading the data into the RAM and executing the program.

To the input side of the controller 20C, the mobile communication device 17C of the mobile station 16C, which is the position information of the drone 50, and the communication unit 23B of the combine 1B are connected via a predetermined input interface circuit.

On the output side of the controller 20C, a route setting switch 42C that resets a preset setting route and a camera 51 are connected via a predetermined output interface circuit.

(Large combine)
The large combine 1B shown in FIGS. 4 to 6 and described above can be used.

(group work)
As shown in FIG. 13, when the camera 51 of the drone 50 does not capture an obstacle in front of the combine 1B, the combine 1B travels along the same route as the flight path of the drone 50 for the mowing operation. Note that FIG. 13A illustrates the flight route of the drone 50, and FIG. 13B illustrates the set route of the combine 1B.

As shown in FIG. 14, an obstacle in front of the combine 1B is photographed by the camera 51, and thereafter, immediately before the combine 1B passes by the obstacle crossing the set route, the camera 51 is in front of the combine 1B. When the obstacle of 1 is not photographed, the combine 1B travels along the set route of the reaping work which is the same as the flight route of the drone 50. It should be noted that FIG. 14A illustrates a state where there is an obstacle on the flight path of the drone 50, and FIG. 14B illustrates a state where there is no obstacle on the flight path of the drone 50. (C) illustrates a set route of the combine 1B.

As shown in FIG. 15, when an obstacle in front of the combine 1B is photographed by the camera 51, and immediately before the combine 1B passes, the obstacle in front of the combine 1B is continuously photographed by the camera 51. The combiner 1B deviates from the flight path of the drone 50, travels on the avoidance path for avoiding obstacles, and then drives the combiner 1B along the flight path of the drone 50 again. The avoidance route can be set by the processing unit 21B based on information such as the position and size of the obstacle transmitted from the communication unit 23C of the drone 50 received by the communication unit 23B of the combine 1B. This can prevent the combine 1B from contacting the obstacle. Note that FIG. 15A illustrates a state in which there are obstacles on the flight path of the drone 50, and FIG. 15B illustrates a state in which there are obstacles on the flight path of the drone 50 subsequently. FIG. 15C illustrates the set route and the avoidance route of the combine 1B.

As shown in FIG. 16, when the combine 1B recovers to the set route within a predetermined distance and time after the combine 1B deviates from the set route, the drone 50 maintains the flight route. As a result, it is not necessary to frequently reset the flight path of the drone 50 when the combine 1B is dislocated in the left-right direction due to muddy or the like scattered in the field, and the efficiency of the overall mowing work can be increased. 16A illustrates the flight path of the drone 50, FIG. 16B illustrates a state in which the combine 1B is out of the set path, and FIG. 16C illustrates the combine 1B in the set path. 16D shows a state where the drone 50 is recovered, and FIG. 16D shows a state where the flight path of the drone 50 is maintained.

As shown in FIG. 17, if the combine 1B is off the set route after the combine 1B is off the set route and the predetermined distance and time have passed, the drone 50 resets the flight route. As a result, even if the combine 1B largely deviates in the left-right direction due to the mud or the like scattered in the field, the front of the combine 1B can be efficiently monitored by the drone 50 continuously. Note that FIG. 17A illustrates a flight path of the drone 50, FIG. 17B illustrates a state in which the combine 1B is out of the set path, and FIG. 17C illustrates a flight path of the drone 50. The figure shows the state in which is reset.

(Drone driving method)
As shown in FIG. 18, in step S1C, the drone 50 stops at the standby position above the field, and then the processing unit 21C of the controller 20C causes the position of the field and the shape of the field stored in the storage unit 22C. , The flight path corresponding to the mowing path, the flight height, the flight speed corresponding to the traveling speed of the combine, etc. are read, and the process proceeds to step S2C.

In step S2C, the processing unit 21C drives the camera 51 to capture an image of the field, in particular, an image of a region located in front of the combine 1B in the field, and proceeds to step S3C.

In step S3C, the processing unit 21C determines whether or not there is an obstacle that inhibits the traveling of the combine 1B at a site located in front of the combine 1B in the field. When it is determined that there is no obstacle, the process proceeds to step S4C, and when it is determined that there is an obstacle, the communication unit 23C informs the communication unit 23B of the combine 1B that there is an obstacle in front of the combine 1B. Send information.

In step S4C, processing unit 21C determines whether communication unit 23C has received information that combine 1B is temporarily stopping traveling. If the combine 1B is not temporarily stopped, the process proceeds to step S5C. If the combine 1B is temporarily stopped, the process returns to step S1C. As a result, when the combine 1B is temporarily stopped by an obstacle, the drone 50 sets a flight path for a new mowing path with a correction of the stopped time, and subsequently monitors the front of the combine 1B. You can

In step S5C, the processing unit 21C determines whether or not the combiner 1B has received the information on the avoidance movement by setting the avoidance route by the communication unit 23C. When the combine 1B has set the avoidance route, the process proceeds to step S6C. When the combine 1B has not set the avoidance route, the process proceeds to step S7C.

In step S6C, the processing unit 21C activates the route setting switch 42C, sets a flight route for the new cutting route of the drone 50, and proceeds to step S7C. The communication unit 23C also transmits the image captured by the camera 51 to the communication unit 23B of the combine 1B. Accordingly, the drone 50 can set a flight path for a new mowing path and prevent the combine 1B from contacting an obstacle.

In step S7C, the processing unit 21C determines whether or not the mowing work has been completed, for example, the processing unit 21C determines whether or not the drone 50 is located at the terminal end of the flight path, and the drone 50 detects the flight path. If the drone 50 has arrived at the terminal end, it is determined that the mowing operation has been completed, and the flight of the drone 50 is terminated. If the drone 50 has not arrived at the terminal end of the flight path, the mowing operation is completed. If not, the process returns to step S1C. In step S1C, the flight path corresponding to the mowing path in the flight direction from the flight position, the flight height, the flight speed corresponding to the traveling speed of the combine, etc. are read.

(How to drive a large combine)
As shown in FIGS. 19 and 20, in step S1D, the combine 1B stops at a standby position outside the field, and then the processing unit 21B of the controller 20B causes the combiner 1B to store the position of the field and the field stored in the storage unit 22B. The shape, the set route of the reaping work, the set traveling speed, etc. are read and the process proceeds to step S2D.

In step S2D, the processing unit 21B inputs the activation switch 40B, starts the reaping work based on the set route, the set traveling speed, etc., and proceeds to step S3D.

In step S3D, the processing unit 21B determines whether the communication unit 23B has received the information of the captured image of the camera 51 of the drone 50. If the information of the captured image of the camera 51 has been received, the process proceeds to step S4D, and if the information of the captured image of the camera 51 has not been received, the process proceeds to step S17D.

In step S4D, the processing unit 21B determines whether or not an obstacle is imaged in front of the combine 1B in the image captured by the camera 51. If an obstacle is captured in front of the combine 1B in the captured image of the camera 51, the process proceeds to step S5D. If no obstacle is captured in front of the combine 1B in the captured image of the camera 51, step S5D. Proceed to S9D.

In step S5D, the processing unit 21B inputs the stop switch 41B to suspend the traveling of the combine 1B. This can prevent the combine 1B from colliding with an obstacle. Further, the processing unit 21B transmits information that the combine 1B has stopped traveling to the communication unit 23C of the drone 50 via the communication unit 23B.

In step S6D, the processing unit 21B determines whether or not an obstacle is imaged in front of the combine 1B in the image captured by the camera 51 for a predetermined time. When an obstacle is photographed in front of the combine 1B in the image captured by the camera 51 for a predetermined time, the process proceeds to step S7D, and an obstacle in front of the combine 1B is captured in the image captured by the camera 51 for a predetermined time. If the images have not been captured for the entire period, the process proceeds to step S9D. As a result, when the obstacle is a movable obstacle such as a small animal, there is a time delay, but the small animal waits until the small animal crosses the set path, and then cuts along the set path again. You can do the work.

In step S7D, the processing unit 21B inputs the route setting switch 42B to set an avoidance route for avoiding an obstacle, and proceeds to step S8D. The avoidance route is set based on information such as the position and size of the obstacle transmitted from the communication unit 23C of the drone 50. This can prevent the combine 1B from contacting the obstacle.

In step S8D, the processing unit 21B operates the transmission changeover switches 46B, 47B and the like that increase and decrease the rotational speed of the pair of crawlers of the traveling device 3B to move along the avoidance path, and proceeds to step S9D. In addition, the processing unit 21B transmits information that the combine 1B is moving on the avoidance route to the communication unit 23C of the drone 50 via the communication unit 23B.

In step S9D, the processing unit 21B determines whether the position information of the combine 1B input from the mobile communication device 17B is on the preset route. If the position information of the combine 1B input from the mobile communication device 17B is not on the set route, the process proceeds to step S10D, and the position information of the combine 1B input from the mobile communication device 17B is on the set route. To proceed to step S11D.

In step S10D, when the position information of the combine 1B input from the mobile communication device 17B is located on the left side of the set route, the processing unit 21B increases the rotation speed of the left crawler 60B of the traveling device 3B. Therefore, the left changeover switch 46B of the left transmission is operated to the speed increasing side, and the right changeover switch 47B of the right transmission is operated to the decelerating side in order to reduce the rotational speed of the right crawler 61B of the traveling device 3B. On the other hand, when the position information of the combine 1B input from the mobile communication device 17B is located on the right side of the set route, the processing unit 21B moves to the left to reduce the rotation speed of the left crawler 60B of the traveling device 3B. The left changeover switch 46B of the transmission is operated to the deceleration side, and the right changeover switch 47B of the right transmission is operated to the speedup side in order to increase the rotational speed of the right crawler 61B of the traveling device 3B. As a result, the combine 1B can be positioned on the set route.

In step S11D, the processing unit 21B determines the lodging state of the grain stems planted in front of the combine harvester 1B captured by the camera 51. If the grain culm is lying, the process proceeds to step S12D. If the grain culm is not lying, the process proceeds to step S17D.

In step S12D, the processing unit 21B operates the operation switch 45B to reduce the traveling speed of the traveling device 3B to a low speed, and proceeds to step S13D. As a result, it is possible to prevent the cut grain culm from being blocked in the transport path of the cutting device 4B.

In step S13D, the processing unit 21B operates the elevating switch 4B to lower the mowing device 4B from the normal mowing position, and proceeds to step S14D. As a result, it is possible to efficiently cut the lower part of the grain stalk that has fallen down by the cutting blade extending in the left-right direction of the harvesting device 4B.

In step S14D, the processing unit 21B determines the lodging state of the grain culm planted in front of the combine 1B captured by the camera 51. If the grain culm is lying, the process proceeds to step S12D. If the grain culm is not lying, the process proceeds to step S15D.

In step S15D, the processing unit 21B operates the operation switch 45B to increase the traveling speed of the traveling device 3B to the set traveling speed, and proceeds to step S16D. This allows the harvesting device 4B to efficiently harvest the grain culms.

In step S16D, the processing unit 21B operates the elevating switch 4B to raise the mowing device 4B to the normal mowing position, and proceeds to step S17D. This allows the harvesting device 4B to efficiently harvest the grain culms.

In step S17D, the processing unit 21B determines whether or not the harvesting work has been completed, for example, the processing unit 21B determines whether or not the combine 1B is located at the end of the harvesting route, and the combiner 1B determines whether or not the harvesting route is on the harvesting route. If it is located at the terminal end, it is determined that the mowing operation has been completed, and the process proceeds to step S18D. If the combine 1B is not located at the terminal part of the mowing path, the mowing operation is completed. If not, the process proceeds to step S2D. In step S2D, the cutting path ahead of the current cutting work position, the traveling speed of the combine and the like are read.

In step S18D, the processing unit 21B displays on the monitor of the control unit 6B that the mowing work has been completed.

<How to maintain horizontal in the left-right direction>
Next, a method for maintaining the horizontal direction of the combine in the left-right direction will be described by taking the large combine 1B as an example.

As shown in FIG. 21, when the driving force of the left crawler 60B of the traveling device 3B is not transmitted to the field scene and the left crawler 60B sinks below the right crawler 61B, it is provided on the lower left side of the traveling device 3B. A signal indicating that the lower left portion of the traveling device 3B is close to the field is input to the controller 20B from the left height sensor 30B.

In such a case, the processing unit 21B operates the left changeover switch 46B to the speed increasing side to increase the rotation speed of the left crawler 60B. As a result, the combine 1B can be maintained horizontal in the left-right direction, the combine 1B can be prevented from moving forward to the left, and the combine 1B can be efficiently moved straight.

On the other hand, when the driving force of the right crawler 61B of the traveling device 3B is not transmitted to the field scene and the right crawler 61B sinks below the left crawler 60B, the right height provided at the lower right side of the traveling device 3B. A signal indicating that the lower right portion of the traveling device 3B is close to the field is input from the sensor 31B to the controller 20B.

In such a case, the processing unit 21B operates the right changeover switch 47B to the speed increasing side to increase the rotation speed of the right crawler 61B. As a result, the combine 1B can be maintained horizontal in the left-right direction, the combine 1B can be prevented from moving forward to the right, and the combine 1B can be efficiently moved straight.

<How to maintain the mowing path>
Next, a method for maintaining the combine harvesting path will be described taking the large combine harvester 1B as an example.

As shown in FIG. 22, a left culm sensor 32B for detecting uncut grain culms is provided at the left end of the cutting device 4B, and a right inside for detecting uncut grain culms is provided at the right end of the cutting device 4B. A grain culm sensor 33B is provided, and a right outer grain culm sensor 33B for detecting an uncut grain culm is provided in a portion extending to the right of the cutting device 4B.

When the combine harvester 1B is located on the set cutting path, the left grain culm sensor 32B and the right inner grain culm sensor 33B detect the uncut grain culm, and the controller 20B detects the uncut grain culm. Input a signal to that effect.

On the other hand, when the combine 1B is displaced to the left of the set mowing path, the left grain culm sensor 32B detects the uncut grain culm, and the control rotor 20B receives a signal indicating that the uncut grain culm has been detected. To do. In such a case, the processing unit 21B operates the left changeover switch 46B to the speed increasing side to increase the rotation speed of the left crawler 60B. As a result, the combine 1B can be turned rightward and forward, and the combine 1B can be positioned on the set mowing path.

On the other hand, when the combine 1B is displaced to the right of the set mowing path, the left grain culm sensor 32B, the right inner grain culm sensor 33B, and the right outer grain culm sensor 33B detect uncut grain culm, A signal indicating that uncut grain culms have been detected is input to the controller 20B. In such a case, the processing unit 21B operates the right changeover switch 47B to the speed increasing side to increase the rotation speed of the right crawler 61B. As a result, the combine 1B can be swung to the left front, and the combine 1B can be positioned on the set mowing path.

1A combine (first combine)
1B combine (2nd combine)
4A reaper (first reaper)
4B reaper (second reaper)
11 positioning satellite 12 base station 22B storage unit

Claims (6)

A method of cutting a grain culm planted in a field using a plurality of combine harvesters,
After moving the first combine (1A) along the first cutting path set in advance to perform the cutting work of the grain culms planted in the vicinity of the ridges of the field, it is moved to the outside of the field,
The second combine (1B) is moved to the inside of the field after the first combine (1A) is moved to the outside of the field, and the uncut grain culm is cut along the preset second cutting path. A reaping work method characterized by performing the following. The first cutting path is set as a path that circulates the outer peripheral portion of the field in a counterclockwise direction,
The second mowing path is a path that circulates in the counterclockwise direction inside the first mowing path, or goes straight from one side of the field to the other side and then changes direction and goes straight from the other side to the one side. The harvesting method according to claim 1, wherein the harvesting method is set as a third route to be performed. The number of cutting lines of the first cutting device (4A) provided in the first combine (1A) is set to be smaller than the number of cutting lines of the second cutting device (4B) provided in the second combine (1B). The reaping work method according to claim 1. The space for allowing the second combine (1B) to be turned around is formed in the outer peripheral part of the field by the cutting work along the first cutting path of the first combine (1A). Mowing work method described in paragraph. The positions of the first combine (1A) and the second combine (1B) are calculated based on information from a positioning satellite (11) and a base station (12) whose position is known in advance. The method of harvesting according to any one of 1. The second combine (1B) receives the information that the first combine (1A) has moved to the outside of the first field by the communication unit (23B) provided in the second combine (1B), and then the second combine (1B) receives the information. After receiving information that the first combiner (1A) has moved to the outside of the second field by the communication unit (23B) after moving to the inside of one field and performing the mowing work, The reaping work method according to claim 1, wherein the reaping work is performed by moving.

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