JP7336081B2 - Grain culm reaping work method - Google Patents

Description

TECHNICAL FIELD The present invention relates to a method for harvesting grain culms by automatically running a combine harvester along grain culm rows of cereal culms planted in a field.

In a conventional method of harvesting grain culms, a first reference point is provided on a row of grain culms planted in a field, and a second reference point is set at a predetermined distance from the first reference point on the row of grain culms. A technique is known in which a point is provided and the combine automatically travels along a linear reference path passing through a first reference point and a second reference point. (Patent document 1)

Further, in the conventional culm reaping work method, when the traveling position of the combine is separated from the reference path by a predetermined dimension or more, or when the traveling direction of the combine is separated from the extension direction of the reference path by a predetermined angle or more, , techniques for resetting the reference path are known. (Patent document 2)

JP 2020-99224 A JP 2020-103094 A

However, in the culm reaping work methods of Patent Documents 1 and 2, when resetting the reference path, the first reference point and the second reference point are newly provided on the grain culm rows. In addition, there was a problem that the traveling direction of the combine was greatly changed and the automatic operation of the combine became unstable.

SUMMARY OF THE INVENTION Accordingly, it is an object of the present invention to provide a grain culm reaping work method capable of reducing the work load on the operator and enhancing the stability of automatic operation of a combine harvester.

The present invention, which has solved the above problems, is as follows.
That is, the invention according to claim 1 is provided with a traveling device (2) for traveling in a farm field on the lower side of the body frame (1), and a harvesting device (3) for harvesting culms on the front side of the body frame (1). A harvesting method for harvesting grain culms in a field using a combine having a control section (5) on which a worker rides behind the harvesting device (3), comprising:
The combine controller (30) controls a first reference point (42) along the row of culms and a second reference point (43) at a predetermined distance from the first reference point (42) in the direction of advance of the combine. ) is provided,
The controller (30) automatically travels the combine along a reference path (41) extending linearly through the first reference point (42) and the second reference point (43),
The controller (30) controls the operating angle of the operation lever (12) for operating the traveling device (2) of the operating section (5) to turn in the left-right direction at a predetermined angle or less, and the second turning of the operating section (5). When the reference point setting switch (11B) is operated for input, a new reference route (41) is set based on the first reference point (42) and the new second reference point (43), and the operation is performed. In the grain culm reaping work method, the automatic travel of the combine is stopped when the operating angle of the operating lever (12) of the part (5) exceeds a predetermined angle.

According to the second aspect of the invention, the controller (30) stops the automatic travel of the combine when the traveling device (2) has been stopped for a predetermined time or longer. It is a reaping work method.

According to the first aspect of the invention, the controller (30) of the combine has a first reference point (42) along the row of grain culms and a predetermined A second reference point (43) is provided at a distance, and the controller (30) directs a reference path (41) extending linearly through the first reference point (42) and the second reference point (43). The controller (30) controls the operating angle of the operating lever (12) for operating the left-right turning of the traveling device (2) of the operating section (5) at a predetermined angle or less, and the above-mentioned When the second reference point setting switch (11B) of the control section (5) is operated for input, a new reference route ( 41) is set, and when the operation angle of the operation lever (12) of the control unit (5) exceeds a predetermined angle, the automatic running of the combine harvester is stopped, so that the work load on the operator is reduced, The automatic running of the combine can be stably performed by the automatic steering of the controller (30).

According to the invention of claim 2, in addition to the effect of the invention of claim 1, the controller (30) can automatically run the combine when the running stop of the running device (2) continues for a predetermined time or longer. Therefore, when there is an obstacle such as a fallen tree on the reference route (41), the automatic control by the controller (30) can be quickly switched to the control by the operator.

It is a left view of a combine. It is a top view of a combine. 4 is a connection diagram of the positioning unit; FIG. 4 is a connection diagram of the controller; FIG. FIG. 4 is an explanatory diagram of a reference route and a set route that is set based on the reference route; FIG. 4 is an explanatory diagram of a method of setting a reference route; It is an explanatory diagram of the automatic travel of the combine, (a) is the reference route and the row of grain culms, (b) is the automatic travel state of the combine, (c) is the stop state of the automatic travel of the combine, and (d) is the reference route. reset state. It is explanatory drawing of the automatic driving|running|working of the combine at the time of top-cutting work, (a) has shown the time of the advance of a combine, (b) has shown the time of the backward movement of a combine. FIG. 4 is an explanatory diagram of a reference contour and a set path set inside the reference contour;

As shown in FIGS. 1 and 2, the combine is provided with a traveling device 2 consisting of a pair of left and right crawlers for traveling on the soil surface under the body frame 1, and in front of the body frame 1 to reap grain stalks in a field. A harvesting device 3 is provided, a threshing device 4 for threshing and sorting harvested culms is provided on the rear left side of the harvesting device 3, and a control unit 5 on which a worker rides is provided on the rear right side of the harvesting device 3. ing.

An engine room 6 in which an engine E is mounted is provided below the control unit 5, and a grain tank 7 for storing threshed and sorted grains is provided behind the control unit 5. A discharge auger 8 consisting of a vertically extending grain raising part for discharging grains to the outside and a lateral discharge extending in the front-rear direction is provided on the rear side.

A monitor 11 for displaying the traveling speed of the traveling device 2 and the like is provided in the central portion of the front panel on the front side of the seat of the control unit 5. On the right side of the monitor 11, the traveling device 2 can be turned in the left-right direction and the harvesting device can be operated. Between the monitor 11 and the operating lever 12, the traveling device 2 is automatically caused to travel on a linear reference route 41 or a set route 45, which will be described later. A linear assist switch 13 is provided. Further, the operating state of the operating lever 12 is measured by an angle sensor 12A such as a potentiometer provided at the base of the operating lever 12. As shown in FIG.

A gear change lever 15 for increasing or decreasing the traveling speed of the traveling device 2 is provided on the front portion of the side panel on the left side of the seat of the operating section 5 . Further, the operating state of the shift lever 15 is measured by an angle sensor 15A such as a potentiometer provided at the base of the shift lever 14. As shown in FIG.

As shown in FIG. 3, the RTK-GPS positioning system positioning unit 20 comprises a positioning satellite 21, a base station 22 provided at a known position, and a mobile station 26 provided in a combine. As a result, the position of the mobile station 26, that is, the position of the combine can be accurately obtained from the position information transmitted from the positioning satellite 21 to the mobile station 26 and the correction position information transmitted from the base station 22 to the mobile station 26. be able to.

The base station 22 comprises a fixed communication device 23, a fixed GPS antenna 24 for receiving position information from the positioning satellites 21, and a fixed data transmission antenna 25 for transmitting correction position information to the mobile station 26. ing.

The mobile station 26 comprises a mobile communication device 27, a mobile GPS antenna 28 for receiving position information from the positioning satellites 21, and a mobile data transmission antenna 29 for receiving correction position information from the base station 22. It is

As shown in FIG. 4, the combine controller 30 includes a processing unit 31 including a CPU, a storage unit 32 including a ROM, a RAM, a hard disk drive, a flash memory, etc., and a communication unit 33 for data communication with the outside. formed.

The processing unit 31 sets a linear reference route 41 connecting the first reference point 42 and the second reference point 43 based on the positions of the first reference point 42 and the second reference point 43, which will be described later. 2, the running state, etc. are determined.

The storage unit 32 stores the positions of the first reference point 42 and the second reference point 43 calculated by the processing unit 31 .

On the input side of the controller 30, there are a culm sensor 3A for detecting the presence or absence of culms in the harvesting device 3, a height sensor 3B for detecting the working posture and the retracted posture of the harvesting device 3, and a first reference point 42. A first reference point setting switch 11A for setting, a second reference point setting switch 11B for setting the second reference point 43, a third reference point setting switch 11C for setting the third reference point 44, and an operation lever. The angle sensor 12A that measures the amount of operation of 12, the linear assist switch 13 that automatically runs the combine along the reference path 41, and the operation position of the shift lever 15 that increases/decreases the running speed and stops the running device 2 is measured. a mobile GPS antenna 28 for receiving combine position information from a positioning satellite 21; and a mobile data transmission antenna 29 for receiving combine correcting position information from a base station 22. They are connected via an interface circuit.

The output side of the controller 30 is connected via a predetermined output interface circuit to an autopilot switch 35 for automatically driving the combine along the reference path 41 .

FIG. 5 shows a reference path 41 extending in the horizontal direction set in the upper part of the field 40, and a set path 45 set in parallel with the reference path 41 with a predetermined gap in the vertical direction from the reference path 41. is illustrated. In addition, the code|symbol 40A has shown the carrying-in place, such as a combine.

The reference path 41 is a straight line that passes through a first reference point 42 provided on the left side of a carrying-in place 40A for a combine harvester or the like in a farm field 40 and a second reference point 43 located on the left side of the first reference point 42 in the traveling direction. set to extend in the direction The distance between the first reference point 42 and the second reference point 43 is preferably about 5m.

As for the position of the first reference point 42, when the operator operates the first reference point setting switch 11A displayed on the touch panel of the monitor 11, the processing unit 31 of the controller 30 detects the positioning transmitted at the time of the input operation. Based on the position information of the combine transmitted from the satellite 21 and the base station 22, it is calculated by the processing unit 31 of the controller 30 and stored in the storage unit 32. FIG. Instead of the first reference point setting switch 11A, a culm sensor 3A for detecting the presence or absence of a culm provided in the triggering device of the reaping device 3 and a height sensor 3B for detecting the up-and-down state of the reaping device 3 are provided. can be used. That is, in place of the input operation of the first reference point setting switch 11A, the culm sensor 3A detects the culm and is turned ON, and the height sensor 3B detects the lowered state of the harvesting device 3 and is turned ON. can be used.

As for the position of the second reference point 43, when the operator performs an input operation on the second reference point setting switch 11B displayed on the touch panel of the monitor 11, the processing unit 31 of the controller 30 detects the positioning transmitted at the time of the input operation. Based on the position information of the combine transmitted from the satellite 21 and the base station 22, it is calculated by the processing unit 31 of the controller 30 and stored in the storage unit 32. FIG. Instead of the second reference point setting switch 11B, a culm sensor 3A for detecting the presence or absence of a culm provided in the triggering device of the reaping device 3 and a height sensor 3B for detecting the up-and-down state of the reaping device 3 are provided. can be used. That is, in place of the input operation of the second reference point setting switch 11B, the culm sensor 3A detects the culm and is turned ON, or the height sensor 3B is turned ON when the reaping device 3 is lowered. can be used.

The reference path 41 is a portion positioned between the first reference point 42 and the third reference point 44 on a straight line extending in the horizontal direction passing through the first reference point 42 and the second reference point 43 .

As for the position of the third reference point 44, when the operator operates the third reference point setting switch 11C displayed on the touch panel of the monitor 11, the processing unit 31 of the controller 30 detects the positioning transmitted at the time of the input operation. It is calculated by the processing unit 31 of the controller 30 based on the position information of the combine transmitted from the satellite 21 and the base station 22 and stored in the storage unit 32 .

On the route between the first reference point 42 and the second reference point 43 on the reference route 41, the operator controls the combine harvester to travel. On the route between the second reference point 43 and the third reference point 44 on the reference route 41 , when the operator operates the linear assist switch 13 , the processing unit 31 automatically steers the combine harvester to automatically move on the reference route 41 . let it run. As a result, it is possible to suppress the meandering travel of the combine and prevent the culms planted on adjacent rows from being knocked down by the meandering travel of the combine. Instead of the linear assist switch 13, a culm sensor 3A for detecting the presence or absence of a culm provided in the triggering device of the reaping device 3 or a height sensor 3B for detecting the up-and-down state of the reaping device 3 may be used. can be done. That is, in place of the input operation of the linear assist switch 13, the culm sensor 3A detects the culm and is turned ON, or the height sensor 3B detects the lowered state of the harvesting device 3 and is turned ON. state can be used.

The operator operates the operating lever 12 to rotate the combine harvester toward the lower right side to separate the combine harvester from the third reference point 44 of the reference path 41, and then set the combine harvester to the lower side of the reference path 41. Move to the left end of the set path 45 . As a result, the input of the linear assist switch 13 is released, and the automatic control of the processing unit 31 is switched to the operator's control.

After moving the combine harvester to the left end of the set route 45 , the operator operates the linear assist switch 13 to perform an input operation. As a result, it is possible to suppress the meandering travel of the combine and prevent the culms planted on adjacent rows from being knocked down by the meandering travel of the combine. The set path 45 is set parallel to the reference path 41, and the path length of the set path 45 is the same as the path length of the reference path 41, that is, the length from the first reference point 42 to the third reference point 44. is set to

<How to set the reference route>
As shown in FIG. 6, in step S1, the processing section 31 of the controller 30 determines whether or not the first reference point setting switch 11A has been operated. If it is determined that the input operation of the first reference point setting switch 11A has been performed, the process proceeds to step S2, and if it is determined that the input operation of the first reference point setting switch 11A has not been performed, the step S1 is repeated. Note that the combine is running under the control of the operator before the processing unit 31 starts processing.

In step S2, the processing unit 31 calculates the position of the first reference point 42 based on the combine position information transmitted from the positioning satellite 21 and the combine position information transmitted from the base station 22, The position of the first reference point 42 is stored in the storage unit 32, and the process proceeds to step S3. The position information of the combine transmitted from the positioning satellite 21 is input to the controller 30 via the GPS antenna 28 for movement, and the position information of the combine transmitted from the base station 22 is transmitted to the data transmission antenna 29 for movement. is input to the controller 30 via

In step S3, the processing unit 31 determines whether or not the second reference point setting switch 11B has been operated. If it is determined that the input operation of the second reference point setting switch 11B has been performed, the process proceeds to step S4, and if it is determined that the second reference point setting switch 11B has not been input operation, the step S3 is repeated.

In step S4, the processing unit 31 calculates the position of the second reference point 43 based on the combine position information transmitted from the positioning satellite 21 and the combine position information transmitted from the base station 22, The position of the second reference point 43 is stored in the storage unit 32, and the process proceeds to step S5.

In step S5, the processing unit 31 determines whether or not the linear assist switch 13 has been operated. If it is determined that the linear assist switch 13 has been input operated, the process proceeds to step S6, and if it is determined that the linear assist switch 13 has not been input operated, step S5 is repeated.

In step S6, as shown in FIG. 7A, the processing unit 31 reads out the positions of the first reference point 42 and the second reference point 43 stored in the storage unit 32, and Based on the position of the second reference point 43, a linear reference path 41 connecting the first reference point 42 and the second reference point 43 is set, and the process proceeds to step S7.

In step S7, the processing unit 31 performs an input operation on the autopilot switch 35 to start automatic traveling by the autopilot of the processing unit 31, and proceeds to step S8.

In the case of automatic traveling by automatic steering of the processing unit 31, the processing unit 31 operates the traveling direction of the traveling device 2, and the operator operates the shift lever 15 to increase or decrease the traveling speed of the traveling device 2 or stop traveling. operation. As a result, the burden of the operator's driving work can be reduced. In addition, as shown in FIG. 7( b ), the operator can operate the operation lever 12 to bring the automatically traveling combine harvester on the reference path 41 closer to the row of culms 46 . Reference numeral 47 indicates an actual travel route along which the operator operates the operation lever 12 to travel the combine.

In step S8, the processing unit 31 determines whether or not the traveling device 2 is traveling. If it is determined that the traveling device 2 is running, the process proceeds to step S9, and if it is determined that the traveling device 2 is stopped, the process proceeds to step S10. In this embodiment, the determination as to whether or not the traveling device 2 is traveling is made based on the measurement value of the angle sensor 15A, and the measurement value of the angle sensor 15A indicates the forward inclined posture of the shift lever 15. If so, it is determined that the vehicle is running, and if the measurement value of the angle sensor 15A indicates that the shift lever 15 is in the neutral inclined position, it is determined that the vehicle is stopped. A speed sensor for measuring the traveling speed of the traveling device 2 provided in the traveling device 2 may be used instead of the measured value of the angle sensor 15A.

In step S9, the processing unit 31 determines whether or not the operation amount of the operation lever 12 operated by the operator is within a predetermined range. If the operation amount of the operation lever 12 operated by the operator is within the predetermined range, the process proceeds to step S11, and if the operation amount of the operation lever 12 operated by the operator exceeds the predetermined range, the process proceeds to step S13. move on. As a result, as shown in FIG. 7B, when the reference route 41 along which the combine automatically travels does not match the grain culm row 46, that is, when the reference route 41 and the grain culm row 46 are not parallel, the reference route 41 and the grain culm row 46 are parallel to each other or separated by a predetermined distance, the operation lever 12 is operated to bring the combine closer to the grain culm row 46, thereby suppressing the generation of uncut grain culms. . Further, as shown in FIG. 7(c), when the reference route 41 along which the combine automatically travels does not largely match the grain culm row 46, the automatic travel of the combine is stopped and the automatic travel becomes unstable. Meandering running can be prevented.

In step S10, the processing unit 31 determines whether or not the running stop time of the running device 2 is within a predetermined time. When it is determined that the running stop time of the running device 2 is within the predetermined time, the process returns to step S6, and when it is determined that the running stop time of the running device 2 is longer than the predetermined time, the process proceeds to step S13.

In step S11, the processing unit 31 determines whether or not the second reference point setting switch 11B is being operated. If it is determined that the second reference point setting switch 11B has not been input-operated, the process proceeds to step S12, and if it is determined that the second reference point setting switch 11B has been input-operated, the process proceeds to step S14. As a result, when the operator determines that the reference route 41 on which the combine automatically travels does not largely match the grain culm rows 46, the second reference point 43 is newly calculated, and the first reference point 42 is newly calculated. By setting a new linear reference path 41 connecting the second reference points 43, the generation of uncut culms can be suppressed.

In step S12, the processing unit 31 determines whether or not the third reference point setting switch 11C has been operated. If it is determined that the third reference point setting switch 11C has been input operated, the process proceeds to step S13, and if it is determined that the third reference point setting switch 11C has not been input operated, step S11 is repeated.

In step S<b>13 , the processing unit 31 performs an operation to release the input of the autopilot switch 35 , and the processing unit 31 stops automatic traveling by the autopilot of the processing unit 31 . As a result, the combine can be turned and moved by traveling under the control of the operator.

In step S14, the processing unit 31 cancels the setting of the reference route 41 and proceeds to step S15.

In step S15, the processing unit 31 calculates the position of the second reference point 43 based on the position information of the combine transmitted from the positioning satellite 21 and the position information of the combine transmitted from the base station 22. The position of the second reference point 43 is stored in the storage unit 32, and the process proceeds to step S5. As a result, as shown in FIG. 7(d), the newly set reference path 41 can be set at the proximal portion of the grain culm row 46 to further suppress the generation of uncut culms.

<Additional mowing>
As shown in FIG. 8(a), in the additional harvesting work, a reference path 41 is set for automatically traveling the combine from the root side of the fallen culms toward the tip side. Next, as shown in FIG. 8(b), a reference path 41A is set for automatically traveling rearward along the reference path 41 after the combine has reached the third reference point 44. Next, as shown in FIG. As a result, the stalks that have fallen violently can be raised by the lifting device of the harvesting device 3 and harvested efficiently.

It is preferable to set the distance L2 of the reference route 41A along which the combine automatically travels rearward shorter than the distance L1 of the reference route 41 along which the combine automatically travels forward. As a result, when the combine is automatically driven rearward, it is possible to prevent the combine from colliding with the ridge on the outer periphery of the field.

<Reaper cutting work>
The operator moves the combine counterclockwise along the outer periphery of the field to cut the stalks planted on the outer periphery of the field while securing a turning area such as an α-turn of the combine to achieve the standard outer shape. 50 settings. As a result, it is possible to prevent the automatically traveling combine from colliding with a ridge or the like on the outer periphery of the field.

As shown in FIG. 9, the reference contour 50 includes a reference path 51 extending horizontally above the field, a reference path 52 extending vertically to the left of the field, and a path extending horizontally below the field. It is formed of an extending reference path 53 and a reference path 54 extending vertically on the right side of the field.

The processing unit 31 of the controller 30 receives an ON signal when the culm sensor 3A provided in the reaper 3 detects the culm and the height sensor 3B provided in the reaper 3 detects the working posture when the reaper 3 descends. is input, the combined position information transmitted from the positioning satellite 21 via the GPS antenna 28 for movement and the position information transmitted from the base station 22 via the data transmission antenna 29 for movement are input. The positional information of the starting points 51A to 54A is calculated based on the positional information of the incoming combine, and the positional information of the starting points 51A to 54A is stored in the storage unit 32. Accordingly, when the ON signal of the culm sensor 3A and the ON signal of the height sensor 3B are input, the position information of the starting points 51A to 54A is automatically calculated, so that the work load on the operator can be reduced. .

Next, the processing unit 31 outputs an OFF signal indicating that the culm sensor 3A provided in the harvesting device 3 does not detect the culm, and an OFF signal indicating that the height sensor 3B provided in the harvesting device 3 is in the standby position when the harvesting device 3 is raised. is detected and an OFF signal is input, the position information of the combine transmitted from the positioning satellite 21 via the mobile GPS antenna 28 and the position information of the combine transmitted from the base station 22 via the mobile data transmission antenna 29 The position information of the end points 51B to 54B is calculated based on the position information of the incoming combine, and the position information of the end points 51B to 54B is stored in the storage unit 32 . Thus, when the OFF signal of the culm sensor 3A and the OFF signal of the height sensor 3B are input, the position information of the end points 51B to 54B is automatically calculated, so that the work load on the operator can be reduced. .

After reading the position information of the start points 51A to 54A and the position information of the end points 51B to 54B from the storage unit 32, the processing unit 31 sets the reference route 51 based on the position information of the start point 51A and the end point 51B, A reference route 52 is set based on the position information of the end point 52B, a reference route 53 is set based on the position information of the start point 53A and the end point 53B, and a reference route 54 is set based on the position information of the start point 54A and the end point 54B. .

The processing unit 31 calculates an intersection point of the reference paths 54 and 51 to be a corner point P1, calculates an intersection point of the reference paths 51 and 52 to be a corner point P2, and calculates an intersection point of the reference paths 52 and 53 to be a corner point P2. is calculated as a corner point P3, and the intersection of the reference path 53 and the reference path 54 is calculated as a corner point P4.

Next, the processing unit 31 divides the reference outline 50 into a portion between the corner points P1 and P2 on the reference path 51, a portion between the corner points P2 and P3 on the reference path 52, and a reference path 53. and a portion between the corner points P4 and P1 on the reference path 54 .

The processing unit 31 sets a counterclockwise set route 55 on which the processing unit 31 automatically steers to automatically travel the combine harvester inside the reference outline 50 separated by the cutting width of the reaping device 3 . This makes it possible to easily set the set path 55 inside the reference outline 50 .

1 Body frame 2 Traveling device 3 Reaping device 5 Operating unit 11B Second reference point setting switch 12 Operating lever 30 Controller 41 Reference path 42 First reference point 43 Second reference point

Claims (2)

A traveling device (2) that travels in the field under the body frame (1), a harvesting device (3) that harvests grain culms on the front side of the body frame (1), and a harvesting device (3) behind the harvesting device (3). A grain culm reaping work method for reaping grain culms in a field using a combine having a control section (5) on which a worker rides, comprising:
The combine controller (30) controls a first reference point (42) along the row of culms and a second reference point (43) at a predetermined distance from the first reference point (42) in the direction of advance of the combine. ) is provided,
The controller (30) automatically travels the combine along a reference path (41) extending linearly through the first reference point (42) and the second reference point (43),
The controller (30) controls the operating angle of the operation lever (12) for operating the traveling device (2) of the operating section (5) to turn in the left-right direction at a predetermined angle or less, and the second turning of the operating section (5). When the reference point setting switch (11B) is operated for input, a new reference route (41) is set based on the first reference point (42) and the new second reference point (43), and the operation is performed. A grain culm reaping work method, characterized in that the automatic travel of the combine is stopped when the operating angle of the operating lever (12) of the part (5) exceeds a predetermined angle. The grain culm reaping work method according to claim 1, wherein the controller (30) stops the automatic travel of the combine when the travel stop of the travel device (2) continues for a predetermined time or longer.

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