JP6876279B2 - Mowing work method - Google Patents

Description

The present invention relates to a method for cutting a grain culm using a plurality of combines.

In the conventional culm reaping work method, in the culm reaping work method, a plurality of combines brought into the field travel along a reaping route set based on a positioning satellite signal. There is a known method of performing harvesting work. (See Patent Document 1)

Japanese Unexamined Patent Publication No. 2018-108034

However, in the conventional harvesting work method of the grain culm, the combine is selected without considering the lodging state of the grain culm and the wet field condition of the field, and the cutting route is set, so that the cutting work time may become long. It was. In addition, if an abnormality occurs in the combine's communication means or the communication from the positioning satellite is cut off, there is a risk that the combines that are harvesting in the same field will come into contact with each other.

Therefore, the present invention is to provide a cutting work method with high cutting work efficiency by setting a suitable combine and a cutting route based on the lodging state of the grain culm and the wet field state of the field.

The present invention that solves the above problems is as follows.
That is, the invention according to claim 1 is a cutting work method for cutting a grain culm planted in a field using a plurality of combines.
The large first combine (1A) is used to mow the first field (60A) where there are few fallen culms or wetlands in the field, and the second combine (1B), which is smaller than the first combine (1A), is used. The cutting work of the second field portion (60B) having many fallen culms or wet fields in the field is performed, and the first combine (1A) is set by the first cutting route (1A) set based on the culms and wet field positions. After running along 62A) to cut the culm, it is moved to the outside of the first field portion (60A), and the second combine (1B) is transferred to the first combine (1A). After moving to the outside of the first field part (60A), it is moved to the inside of the second field part (60B) along the second cutting route (62B) set based on the grain culm and the wet field position. This is a harvesting work method characterized in that the uncut grain culm is harvested.

The invention according to claim 2 is before moving to the outside of the first field portion (60A) when a large amount of mud is attached to the first traveling device (3A) of the first combine (1A). In the case where the first traveling device (3A) is repeatedly moved in the front-rear direction to remove the adhering mud, and a large amount of mud is adhering to the second traveling device (3B) of the second combine (1B). The mowing operation method according to claim 1, wherein the second traveling device (3B) is repeatedly moved in the front-rear direction to remove the adhering mud before moving to the outside of the second field portion (60B). is there.

According to the third aspect of the present invention, when the first combine (1A) is tilted in the front-rear or left-right direction by a predetermined angle or more, the speed of the first traveling device (3A) is reduced to reduce the speed of the second combine (1A). If the 1B) is inclined a predetermined angle or more in the longitudinal or lateral direction is a cutting work method according to claim 2, wherein for reducing the speed of the second travel unit (3B).

The invention according to claim 4 is a pair of left and right pairs of the first traveling device (3A) when the first combine (1A) is separated from the first cutting path (62A) by a predetermined width or more in the left-right direction. When the rotation of the crawler is braked by the first brake (43A) and the central portion of the second combine (1B) is separated from the second cutting path (62B) by a predetermined width or more in the left-right direction, the second The mowing work method according to claim 2 or 3, wherein the rotation of the pair of left and right crawler of the traveling device (3B) is braked by the second brake (43B).

In the invention according to claim 5, the number of cutting lines of the first cutting device (4A) of the first combine (1A) is 5 to 7, and the second cutting device (4B) of the second combine (1B). The harvesting work method according to any one of claims 1 to 4, wherein the number of harvesting strips is 1 to 2.

The invention according to claim 6 is based on information from a positioning satellite (11) and a base station (12) whose position is known in advance at the center of the first combine (1A) and the second combine (1B). The harvesting work method according to any one of claims 1 to 5, which is calculated in accordance with the above.

In the invention according to claim 7, the second combine (1B) transmits information that the first combine (1A) has moved to the outside of the first field portion (60A) in the communication unit of the second combine (1B). The cutting work method according to any one of claims 1 to 6, which moves to the inside of the second field portion (60B) after receiving at (23B).

According to the invention of claim 1, a large first combine (1A) is used to mow the first field portion (60A) having few fallen culms or wet fields in the field, as compared with the first combine (1A). A small second combine (1B) is used to mow the fallen culm or the second field (60B) where there are many wet fields, and the first combine (1A) is set based on the culm and wet field position. After the culm was harvested by running along the first harvesting route (62A), it was moved to the outside of the first field portion (60A), and the second combine (1B) was moved to the first combine (1B). After 1A) moves to the outside of the first field (60A), it is moved to the inside of the second field (60B) to the second cutting route (62B) set based on the culm and wet field position. Since the cutting work of the uncut grain culms is performed along the line, the cutting work time of the first field part (60A) where there are few culms or wet fields that have fallen down in the first combine (1A) can be significantly shortened, and the cutting work can be performed. Work efficiency can be improved. In addition, since the second combine (1B) formed in a lightweight manner cuts the fallen grain culm or the second field (60B) where there are many wet fields, running troubles due to subsidence and the like are reduced and the cutting work time is shortened. It is possible to improve the efficiency of the harvesting work. Further, even if a failure occurs in the communication means, it is possible to prevent the contact between the first combine (1A) and the second combine (1B).

According to the invention of claim 2, in addition to the effect of the invention of claim 1, when a large amount of mud is attached to the first traveling device (3A) of the first combine (1A), the first Before moving to the outside of the field portion (60A), the first traveling device (3A) is repeatedly moved in the front-rear direction to remove the adhering mud, and the second traveling device (3B) of the second combine (1B) is removed. When a large amount of mud is attached to the surface, the second traveling device (3B) is repeatedly moved in the front-rear direction to remove the attached mud before moving to the outside of the second field portion (60B). , It is possible to prevent the mud adhering to the first traveling device (3A) and the second traveling device (3B) from falling on the public road.

According to the invention of claim 3 , in addition to the effect of the invention of claim 2 , when the first combine (1A) is tilted by a predetermined angle or more in the front-rear or left-right direction, the first traveling device (3A). ) Is reduced, and when the second combine (1B) is tilted in the front-rear or left-right direction by a predetermined angle or more, the speed of the second traveling device (3B) is reduced. The second combine (1B) can also mow the grain near the ridges of the field, and the harvest loss can be reduced.

According to the invention of claim 4 , in addition to the effect of the invention of claim 2 or 3 , when the first combine (1A) is separated from the first cutting path (62A) by a predetermined width or more in the left-right direction. The rotation of the pair of left and right crawler of the first traveling device (3A) is braked by the first brake (43A), and the central portion of the second combine (1B) is determined in the left-right direction from the second cutting path (62B). When the distance is more than the width of, the rotation of the pair of left and right crawler of the second traveling device (3B) is braked by the second brake (43B), so that the first combine (1A) is set to the first cutting path (62A). The second combine (1B) can be efficiently traveled along the second cutting route (62B).

According to the invention of claim 5, in addition to the effect of the invention of any one of claims 1 to 4, the number of cutting rows of the first harvester (4A) of the first combine (1A) is 5. Since the number of cutting rows of the second harvesting device (4B) of the second combine (1B) is 1 to 2, the cutting work of the first field portion (60A) is performed by the first combine (1A). The time can be shortened significantly, and the efficiency of the harvesting work can be further improved. Further, since the cutting work of the second field portion (60B) is performed by the second combine (1B) having excellent turning performance, the cutting work time can be further shortened and the efficiency of the cutting work can be further improved.

According to the invention of claim 6, in addition to the effect of the invention of any one of claims 1 to 5, the central part of the first combine (1A) and the second combine (1B) is a positioning satellite. Since it is calculated based on the information from (11) and the base station (12) whose position is known in advance, the traveling position, stop position, etc. of the first combine (1A) and the second combine (1B) can be accurately determined. It can be calculated, and the contact between the first combine (1A) and the second combine (1B) can be further prevented.

According to the invention of claim 7, in addition to the effect of the invention of any one of claims 1 to 6, the second combine (1B) is the first combine (1A) in the first field portion (1A). After receiving the information that it has moved to the outside of the 60A) by the communication unit (23B) of the second combine (1B), it moves to the inside of the second field (60B), so that the positioning satellite (11) and the base station Even when an abnormality occurs in the positioning unit due to the communication error from (12), it is possible to prevent the collision between the first combine (1A) and the second combine (1B) and safely perform the cutting operation.

It is a left side view of a large combine harvester. 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 harvester. It is a left side view of a small combine. It is a connection diagram of the positioning unit of a small combine. It is a connection diagram of the controller of a small combine. It is a front view of the drone. It is a connection diagram of the positioning unit of the drone. It is a connection diagram of a drone controller. It is explanatory drawing of the joint work of a large-sized combine and a small-sized combine. It is explanatory drawing of the driving method of a large-sized and small-sized combine using a drone.

<Large combine>
As shown in FIG. 1, the combine (“first combine” in the claim) 1A is a large combine having a cutting width for cutting 5 to 7 culms planted in the field.

The combine 1A is provided with a traveling device (“first traveling device” according to claim) 3A composed of a pair of left and right crawlers traveling on the soil surface under the body frame 2A, and a field grain culm on the front side of the body frame 2A. A harvesting device (“first harvesting device” in the claim) 4A is provided, and a threshing device (not shown) for threshing and sorting the harvested grain culms is provided on the rear left side of the harvesting device 4A. A control unit 6A on which the operator board is provided on the rear right side of the device 4A. Further, a grain tank 7A for storing threshed and sorted grains is provided on the rear side of the control unit 6A, and the fried grains extending in the vertical direction for discharging the grains to the outside are provided on the rear side of the grain tank 7A. A discharge auger 8A including a portion and a lateral discharge portion extending in the front-rear direction is provided.

As shown in FIG. 2, the positioning unit 10A, which is an RTK-GPS positioning method, is composed of a positioning satellite 11, a base station 12 provided at a known position, and a mobile station 16A provided in the combine 1A. .. As a result, 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 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 16A. ing. Further, the mobile station 16A includes a mobile communication device 17A, a mobile GPS antenna 18A for receiving position information from the positioning satellite 11, and a mobile data transmission antenna 19A for receiving correction position information from the base station 12. It is composed of.

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

The processing unit 21A sets the carry-in position, the cutting route, and the carry-out position of the combine 1A based on the lodging information of the grain culm and the wet field information of the field transmitted from the drone 50, which will be described later.

Further, the processing unit 21A can set the carry-in position, the cutting route, and the carry-out position of the combine 1A to be the same as the previous year based on the information stored in the storage unit 22A. In addition to the position of the field and the shape of the field, the storage unit 22A contains information such as the position of the fallen culm of the previous year, the position of the wet field in the field of the previous year, the carry-in position of the previous year, the cutting route, and the carry-out position. Is saved.

On the input side of the controller 20A, the mobile communication device 17A of the mobile station 16A, which is the position information of the combine 1A, the communication unit 23B of the combine 1B, the communication unit 23C of the drone 50, and the rear side provided in the combine 1A. The rear camera 30A for photographing the field and the inclination sensor 31A for measuring the inclination of the combine 1A in the left-right direction are connected via a predetermined input interface circuit.

On the output side of the controller 20A, a start switch 40A for activating the traveling device 3A, a cutting / removing switch 41A for activating the cutting device 4A, an auger switch 42A for activating the discharge auger 8A, and a pair of left and right pairs of the traveling device 3A. A brake 43B that brakes the rotation of the crawler is connected via a predetermined output interface circuit.

<Small combine>
As shown in FIG. 4, the combine (“second combine” in the claim) 1B is a small combine that cuts two culms planted in a field. In addition, instead of the small combine, a medium-sized combine that cuts 3 to 4 culms planted in the field can also be used.

The combine 1B is provided with a traveling device (“second traveling device” according to claim) 3B composed of a pair of left and right crawlers traveling on the soil surface under the fuselage frame 2B, and a field grain culm on the front side of the fuselage frame 2B. A harvesting device (“second harvesting device” in the claim) 4B is provided, and a threshing device (not shown) for threshing and sorting the harvested grain culms is provided on the rear left side of the harvesting device 4B. A control unit 6B on which the operator board is provided on the rear right side of the device 4B. Further, a grain tank 7B for storing threshed and sorted grains is provided on the rear side of the control unit 6B, and the fried grains extending in the vertical direction for discharging the grains to the outside are provided on the rear side of the grain tank 7B. A discharge auger 8B including a portion and a lateral discharge portion extending in the front-rear direction is provided.

As shown in FIG. 5, the positioning unit 10B, which is an RTK-GPS positioning method, is composed of 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 mobile station 16B includes a mobile communication device 17B, a mobile GPS antenna 18B for receiving position information from the positioning satellite 11, and a mobile data transmission antenna 19B for receiving correction position information from the base station 12. Has been done. The configuration of the base station 12 is as described above.

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

The processing unit 21B can set the carry-in position, the cutting route, and the carry-out position of the combine 1B based on the lodging information of the grain culm and the wet field information of the field transmitted from the drone 50, which will be described later.

Further, the processing unit 21B can set the carry-in position, the cutting route, and the carry-out position of the combine 1B to be the same as the previous year based on the information stored in the storage unit 22B. In addition to the position of the field and the shape of the field, the storage unit 22B contains information such as the position of the fallen culm in the previous year, the position of the wet field in the field in the previous year, the carry-in position in the previous year, the cutting route, and the carry-out position. Is saved.

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 rear side provided in the combine 1B. The rear camera 30B for photographing the field and the inclination sensor 31B for measuring the inclination of the combine 1B in the left-right direction are connected via a predetermined input interface circuit.

On the output side of the controller 20B, a start switch 40B for activating the traveling device 3B, a cutting / removing switch 41B for activating the cutting device 4B, an auger switch 42B for activating the discharge auger 8B, and a pair of left and right pairs of the traveling device 3B. A brake 43B that brakes the rotation of the crawler is connected via a predetermined output interface circuit.

<Drone>
As shown in FIG. 7, the drone 50 flying in front of the combine 1A and the combine 1B is equipped with a camera 51 for photographing the field at the lower part of the main body.

As shown in FIG. 8, the positioning unit 10C, which is an RTK-GPS positioning method, is composed of a positioning satellite 11, a base station 12 provided at a known position, and a mobile station 16C provided in the drone 50. .. As a result, 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 mobile station 16C includes a mobile communication device 17C, a mobile GPS antenna 18C for receiving position information from the positioning satellite 11, and a mobile data transmission antenna 19C for receiving correction position information from the base station 12. Has been done. The configuration of the base station 12 is as described above.

As shown in FIG. 9, the controller 20C of the drone 50 includes a processing unit 21C composed of a CPU and the like, a storage unit 22C composed of a ROM, RAM, a hard disk drive, a flash memory and the like, and a communication unit 23C for data communication with the outside. Is formed from.

The processing unit 21C sets the flight path and flight height of the drone 50 based on the position of the field, the shape of the field, and the photographable distance of the camera, which are stored in the storage unit 22C in advance. As a result, the camera 51 captures the lodging state of the culm in the field and the wet field state of the field, and the controller 20A of the combine 1A and the controller 20B of the combine 1B are provided with information on the lodging of the culm in the field and information on the wet field in the field. Can be sent.

On 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, the communication unit 23A of the combine 1A, and the communication unit 23B of the combine 1B are connected via a predetermined input interface circuit. Has been done.

A camera 51 is connected to the output side of the controller 20C via a predetermined output interface circuit.

<Cooperative work of large combine and small combine>
As shown in FIG. 10, after cutting the field portion with many culms that have not fallen with combine 1A, the cutting work of the field portion with many culms that have fallen with combine 1B is performed. .. As a result, it is possible to significantly shorten the cutting work time of the field portion where there are many non-lying culms in the combine 1A, and it is possible to improve the efficiency of the cutting work. Further, since the combine 1B having a small turning radius is used to cut the culm that has fallen down, it is possible to significantly reduce the uncut portion.

Further, after the combine 1A is used to mow the field portion having few wet fields, the combine 1B can be used to mow the field portion having many wet fields. As a result, it is possible to significantly shorten the cutting work time of the field portion where there are few wet fields in the combine 1A, and it is possible to improve the efficiency of the cutting work. In addition, since the combine 1B formed in a lightweight manner cuts a field portion having many wet fields, it is possible to reduce running troubles due to subsidence and shorten the cutting work time.

In the present specification, the field portion having many non-overturned culms and the field portion having few wet fields are collectively referred to as the first field portion 60A, and the field portion and wet fields having many culms that have fallen down are collectively referred to. The field portion having a large amount of shavings is collectively referred to as the second field portion 60B.

The combine 1A moves into the first field portion to perform the cutting work, and when the cutting work is completed, the combine 1A moves from the inside of the first field to the outside of the field. Next, the combine 1B moves into the second field portion to perform the cutting work, and when the cutting work is completed, the combine 1B moves from the inside of the second field to the outside of the field.

The combine 1B moves into the second field portion after the communication unit 23B of the combine 1B receives the information that the combine 1A has moved to the outside of the field, and performs the cutting operation. As a result, 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, it is possible to prevent the combine 1A and the combine 1B from colliding with each other and perform the mowing work safely. it can.

<How to drive the cooperative work of a large combine and a small combine>
As shown in FIG. 11, in step S1, the combine 1A stops at a standby position outside the field, and then the controller 20A of the combine 1A receives the grains in the field transmitted from the communication unit 23C of the drone 50. Based on the lodging information of the culm and the wet field information, the position of the fallen grain culm and the wet field in the field are set, and the process proceeds to step S2.

In step S2, the controller 20A has a carry-in position 61A of the combine 1A, a cutting route (“first cutting route” in the claim) 62A, and a carry-out position so as to avoid the fallen culm position and the wet field position in the field. Set 63A and proceed to step S3.

When there is no transmission from the communication unit 23C of the drone 50, the processing unit 21A of the controller 20A uses the lodging position, the wet field position, the carry-in position, and the cutting route of the grain culm of the previous year stored in the storage unit 22A. , The carry-in position 61A of the combine 1A, the cutting route 62A, and the carry-out position 63A can be set based on the carry-out position and the like.

In step S3, the controller 20A turns on the start switch 40A to activate the traveling device 3A of the combine 1A, carries the combine 1A from the carry-in position 61A to the first field portion 60A, and proceeds to step S4.

In step S4, the controller 20A turns on the cutting / removing switch 41A, activates the cutting device 4A and the like, causes the combine 1A to perform cutting work along the cutting path 62A, and proceeds to step S5. As a result, it is possible to shorten the cutting work time of the grain culm that has not fallen in the combine 1A and improve the efficiency of the cutting work.

When the controller 20A determines that the combine 1A is tilted by a predetermined angle or more in the front-rear or left-right direction based on the information input from the tilt sensor 31A, the speed of the traveling device 3A is reduced. As a result, the inclination of the combine 1A in the front-rear or left-right direction can be reduced.

Further, when the controller 20A determines that the combine 1A deviates from the cutting path 62A by a predetermined distance in the left-right direction based on the position information of the mobile communication device 17A, a brake (“first brake” in the claim). Operate 43A. As a result, the central portion of the combine 1A in the left-right direction can be positioned on the cutting path 62A.

In step S5, the controller 20A determines whether or not the combine 1A has moved to the carry-out position 63A based on the position information transmitted from the mobile communication device 17A mounted on the combine 1A, that is, the combine 1A causes the first. 1 It is judged whether or not the harvesting work of the grain culm of the field portion 60A is completed, and when it is judged that the harvesting work is completed, the harvesting switch 41A is turned off, the harvesting device 4A and the like are stopped, and the combine 1A is turned on. 1 It is moved to the outside of the field portion 60A and proceeds to step S6, and when it is determined that the cutting work is not completed, the process returns to step S4.

Before moving the combine 1A to the outside of the first field portion 60A, the controller 20A is used for information such as the rear camera 30A mounted on the rear part of the combine 1A and the traveling device 3A transmitted from the communication unit 23C of the drone 50. Based on this, when it is determined that a large amount of mud is attached to the traveling device 3A or the like, the traveling device 3A is moved back and forth in the vicinity of the carry-out position 63A to remove the mud adhering to the traveling device 3A or the like. Is preferable. As a result, it is possible to prevent the mud adhering to the traveling device 3A from falling on the public road.

In step S6, the controller 20A turns on the auger switch 42A, discharges the grains stored in the grain tank 7A of the combine 1A to the loading platform of the truck for the combine 1A, and proceeds to step S7. The grains stored in the grain tank 7B of the combine 1B are discharged to a truck for the combine 1B, which is different from the truck for the combine 1A. As a result, it is possible to prevent grains having different water contents and stains from being mixed, and to separate the grains according to the quality of the grains.

In step S7, the controller 20A sets the carry-in position 61B of the combine 1A, the cutting route (“second cutting route” of the claim) 62B, and the carrying-out position 63B so as to travel on the fallen culm or wet field in the field. Set and proceed to step S8.

In step S8, the controller 20A determines whether to change from combine 1A to combine 1B based on the lodging information of the grain culm in the field and the wet field information transmitted from the communication unit 23C of the drone 50, and determines whether to change from combine 1A to combine 1A. When changing from to combine 1B, the process proceeds to step S9, and when using combine 1A, the process proceeds to step S14.

In step S9, the controller 20A transmits the carry-in position 61B of the combine 1B, the cutting path 62B, and the carry-out position 63B to the controller 20B of the combine 1B via the communication unit 23A, and proceeds to step S10.

When there is no transmission from the communication unit 23A of the controller 20A, the processing unit 21B of the controller 20B uses the lodging position, the wet field position, the carry-in position, and the cutting route of the previous year's grain culm stored in the storage unit 22B. , The carry-in position 61B of the combine 1B, the cutting route 62B, and the carry-out position 63B can be set based on the carry-out position and the like.

In step S10, the controller 20B turns on the start switch 40B to activate the traveling device 3B of the combine 1B, carries the combine 1B from the carry-in position 61B to the second field portion 60B, and proceeds to step S11. Further, it is preferable that the controller 20B turns on the start switch 40B after the communication unit 23B receives the information that the combine 1A has moved to the outside of the first field portion 60A. As a result, even when an abnormality occurs in the positioning unit 10B due to a communication error from the positioning satellite 11 or the base station 12, it is possible to prevent the combine 1A and the combine 1B from colliding with each other and safely perform the cutting operation.

In step S11, the controller 20B turns on the cutting / removing switch 41B, activates the cutting device 4B and the like, causes the combine 1B to perform cutting work along the cutting path 62B, and proceeds to step S12. As a result, the fallen grain culm is cut by the combine 1B having a small turning radius, so that the uncut portion can be significantly reduced. In addition, since the combine 1B formed in a lightweight manner cuts a field portion having many wet fields, it is possible to reduce running troubles due to subsidence and shorten the cutting work time.

When the controller 20B determines that the combine 1B is tilted by a predetermined angle or more in the front-rear or left-right direction based on the information input from the tilt sensor 31B, the speed of the traveling device 3B is reduced. As a result, the inclination of the combine 1B in the front-rear or left-right direction can be reduced.

Further, when the controller 20B determines that the combine 1B is deviated from the cutting path 62B by a predetermined distance in the left-right direction based on the position information of the mobile communication device 17B, a brake (“second brake” in the claim). Operate 43B. As a result, the central portion of the combine 1B in the left-right direction can be positioned on the cutting path 62B.

In step S12, the controller 20B determines whether or not the combine 1B has moved to the carry-out position 63B based on the position information transmitted from the mobile communication device 17B mounted on the combine 1B, that is, the combine 1B causes the controller 20B to move to the carry-out position 63B. 2 It is determined whether or not the harvesting work of the grain culm in the field portion 60B has been completed, and if it is determined that the harvesting work has been completed, the harvesting switch 41B is turned off, the harvesting device 4B or the like is stopped, and the combine 1B is turned on. 2 It is moved to the outside of the field portion 60B and proceeds to step S13, and when it is determined that the cutting work is not completed, the process returns to step S11.

Before moving the combine 1B to the outside of the second field portion 60B, the controller 20B is used for information such as the rear camera 30B mounted on the rear part of the combine 1B and the traveling device 3B transmitted from the communication unit 23C of the drone 50. Based on this, when it is determined that a large amount of mud is attached to the traveling device 3B or the like, the traveling device 3B is moved back and forth in the vicinity of the carry-out position 63B to remove the mud adhering to the traveling device 3B or the like. Is preferable. As a result, it is possible to prevent the mud adhering to the traveling device 3B from falling on the public road.

In step S13, the controller 20B turns on the auger switch 42B and discharges the grains stored in the grain tank 7B of the combine 1B to the loading platform of the truck for the combine 1B.

In step S14, the controller 20A turns on the start switch 40A to activate the traveling device 3A of the combine 1A, carries the combine 1A from the carry-in position 61B to the second field portion 60B, and proceeds to step S15.

In step S15, the controller 20A turns on the cutting / removing switch 41A, activates the cutting device 4A and the like, causes the combine 1A to perform cutting work along the cutting path 62B, and proceeds to step S16. As a result, the cutting work time of the fallen grain culm with the combine 1A can be shortened and the efficiency of the cutting work can be improved.

When the controller 20A determines that the combine 1A is tilted by a predetermined angle or more in the front-rear or left-right direction based on the information input from the tilt sensor 31A, the speed of the traveling device 3A is reduced. As a result, the inclination of the combine 1A in the front-rear or left-right direction can be reduced.

Further, when the controller 20A determines that the combine 1A deviates from the cutting path 62B by a predetermined distance in the left-right direction based on the position information of the mobile communication device 17A, the brake 43A is activated. As a result, the central portion of the combine 1A in the left-right direction can be positioned on the cutting path 62B.

In step S16, the controller 20A determines whether or not the combine 1A has moved to the carry-out position 63B based on the position information transmitted from the mobile communication device 17A, that is, the grain culm of the second field portion 60B by the combine 1A. If it is determined that the cutting work has been completed, the cutting switch 41A is turned off, the cutting device 4A and the like are stopped, and the combine 1A is moved to the outside of the second field portion 60B. The movement proceeds to step S17, and if it is determined that the cutting work has not been completed, the process returns to step S15.

Before moving the combine 1A to the outside of the second field portion 60B, the controller 20A is used for information such as the rear camera 30A mounted on the rear part of the combine 1A and the traveling device 3A transmitted from the communication unit 23C of the drone 50. Based on this, when it is determined that a large amount of mud is attached to the traveling device 3A or the like, the traveling device 3A is moved back and forth in the vicinity of the carry-out position 63B to remove the mud adhering to the traveling device 3A or the like. Is preferable. As a result, it is possible to prevent the mud adhering to the traveling device 3A from falling on the public road.

In step S17, the controller 20A turns on the auger switch 42A and discharges the grains stored in the grain tank 7A of the combine 1A to the loading platform of the truck for the combine 1A.

1A combine (1st combine)
1B combine (second combine)
3A traveling device (first traveling device)
3B traveling device (second traveling device)
4A reaping device (first reaping device)
4B reaping device (second reaping device)
11 Positioning satellite 12 Base station 23B Communication unit 43A Brake (1st brake)
43B brake (second brake)
60A 1st field 60B 2nd field 62A Mowing route (1st mowing route)
62B cutting route (second cutting route)

Claims (7)

It is a cutting work method that cuts the culms planted in the field using multiple combines.
A large first combine (1A) is used to mow the first field (60A) where there are few fallen culms or wet fields in the field.
The second combine (1B), which is smaller than the first combine (1A), is used to mow the second field (60B), which has many fallen culms or wet fields in the field.
The first combine (1A) is run along the first cutting route (62A) set based on the grain culm and the wet field position to perform the grain cutting work, and then the first field portion. Move it to the outside of (60A) and
The second combine (1B) is moved to the inside of the second field portion (60B) after the first combine (1A) is moved to the outside of the first field portion (60A) to form the grain culm. A cutting work method characterized in that the uncut grain culm is cut along a second cutting route (62B) set based on the wet field position. When a large amount of mud is attached to the first traveling device (3A) of the first combine (1A), the first traveling device (1A) is used before moving to the outside of the first field portion (60A). 3A) is repeatedly moved in the front-back direction to remove the adhering mud.
When a large amount of mud is attached to the second traveling device (3B) of the second combine (1B), the second traveling device (3B) is used before moving to the outside of the second field portion (60B). The mowing operation method according to claim 1, wherein 3B) is repeatedly moved in the front-rear direction to remove the adhering mud. When the first combine (1A) is tilted in the front-rear or left-right direction by a predetermined angle or more, the speed of the first traveling device (3A) is reduced.
When said second combined (1B) is inclined a predetermined angle or more in the longitudinal or lateral direction, cutting work method according to claim 2, wherein for reducing the speed of the second travel unit (3B). When the first combine (1A) is separated from the first cutting path (62A) by a predetermined width or more in the left-right direction, the rotation of the pair of left and right crawlers of the first traveling device (3A) is applied to the first brake (1A). Braking at 43A),
When the central portion of the second combine (1B) is separated from the second cutting path (62B) by a predetermined width or more in the left-right direction, the rotation of the pair of left and right crawlers of the second traveling device (3B) is second. 2. The cutting work method according to claim 2 or 3 , wherein braking is performed with a brake (43B). The number of cutting rows of the first cutting device (4A) of the first combine (1A) is 5 to 7, and the number of cutting rows of the second cutting device (4B) of the second combine (1B) is 1 to 2. The harvesting work method according to any one of claims 1 to 4, which is an article. The central part of the first combine (1A) and the second combine (1B) is calculated based on the information from the positioning satellite (11) and the base station (12) whose position is known in advance. The cutting work method according to any one of 5. After receiving the information that the first combine (1A) has moved to the outside of the first field portion (60A) by the communication unit (23B) of the second combine (1B), the second combine (1B) The cutting operation method according to any one of claims 1 to 6, which moves to the inside of the second field portion (60B).

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