JP7149897B2 - harvester - Google Patents

Description

TECHNICAL FIELD The present invention relates to a harvester that harvests crops while automatically traveling in a field.

Some harvesters have a function of observing the state of the field and automatically taking measures such as stopping the running when there is an abnormality in the field. Observation of the state of the field is performed using a sensor such as a camera.

JP-A-11-155340

In order to improve the performance of automatic driving, it is required to detect abnormalities in fields with high accuracy.

In order to achieve the above object, a harvesting machine according to one embodiment of the present invention is a harvesting machine that performs work traveling for harvesting crops in a field while automatically traveling, comprising: a traveling device that performs the work traveling; a machine body supported by a traveling device; a harvesting section supported by a front portion of the machine body for harvesting crops in the field; a threshing device for threshing the harvested crops; A conveying device for conveying the threshed crops, a grain tank for storing the threshed crops, a vertical conveying unit connected to the lower part of the grain tank, and a horizontal conveying unit connected to the upper end of the vertical conveying unit A discharging device having a conveying section and capable of discharging the crops stored in the grain tank from a discharge section provided at the tip of the horizontal conveying section, and a crop in an unworked area in front of the harvesting section. an imaging device provided at a position higher than the harvesting section at the front of the machine body so as to look down from the top ; The imaging device is provided in the horizontal conveying section, and the discharge device is housed in a storage position. In another mode, when the stored crops are discharged, the discharge section protrudes from the machine body. , and the automatic travel is performed only when the ejection device is housed in the housing position .

With such a configuration, the field in front of the machine can be imaged as if looking down from above, so that the field can be viewed from above and an abnormality in the field can be detected with high accuracy.
In addition, since the horizontal conveying section is provided in the upper region of the machine body, the imaging device provided in the horizontal conveying section can easily pick up an image of the field from above.
In addition, the ejection device is displaced to the retracted position during work travel. If the ejection device is not positioned at the appropriate position, the imaging range of the image will shift, and an abnormality cannot be detected appropriately. Therefore, when the ejection device is not in the retracted position, the automatic travel is stopped so that the work travel is not performed, so that the work travel can be controlled in a state in which an abnormality is appropriately detected. .

Moreover, it is preferable to provide a control unit that performs an abnormality time control that is a control corresponding to the detected abnormality in the agricultural field.

With such a configuration, it is possible to appropriately respond to an abnormality in the field, and to appropriately continue working travel.

Further, the detection unit inputs the image to a neural network machine-learned using deep learning to determine whether the abnormality in the field is the presence of a foreign object, the presence of weeds, or the presence of crops. It is preferable to determine if it is lodging.

With such a configuration, artificial intelligence can be used to more easily and accurately determine the type of abnormality. Further, by determining the type of abnormality, it is possible to take a more appropriate response (abnormal control) according to the type of abnormality, and to continue appropriate work traveling more reliably.

Further, when the detection unit determines that the abnormality in the field is the presence of the foreign object, the control unit preferably decelerates or stops the machine as the abnormality control.

When traveling in an area where foreign matter exists, the harvesting section or the machine body may be damaged or broken down, and harvesting may not be performed properly. By decelerating or stopping the machine when it detects (determines) the presence of a foreign object on the work travel path, it is possible to prevent the harvesting section or the machine from coming into contact with the foreign object, or continue the work until the foreign object is no longer present. By waiting without traveling, it is possible to avoid damage or failure of the harvesting section or the machine.

Further, the foreign object may be an obstacle buried between planted crops.

Obstacles buried between planted crops are difficult to find. By imaging the field from above, it is easy to check between the crops from above, so it becomes easy to find an obstacle buried between the crops.

Further, when the detection unit determines that the abnormality in the field is lodging of the crop, the control unit preferably decelerates the machine body as the abnormality control.

When the crops are lodged, if the work is run at the same speed, the crops will be cut in a state where the lodged crops are not sufficiently raised, and the cutting marks will be left when the crops are lodged and when they are not lodged. are not aligned. Therefore, when it is determined that the crops are lodged, by decelerating the machine body, the crops can be sufficiently pulled up, and the cut marks can be evened out.

Further, the machine body includes a threshing device for threshing the harvested crops, a conveying device for conveying the harvested crops from the harvesting unit to the threshing device, and a conveying device provided in the conveying device for conveying the harvested crops to the threshing device. and an adjustment unit that adjusts the depth of treatment of the crops to be treated, and when the detection unit determines that the abnormality in the field is the presence of the weeds, the control unit performs the abnormality control as the It is preferable to cause the adjustment unit to stop adjusting the treatment depth.

Self-threshing combines are generally designed to vary the depth of cut depending on the length of the harvested culms. Generally, when weeds that are longer than the crop are conveyed, the cutting depth is adjusted according to the length of the weeds, resulting in undercutting of the crop. As a result, an appropriate threshing process is not performed in the threshing device. Therefore, when it is determined that the abnormality is the presence of weeds, the control unit stops the adjustment of the cutting depth, which is adjusted by the length of the weeds. This maintains a controlled threshing depth adjusted to the length of the crop being harvested just before the presence of weeds is detected to maintain proper threshing. be.

Further, the aircraft may have a driving section in the front part of the aircraft body, and the imaging device may be provided on the front side of the driving section.

With such a configuration, by providing the imaging device in the driving section relatively close to the front end portion of the machine body and having high forward visibility, it becomes easy to capture an image from an early stage while looking down on the field, and the harvesting section. The range of the image picked up through the crop is more likely to include the vicinity of the harvesting portion, making it easier to detect an abnormality at an appropriate position and determine the type of abnormality.

A notification unit may be provided that issues an alarm when the ejection device moves away from the storage position during the automatic travel.

With such a configuration, it is possible to move the ejection device to an appropriate position, and work travel can be performed in a state in which an abnormality is appropriately detected.

It is a side view of a combine as an example of a harvester. It is a figure explaining the outline|summary of the automatic driving|running|working of a combine. It is a top view which illustrates the work driving|running|working in an agricultural field. It is a figure which illustrates a captured image. It is a block diagram which illustrates the functional structure which detects abnormality of a farm field.

In the following, as an example of the harvesting machine of the present invention, a normal combine harvester will be described. In this specification, unless otherwise specified, "front" (the direction of arrow F shown in FIG. 1) means the front in the front-rear direction (running direction) of the vehicle body, and "rear" (the direction of arrow B shown in FIG. 1). direction) means the rear in the longitudinal direction of the vehicle body (running direction). Further, the left-right direction or the lateral direction means a vehicle transverse direction (vehicle width direction) perpendicular to the vehicle longitudinal direction. "Up" (the direction of arrow U shown in FIG. 1) and "down" (the direction of arrow D shown in FIG. 1) are the positional relationship in the vertical direction (vertical direction) of the vehicle body, and the relationship at ground level. show.

〔overall structure〕
As shown in FIG. 1 , in this combine, a machine body 10 is supported by a crawler type travel device 11 . The machine body 10 includes an operation section 12 , a threshing device 13 , a grain tank 14 , a harvesting section H, a conveying device 16 , a discharge device 18 and a vehicle position detection module 80 .

The combine is configured to be self-propelled by the travel device 11 . The traveling device 11 is a steering traveling device composed of a pair of left and right crawler mechanisms, and is controlled by a traveling control unit 35 (see FIG. 5 described later). The crawler speed of the left crawler mechanism and the crawler speed of the right crawler mechanism can be adjusted independently, and the orientation of the machine body 10 in the traveling direction is changed by adjusting the speed difference. The driving unit 12 , the threshing device 13 , and the grain tank 14 are provided above the traveling device 11 and constitute the upper portion of the machine body 10 . The operation unit 12 can be boarded by a driver who operates the combine harvester and a supervisor who monitors the operation of the combine harvester. Usually, the driver and the supervisor serve concurrently. If the driver and the supervisor are different persons, the supervisor may monitor the operation of the combine from outside the combine.

A harvesting section H is provided at the front of the combine. The conveying device 16 is connected to the rear portion of the harvesting section H. As shown in FIG. The harvesting section H also has a cutting mechanism 15 and a reel 17 . The cutting mechanism 15 cuts planted grain culms (corresponding to crops) in the field. In addition, the reel 17 rakes in the planted culms to be harvested while being driven to rotate. With this configuration, the harvesting unit H harvests grains (a type of crop) in the field. The combine harvester can travel by the traveling device 11 while harvesting the grains in the field by the harvesting unit H.

All culms of harvested grain culms cut by the cutting mechanism 15 are conveyed to the threshing device 13 by the conveying device 16 . In the threshing device 13, harvested grain culms are threshed. Grains obtained by the threshing process are stored in the grain tank 14 . The grains stored in the grain tank 14 are discharged out of the machine by the discharging device 18 .

A discharge device 18 is connected to the lower rear portion of the grain tank 14 . The discharging device 18 comprises a vertical conveying section and a horizontal conveying section, one end of which is connected to the lower portion of the grain tank 14 . One end of the horizontal transport section is connected to the upper portion of the vertical transport section, and the discharge section 19 is provided at the other end. The grains stored in the grain tank 14 are discharged from the discharging portion 19 to a truck (not shown) or the like. The ejector 18 is displaceable between an ejected state (protruding mode) and a retracted state (stored mode). During work travel, the ejection device 18 is held in the storage position and stored in the upper region of the machine body 10 (stored state). Further, when the grain is discharged, the discharge device 18 is displaced to a mode (discharge state) in which the discharge portion 19 protrudes to the side of the machine body 10, and the grain is discharged. Also, the vehicle position detection module 80 is attached to the upper front portion of the driving section 12 .

A camera 21 (corresponding to an imaging device) is provided at the front or side of the discharge section 19 to capture an image of a front region where the machine body 10 travels for work. For example, by providing the camera 21 with a specification of an imaging range of 190° in the horizontal direction and 60° in the vertical direction, it is possible to sufficiently image the front of the machine body 10 in the field from above. The camera 21 may be provided in the ejection section 19 so as to face the front of the airframe 10 when the ejection device 18 is in the stowed state. not shown).

A communication terminal 2 is arranged in the operation unit 12 . In this embodiment, the communication terminal 2 is fixed to the operating section 12 . However, the present invention is not limited to this, and the communication terminal 2 may be configured to be detachable from the operating section 12 . Also, the communication terminal 2 may be taken out of the combine.

[Automatic driving]
As shown in FIG. 2, this combine automatically travels along a travel route set in a field. For this purpose, the own vehicle position is required. The vehicle position detection module 80 includes a satellite navigation module 81 and an inertial navigation module 82 . The satellite navigation module 81 receives GNSS (global navigation satellite system) signals (including GPS signals) from artificial satellites GS and outputs positioning data for calculating the position of the vehicle. The inertial navigation module 82 incorporates a gyroscopic accelerometer and a magnetic heading sensor, and outputs a position vector indicating the instantaneous direction of travel. The inertial navigation module 82 is used to complement the vehicle position calculation by the satellite navigation module 81 . Inertial navigation module 82 may be located at a different location than satellite navigation module 81 .

Work travel is performed in the unworked area SP with the circumference of the field formed by appropriately circling the field as a turning area. The area where the work travel has ended becomes the already-worked area SC.

[Field anomalies]
When there is an abnormality 6 in the field as shown in FIG. 3, it may not be possible to perform appropriate work if the vehicle travels through the area with the abnormality in the field. For example, as shown in FIG. 4, the abnormalities 6 in the field include the existence of foreign objects 7 (obstacles, people, animals, etc.), lodging 9 of planted grain culms 3, and the like. The foreign matter 7 is an obstacle or the like that is buried between the rows formed by arranging the planted grain culms 3 in a plurality of rows and that hinders the work travel.

As shown in FIGS. 3 and 4, when traveling in an area where foreign matter 7 exists, the harvesting section H and the machine body 10 come into contact with the foreign matter 7, and the harvesting section H and the machine body 10 are damaged or broken down, or the harvesting section H or the machine body 10 is not properly harvested. You may not be able to work. In addition, when the planted grain culm 3 is moved in the area where the lodging 9 of the planted grain culm 3 exists, the harvesting part H cannot sufficiently rake the planted grain culm 3 to raise it, compared to the case where the lodging 9 does not exist. The cutting trail becomes long, and the cutting trail becomes inconsistent depending on whether the lodging 9 is present or not.

[Photography of the field]
Next, a configuration for detecting an abnormality 6 in a field will be described with reference to FIGS. 2 to 4. FIG.

In order to detect the field abnormality 6 as described above and determine the type (content) of the field abnormality 6, the camera 21 takes an image of the field in front of the machine body 10. FIG. The imaging range of the camera 21 is the front of the machine body 10 or the harvesting section H, and is the range of looking down on the planted grain culms 3 from above. The captured image includes the tips of the planted culms 3 arranged in a plurality of rows and between rows. The width of the image is at least the width of the fuselage 10 or the harvesting station H and includes the area through which the harvesting station H passes during work travel. The length of the image ranges from the harvesting portion H to a predetermined distance (for example, 1 m) in front of the harvesting portion H at one end, and ranges from 5 m to 6 m in front of the harvesting portion H at the other end. In addition to the area through which the harvesting portion H passes, the image preferably includes a part of the unworked area SP on the lateral sides thereof.

〔Control device〕
The harvester of the present embodiment can perform at least one of detection of the field abnormality 6 and discrimination of the type of the field abnormality 6 , and can also perform abnormality control as a countermeasure according to the abnormality 6 . These detection, determination, and control are performed by the control device 25 shown in FIG. 5 mounted on the harvester.

As shown in FIG. 5 , the control device 25 includes a detection section 26 , a determination section 27 and a control section 29 . The control device 25 may be composed of hardware including a processor such as a CPU and an ECU, and may be distributed over a plurality of functional blocks. Also, part of the functions of the control device 25 can be realized by software. In this case, the software is stored in a storage unit (not shown) and executed by the controller 25 or another processor.

As shown in FIGS. 3 to 5, the detection unit 26 acquires an image captured by the camera 21 and performs image analysis to detect that an abnormality 6 exists in the field. The detection unit 26 transmits to the control unit 29 the result of detecting that the abnormality 6 exists in the field.

As described above, since the planted grain culm 3 is captured from above, even an obstacle buried between rows can be captured and detected easily. In particular, by providing the camera 21 in the discharge section 19 of the discharge device 18, the camera 21 is arranged in the upper part of the machine body 10 and in the front part of the machine body 10 near the harvesting section H. Therefore, the camera 21 can capture an image of the front region of the machine body 10 near the harvesting section H from an angle near the top. As a result, the camera 21 can more easily capture an image of an obstacle or the like buried between the rows.

The detection unit 26 can detect the presence or absence of the abnormality 6, but it is difficult to determine the type of the abnormality 6. FIG. Therefore, the determination unit 27 acquires the image captured by the camera 21 and determines the type of the abnormality 6 . For example, the determination unit 27 inputs the acquired image to the neural network 30 and causes the neural network 30 to determine the type of the abnormality 6 . The determination unit 27 includes a communication unit 28, which transmits an image to the neural network 30 via a network or the like by the communication unit 28, and receives the determination result. The neural network 30 is subjected to machine learning by inputting predetermined teacher data, and determines the type of the abnormality 6 from the input image based on the learned data generated by machine learning. Machine learning can be performed, for example, by deep learning. The determination unit 27 transmits the determination result of the type of abnormality 6 in the field to the control unit 29 . In addition, the neural network 30 may be provided on the network, or may be provided in the control device 25 .

The control device 25 can be configured to perform abnormality time control, which is control corresponding to the abnormality 6, as a countermeasure according to the determination result of the type of the abnormality 6. FIG. In this case, the control unit 29 performs control in an abnormal state. For example, when the determination unit 27 determines the type of the abnormality 6 at a position 1.5 m or more and 6 m or less forward of the aircraft 10 , the control unit 29 can control various actions including stopping the aircraft 10 .

When the type of the abnormality 6 determined by the determination unit 27 is the presence of the foreign object 7 , the control unit 29 controls the traveling control unit 35 to stop or decelerate the machine body 10 via the travel device 11 . By stopping the machine body 10, the contact of the harvesting part H and the machine body 10 with the foreign matter 7 can be avoided, and damage or failure of the harvesting part H or the machine body 10 can be avoided. In particular, the camera 21 is provided at a high position in the area on the front side of the machine body 10 above the harvesting section H, so that the field in front of the work traveling can be seen from the front side of the harvesting section H or above the area close to the harvesting section H. By using an image captured in a state in which the space between the rows is easily visible, even the foreign matter 7 buried between the rows can be easily found. By decelerating the machine body 10, it becomes easier to switch to manual traveling and carry out traveling to avoid the foreign object 7, and a grace period is given until the foreign object 7 does not exist until the machine body 10 reaches the foreign object 7.例文帳に追加sometimes it is possible.

When the type of abnormality 6 determined by the determination unit 27 is lodging 9 of the planted culms 3, the control unit 29 controls the travel control unit 35 to stop or decelerate the machine body 10 via the travel device 11. Let When the planting grain culm 3 is lodged, if the work travel is carried out at the same speed, the planting grain culm 3 will be harvested in a state in which the lodged planting grain culm 3 is not sufficiently raised. The cut marks are not uniform depending on whether the culms 3 are lodged or not. Therefore, when the planted grain culms 3 are lodged, it is necessary to slow down the running speed in order to sufficiently raise the planted grain culms 3 . When the planted grain culms 3 are lodged 9, the control unit 29 decelerates the machine body 10, so that the planted grain culms 3 can be sufficiently raised, and the cut marks can be evened out. Similarly, by stopping the machine body 10, it is possible to control the machine so that it travels at an appropriate speed afterward, thereby aligning the cut.

In this way, by providing the camera 21 on the front side of the machine body 10 at a position as high as possible, at least higher than the harvesting section H, the planted grain culms 3 can be viewed from above, as close to the top as possible, so that the work can be carried out. By capturing an image of the area where the grain is covered, the abnormality 6 in the field can be detected with high accuracy. Further, the camera 21 is provided at a position in front of the harvesting section H, directly above the harvesting section H, or at a position closer to the harvesting section H as close to the harvesting section H as possible than the harvesting section H, even if it is behind the harvesting section H, so that the camera 21 can Since the image in front of the harvesting part H is captured without being obstructed by H, the field can be captured from a position closer to the top, and the abnormality 6 in the field can be detected with high accuracy. In addition, since the field is imaged so as to look down on the planted grain culm 3 from above, the abnormality 6 buried between rows can be easily detected.

Furthermore, by determining the type of the abnormality 6 in the field, the abnormality control, which is an appropriate countermeasure according to the type of the abnormality 6, is performed, so that the work traveling can be continued appropriately.

[Another embodiment]
(1) The position where the camera 21 is provided is not limited to the ejection device 18, and may be the front region of the aircraft body 10. FIG. In this case, it is preferable that it is provided on the front side of the operating section 12 . In other words, the camera 21 should be provided at a position sufficiently higher than the harvesting section H, as far forward as possible in the machine body 10, and at a position where the unworked area SP in front of the harvesting section H in the work traveling direction can be imaged from above. For example, a stay may be projected forward from the body 10 and the camera 21 may be provided on the stay. As a result, the field can be imaged as if looking down from above, and the abnormality 6 can be easily found. In addition, the camera 21 may be of a movable type, and may be configured so as to be able to change the imaging range according to the work situation and the field situation.

(2) When a discharge camera (not shown) is provided for checking the discharge state when the grains are discharged from the discharge device 18, the camera 21 may be a discharge camera (not shown). may be diverted. In this case, the imaging range of the camera 21 (discharging camera) is changed so as to image the periphery of the discharging section 19 when discharging grains, and to image the unworked area SP in front of the harvesting section H when traveling for work. be done.

(3) Field anomalies 6 can include the presence of weeds 8 . Here, in a self-throwing combine, generally, the conveying device 16 is provided with a sensor (not shown) for detecting the length of harvested harvested grain culms. Further, the conveying device 16 is provided with an adjustment unit 36 for adjusting the threshing depth when the harvested culms are threshed in the threshing device 13 according to the detected length of the harvested culms. By providing the adjustment unit 36, the threshing device 13 can perform appropriate threshing processing in consideration of the length of the reaping grain culms.

When such a self-threshing combine harvester travels in an area where weeds 8 longer than the planted grain culm 3 exist, the adjustment unit 36 of the conveying device 16 adjusts the cutting depth according to the length of the weeds 8. to adjust. As a result, the planted culms 3 to be threshed may be shallowly treated, and threshing may not be performed appropriately.

Therefore, in the harvester according to the present embodiment, when the type of abnormality 6 determined by the determination unit 27 is the presence of weeds 8, the control unit 29 controls the adjustment unit 36 to adjust the cutting depth. don't do it. The threshing depth is adjusted according to the length of planted culms 3 to be conveyed. When weeds 8 are transported, the depth of treatment is adjusted according to the length of the weeds 8 . As a result, the planted culms 3 to be threshed become shallowly threshed, and the threshing device 13 fails to perform an appropriate threshing process. Therefore, when it is determined that the abnormality 6 is the presence of the weeds 8, the control unit 29 stops the adjustment of the treating depth, and when the weeds 8 do not exist, the planted grain culm 3 Control to maintain the adjusted depth of treatment. This maintains the state in which the threshing process is appropriately performed.

(4) The determination unit 27 may determine whether a person or an animal including a person is identified as the foreign object 7 . In this case, when the determination unit 27 determines that a person or an animal exists in the traveling direction of the aircraft 10 , the control unit 29 causes the notification unit 37 to issue an alarm, and then stops the aircraft 10 . If a person or animal exists at a certain distance, the person or animal may be evacuated by an alarm. If a person or animal remains in the direction of travel even after the alarm is issued, if the distance between the aircraft 10 and the person or animal approaches within a predetermined distance, or if a predetermined time has passed since the alarm was issued, etc. Then, the controller 29 stops the machine body 10 . Note that the control unit 29 may immediately stop the aircraft 10 when the existence of a person is determined. As described above, contact between the body 10 and a person or an animal can be avoided.

(5) The determination unit 27 may determine the presence of a water inlet as the foreign matter 7. The water inlet is a water intake that draws water into the field. The water mouth is often buried in the planted grain culms 3 and is difficult to find with a normal sensor. Since the camera 21 in each of the above-described embodiments takes an image of the farm field from above, it is easy to find the water outlet buried in the planted grain culms 3 . When the determination unit 27 determines the presence of a water inlet, the control unit 29 can cause the notification unit 37 to generate an alarm, control the travel control unit 35 to stop the aircraft 10, or bypass the water inlet. can. Since the water outlet is provided in the outer peripheral area of the field, the operator often travels around the water outlet, especially when mowing the periphery of the field. Therefore, when the foreign matter 7 is a water inlet, it is preferable that the abnormal time control is performed not only during automatic driving but also during manual driving. When the determination unit 27 determines the presence of a water inlet during manual travel, the control unit 29 causes the notification unit 37 to issue an alarm, and the worker confirms the water inlet and manually travels around the water outlet to resume work travel. conduct. As described above, it is possible to appropriately travel for work even when there is a water inlet.

(6) In each of the above embodiments, the control device 25 includes the detection unit 26 and the determination unit 27. However, the presence of the abnormality 6 can be detected by determining the type of the abnormality 6 using the determination unit 27. Therefore, the detection unit 26 may not necessarily be provided. Further, when the control device 25 includes both the detection unit 26 and the determination unit 27, the detection of the abnormality 6 by the detection unit 26 may be used as a trigger to determine the type of the abnormality 6 detected by the determination unit 27. good. If it is not necessary to determine the type of the abnormality 6, the control device 25 can be configured to include at least the detection section 26. FIG. Furthermore, the detection unit 26 and the determination unit 27 are not provided separately, the detection unit 26 is provided with the communication unit 28, and the detection unit 26 determines the type of the abnormality 6. Also good.

(7) In each of the above embodiments, the vehicle position detection module 80 is a combination of the satellite navigation module 81 and the inertial navigation module 82, but the satellite navigation module 81 alone may also be used. Alternatively, a method of calculating the position of the vehicle and the orientation of the vehicle based on an image captured by a camera may be employed.

It should be noted that the configurations disclosed in the above-described embodiments (including other embodiments, the same shall apply hereinafter) can be applied in combination with configurations disclosed in other embodiments as long as there is no contradiction. The embodiments disclosed in this specification are examples, and the embodiments of the present invention are not limited thereto, and can be modified as appropriate without departing from the scope of the present invention.

The present invention can be applied not only to a common combine harvester but also to a self-threshing combine harvester. The invention is also applicable to various harvesters such as corn harvesters, potato harvesters, carrot harvesters, sugarcane harvesters, and the like.

3 planted culms (crops)
6 abnormality 7 foreign object 8 weed 9 lodging 10 machine body 11 traveling device 12 driving unit 13 threshing device 14 grain tank 16 conveying device 17 reel 18 discharging device 19 discharging unit 21 camera (imaging device)
25 control device 26 detection unit 27 determination unit 29 control unit 30 neural network 36 adjustment unit 37 notification unit H harvest unit SP unworked area

Claims (9)

A harvesting machine that performs work traveling for harvesting crops in a field while automatically traveling,
a travel device for performing work travel;
a machine body supported by the traveling device;
a harvesting unit that is supported by the front part of the machine body and harvests crops in the field;
a threshing device for threshing the harvested crop;
a conveying device that conveys harvested crops from the harvesting unit to the threshing device;
a grain tank for storing threshed crops;
A vertical conveying portion connected to the lower portion of the grain tank, and a horizontal conveying portion connected to the upper end portion of the vertical conveying portion, from the discharge portion provided at the tip portion of the horizontal conveying portion a discharging device capable of discharging the crops stored in the grain tank;
an imaging device provided in the front part of the machine body and at a position higher than the harvesting part so as to look down on the crops in the unworked area in front of the harvesting part;
A detection unit that detects an abnormality in the agricultural field from the image captured by the imaging device ,
The imaging device is provided in the horizontal transport section ,
The discharge device is displaceable between a mode in which it is stored in a storage position and a mode in which the discharge part projects from the machine body, which is a mode when discharging the stored crops,
A harvester in which the automatic travel is performed only when the discharging device is housed in the housing position . The harvesting machine according to claim 1, comprising a control unit that performs an abnormality time control that is a control corresponding to the detected abnormality in the field. The detection unit inputs the image to a neural network machine-learned using deep learning to determine whether the abnormality in the field is the presence of a foreign object, the presence of weeds, or the lodging of crops. 3. The harvester according to claim 2, which determines whether there is 4. The harvesting machine according to claim 3, wherein, when the detection unit determines that the abnormality in the farm field is the presence of the foreign object, the control unit decelerates or stops the machine body as the abnormality control. 5. The harvester according to claim 4, wherein said foreign matter is an obstacle buried between planted crops. 6. The harvesting apparatus according to any one of claims 3 to 5, wherein, when the detection unit determines that the abnormality in the field is lodging of the crop, the control unit decelerates the machine body as the abnormality control. machine. The machine body has an adjustment unit provided in the conveying device for adjusting the threshing depth of the crops conveyed to the threshing device,
7. When the detection unit determines that the abnormality in the field is the presence of the weeds, the control unit causes the adjustment unit to stop adjusting the cutting depth as the abnormality control. A harvester according to any one of the preceding paragraphs. The airframe has an operating section at the front of the airframe,
The harvester according to any one of claims 1 to 7, wherein the imaging device is provided on the front side of the driving unit. The harvester according to any one of claims 1 to 8, further comprising a notification unit that issues an alarm when the discharge device moves away from the storage position during the automatic travel.

Images