JP7353812B2 - harvester - Google Patents

Description

The present invention relates to a harvester.

BACKGROUND ART Stock tracing running, in which a harvester automatically moves along grain culm rows, has been known (for example, Patent Document 1). However, stock tracing is performed based on the current grain culm position on the premise that grain culms are neatly arranged in a row, and if the next grain culm position deviates from the grain culm row, cannot be properly controlled.

Publication No. 57-056416

The present invention has been made in view of the above circumstances, and an object thereof is to provide a harvester that can realize appropriate stock tracing.

The harvester according to the present invention includes a plurality of weeding tools that guide grain culms, a pulling device that raises the grain culms guided by the weeding tools, and a harvester that cuts and reaps the grain culms pulled up by the pulling devices. comprising a reaping section, a threshing section that threshes the grain culm cut by the reaping section, and a control section that controls the traveling section to perform stock tracing travel to automatically travel along the grain culm row,
The reaping unit includes a detection unit that detects the distance between a specific weeding tool and each grain culm belonging to the grain culm row,
The control unit predicts the position of the next grain culm belonging to the grain culm row based on the plurality of detection results detected by the detection unit, and determines whether the position of the next grain culm is the position of the specific weeding tool. The stock tracing run is executed so that the desired position is obtained.

According to this configuration, the position of the next grain culm is predicted from the past position of the grain culm, and the stock tracing run is executed according to the predicted position, so that an appropriate stock tracing run can be realized.

Left side view showing the overall configuration of the combine harvester Plan view showing part of the reaping section Block diagram showing the control configuration of the combine A graph with the cumulative distance on the horizontal axis and the stroke of the first detection arm on the vertical axis. A graph with the peak value of the stroke within the grain culm interval on the horizontal axis and the cumulative distance on the vertical axis. Schematic diagram showing an example of stock tracing Schematic diagram showing an example of stock tracing Schematic diagram showing an example of stock tracing Schematic diagram showing an example of stock tracing Schematic diagram showing an example of stock tracking when a stock split occurs

FIG. 1 is a left side view showing the overall configuration of the combine 1. FIG. FIG. 2 is a plan view showing a part of the combine 1. FIG. 3 is a block diagram showing the control configuration of the combine 1. The combine harvester 1 is a combine harvester (autonomous combine harvester) that can run and work autonomously.

The combine harvester 1 is a self-removal type combine harvester. The combine 1 includes a running section 2, a reaping section 3, a threshing section 4, a sorting section 5, a storage section 6, a straw processing section 7, a power section 8, and a control section 9.

The combine 1, while traveling by a running part 2, threshes grain culms cut by a reaping part 3 in a threshing part 4, sorts grains in a sorting part 5, and stores them in a grain tank 11 in a storage part 6. The grains stored in the grain tank 11 are discharged by a discharge auger 12. Moreover, the waste straw after threshing is processed by the waste straw processing section 7. Power is supplied from the engine 13 of the power section 8 to the traveling section 2, the reaping section 3, the threshing section 4, the sorting section 5, the storage section 6, and the waste straw processing section 7. The control section 9 includes a cabin 16 in which operating tools such as a driver's seat 14 and a steering wheel 15 are housed. Note that the power unit 8 may be replaced with the engine 13, or may be replaced with an electric drive source (motor) in addition to the engine 13.

The reaping section 3 includes a plurality of weeding tools 31, a pulling device 32, a cutting device 33, and a conveying device 34. The weeding tool 31 guides grain culms in the field to the pulling device 32. The raising device 32 raises the grain culm guided by the weeding tool 31 . The cutting device 33 cuts the grain culm raised by the pulling device 32 . The conveying device 34 conveys the grain culm cut by the cutting device 33 to the threshing section 4 .

Further, the reaping section 3 includes a stock tracing sensor 35 (corresponding to a detection section). The stock tracing sensor 35 can detect the distance between a specific weeding tool 31 and each grain culm belonging to the grain culm row.

The plant tracing sensor 35 is attached to a first detection arm 36a (corresponding to a first detection section) attached below the first weeding tool 31a on the left end, and below a second weeding tool 31b second from the left. It has a second detection arm 36b (corresponding to a second detection section). The first detection arm 36a protrudes rightward from the first weeding tool 31a, and can detect grain culms located on the right side of the first weeding tool 31a. Further, the second detection arm 36b protrudes leftward from the second weeding tool 31b, and can detect grain culms located on the left side of the second weeding tool 31b. That is, the first detection arm 36a and the second detection arm 36b are configured to be able to detect the grain culm located between the first weeding tool 31a and the second weeding tool 31b. Although the first detection arm 36a and the second detection arm 36b in this embodiment are arranged offset in the front-rear direction so that their tips do not interfere with each other, they may be arranged offset in the vertical direction.

The first detection arm 36a and the second detection arm 36b rotate in the front-rear direction relative to the combine harvester 1. The first vertical pipe 37a that supports the first weeding tool 31a supports a first support shaft 38a, which is the center of rotation of the first detection arm 36a, and the first detection arm 36a can freely rotate around the first support shaft 38a. is supported by Similarly, the second vertical pipe 37b that supports the second weeding tool 31b supports a second support shaft 38b, which is the rotation center of the second detection arm 36b. is rotatably supported.

When the first detection arm 36a contacts the grain culm while the combine 1 is moving forward, the first detection arm 36a rotates from the front to the rear around the first support shaft 38a. A biasing member (not shown) is provided between the first detection arm 36a and the first vertical pipe 37a, and the first detection arm 36a contacts the grain culm and rotates from the front to the rear. However, if the contact with the grain culm is eliminated, it can be rotated from the rear to the front and returned to its original standard position.

As shown in FIG. 2, the first detection arm 36a can rotate rearward about the first support shaft 38a from the illustrated standard position. Further, a first potentiometer 39a that detects the rotation angle of the first detection arm 36a with respect to the first vertical pipe 37a is provided between the first detection arm 36a and the first vertical pipe 37a. The first potentiometer 39a detects the rotation angle θ1 as the rotation angle from the standard position. The rotation angle θ1 of the first detection arm 36a increases as the position of the grain culm approaches the first support shaft 38a, and decreases as the position of the grain culm moves away from the first support shaft 38a. Thereby, the combine 1 can calculate the distance between the first weeding tool 31a and the grain culm on the right side of the first weeding tool 31a, according to the rotation angle θ1.

Similarly, a second potentiometer 39b that detects the rotation angle of the second detection arm 36b with respect to the second vertical pipe 37b is provided between the second detection arm 36b and the second vertical pipe 37b. 39b detects the rotation angle θ2 as the rotation angle from the standard position. Thereby, the combine 1 can calculate the distance between the second weeding tool 31b and the grain culm on the left side of the second weeding tool 31b according to the rotation angle θ2.

With such a configuration, by detecting the rotation angle θ1 of the first detection arm 36a and the rotation angle θ2 of the second detection arm 36b, the grain culm is separated between the first weeding tool 31a and the second weeding tool 31b. You can specify where it is located. As a result, the combine 1 moves along the grain culm row while appropriately changing the traveling direction of the combine 1 so that the grain culm is at a desired position (for example, the center position) between the first weeding tool 31a and the second weeding tool 31b. It becomes possible to drive automatically.

The combine 1 includes a positioning unit 20 that receives signals from positioning satellites and performs positioning. Positioning unit 20 has a mobile positioning antenna 22 and a data receiving antenna 23. The mobile positioning antenna 22 and the data receiving antenna 23 are arranged in the cabin 16. On the other hand, a fixed positioning antenna 24 and a data communication antenna 25 are arranged at predetermined positions. The combine 1 acquires location information using the RTK-positioning method.

A control device 40 (corresponding to a control unit) of the combine 1 includes a processing unit 41 made of a computer such as a CPU, and a storage unit 42 such as a ROM, RAM, hard disk, or flash memory. The processing unit 41 can read a program or the like stored in the ROM onto the RAM and then execute it. The storage unit 42 stores data on the specifications of the combine harvester 1 such as the total length, width, and height of the combine harvester 1, data on specifications regarding the stock tracing sensor 35 such as the lengths of the first detection arm 36a and the second detection arm 36b, etc. is stored. Furthermore, the storage unit 42 stores data on travel routes set in advance.

The control device 40 controls the operation of various components by having the processing unit 41 execute a control program. Specifically, it transmits and receives information during communication, controls various input/outputs, and controls arithmetic processing. The control device 40 also includes a communication unit 43 for data communication with the outside. The control device 40 is capable of communicating with external components such as other work vehicles (such as a combine harvester and a truck that transports harvested products) and a mobile terminal through the communication unit 43 .

The combine 1 includes a positioning unit 20, an engine rotation sensor 51 that detects the rotation speed of the engine 13, a travel speed sensor 52 that detects the travel speed of the combine 1, and a travel speed sensor 52 that detects the travel speed of the combine 1. A gyro sensor 53 detects acceleration in three directions as displacement information of the aircraft, a direction sensor 54 detects the traveling direction of the combine 1, a steering sensor 55 detects the rotation angle of the steering handle 15, and the fuel stored in the grain tank 11 and a grain sensor 56 that detects the amount of grains.

The configuration of the output side of the control device 40 includes a traveling section 2, a reaping section 3, a threshing section 4, a sorting section 5, a storage section 6, a straw processing section 7, a power section 8, and a control section 9. That is. The control device 40 operates based on the input position information from the positioning unit 20 and the operating conditions detected by various sensors (for example, the operating condition of the engine 13, the attitude and orientation of the aircraft, the amount of grain in the grain tank 11, etc.). , appropriately controls the traveling section 2, the reaping section 3, the threshing section 4, the sorting section 5, the storage section 6, the straw processing section 7, the power section 8, and the control section 9. In this way, the combine 1 is controlled to autonomously travel and work along a predetermined travel route based on the satellite positioning information acquired by the positioning unit 20.

Furthermore, information from the first potentiometer 39a and the second potentiometer 39b is transmitted to the control device 40. When the information on the rotation angle θ1 detected by the first potentiometer 39a is transmitted, the processing unit 41 determines which grain is on the right side of the first weeding tool 31a based on the length of the first detection arm 36a and the rotation angle θ1. The distance from the culm to the first weed cutting tool 31a is calculated. Further, when the information on the rotation angle θ2 detected by the second potentiometer 39b is transmitted, the processing unit 41 determines the left side of the second weeding tool 31b based on the length of the second detection arm 36b and the rotation angle θ2. The distance from a certain grain culm to the second weeding tool 31b is calculated.

The combine harvester 1 can automatically travel along the grain culm rows detected by the stock tracing sensor 35. In the stock tracing run, the combine 1 runs while moving left and right from a predetermined running route so that the uncut grain culm is at a desired position between the first weeding tool 31a and the second weeding tool 31b.

Stock tracing running according to the present invention will be described below with reference to FIGS. 4 to 7.

First, the grain culm spacing is detected by the stock tracing sensor 35. FIG. 4 is a graph in which the horizontal axis represents the cumulative distance and the vertical axis represents the stroke. Here, the cumulative distance indicates the moving distance of the combine harvester 1 determined from, for example, the traveling speed sensor 52 or the like. Further, the stroke indicates the amount of rotation of the first detection arm 36a determined from the rotation angle θ1, and the larger the stroke, the closer the grain culm is to the first weeding tool 31a. In the example of FIG. 4, as the combine 1 moves forward, the grain culm approaches the first weeding tool 31a. A graph similar to that in FIG. 4 can also be obtained regarding the relationship between the cumulative distance and the stroke related to the second detection arm 36b. From the two graphs, it can be seen whether the grain culms are closer to the first weeding tool 31a or the second weeding tool 31b. The timing at which the stroke exceeds a predetermined threshold is defined as the grain culm interval.

Then, the peak value of the stroke within the grain culm interval is calculated. FIG. 5 is a graph in which the horizontal axis represents the peak value of the stroke within the grain culm interval, and the vertical axis represents the cumulative distance at the peak. This allows the position of each grain culm to be detected. C3 is the current position of the combine 1 and the position of the grain culm, C2 is the previous position of the grain culm, and C1 is the position of the grain culm two times before.

The locus T of the grain culm row can be determined from the position of each grain culm (C1 to C3 in this example). The direction of the trajectory T of the grain culm row can also be said to be the traveling direction of the transplanter when transplanting the seedlings. The deviation between the trajectory direction of the grain culm row (traveling direction of the transplanter) and the current traveling direction of the combine harvester 1 is determined.

In addition, from the direction of the trajectory T of the grain culm row and the distance from the first weeding tool 31a and the second weeding tool 31b to each grain culm, the position C4 of the next grain culm belonging to the grain culm row (a certain distance (see Figure 5).

Next, the position C4 of the next grain culm is set at a desired position Ce (in this example, the center position of the first weeding tool 31a and the second weeding tool 31b) with respect to the position of the first weeding tool 31a. , the target direction D of the combine 1 is set. Next, the deviation between the target direction D and the current traveling direction F of the combine harvester 1 is calculated. In the example shown in FIG. 6A, the current grain culm position C3 is to the left of the desired position Ce, but since the next grain culm position C4 is in the straight direction of the desired position Ce, the target direction D is By setting it in the same straight direction as the traveling direction F of the combine harvester 1, the next grain culm position C4 becomes the desired position Ce. On the other hand, in the conventional stock tracing run, since the current position C3 of the grain culm is closer to the left side of the desired position Ce, it is controlled to move in the direction P indicated by the arrow with two-dot chain lines, and as a result, The position C4 of the next grain culm was shifted to the right side from the desired position Ce.

In the example shown in FIG. 6B, since the current grain culm position C3 is at the desired position Ce, by setting the target direction D in the same direction as the trajectory T, the next grain culm position C4 can be set to the desired position. It becomes Ce. On the other hand, in the conventional plant tracing run, since the current position C3 of the grain culm is at the desired position Ce, it is controlled to move in the direction P of the arrow shown by the two-dot chain line, that is, in the straight direction, and as a result, The position C4 of the next grain culm was shifted to the right side from the desired position Ce.

In the example shown in FIG. 6C, the current grain culm position C3 is on the left side from the desired position Ce, but since the next grain culm position C4 is on the right side of the desired position Ce in the straight direction, the target position By setting D to the right side with respect to the traveling direction F of the combine harvester 1, the next grain culm position C4 becomes the desired position Ce. On the other hand, in the conventional stock tracing run, since the current position C3 of the grain culm is closer to the left side of the desired position Ce, it is controlled to move in the direction P indicated by the arrow with two-dot chain lines, and as a result, The position C4 of the next grain culm had approached the second weeding tool 31b.

In the example shown in FIG. 6D, the current grain culm position C3 is on the left side from the desired position Ce, but since the next grain culm position C4 is in the straight direction of the current grain culm position C3, the target By setting the direction D to be the same as the direction P of conventional stock tracing, the next grain culm position C4 becomes the desired position Ce.

Finally, the commanded drive amount (steering angle) is calculated from the deviation between the target direction D and the current traveling direction F of the combine 1 and the current vehicle speed (travel speed). Note that since a response delay occurs with respect to the instructed drive amount, it is preferable to calculate and correct the predicted drive direction amount from the instructed drive amount (steering angle) as feedforward.

As described above, the combine harvester 1 of this embodiment includes the first weeding tool 31a and the second weeding tool 31b that guide grain culms, and the grain guided by the first weeding tool 31a and the second weeding tool 31b. Controls a pulling device 32 that triggers a culm, a reaping section 3 that cuts and reaps the grain culm triggered by the raising device 32, a threshing section 4 that threshes the grain culm harvested by the reaping section 3, and a running section 2. and a control device 40 for automatically traveling along grain culm rows.
The reaping unit 3 has a stock tracing sensor 35 that detects the distance between the first weeding tool 31a and each grain culm belonging to the grain culm row,
The control device 40 predicts the position of the next grain culm belonging to the grain culm row based on the plurality of detection results detected by the plant tracing sensor 35, and the control device 40 predicts the position of the next grain culm belonging to the grain culm row. The stock tracing run is executed so as to reach the desired position.

According to this configuration, the position of the next (future) grain culm is predicted from the positions of a plurality of (past) grain culms detected by the stock tracing sensor 35, and the stock tracing run is executed according to the position. Therefore, appropriate stock tracing can be achieved.

The plant tracing sensor 35 also includes a first detection arm 36a attached to the first weeding tool 31a, and a second detection arm 36b attached to the second weeding tool 31b adjacent to the first weeding tool 31a. death,
The first detection arm 36a and the second detection arm 36b are configured to be able to detect grain culms located between the first weeding tool 31a and the second weeding tool 31b,
Based on the detection result of the first detection arm 36a and the detection result of the second detection arm 36b, the control device 40 detects the occurrence of a missing plant in which some grain culms are missing from the grain culm row, or the first weeding tool 31a. Alternatively, the second weeding tool 31b may approach the grain culm to identify the occurrence of stock splitting.

When there is no grain culm, the strokes of the first detection arm 36a and the second detection arm 36b are both zero, so it is possible to identify the occurrence of a missing plant. In this embodiment, in consideration of weeds other than grain culms, if the sum of the strokes of the first detection arm 36a and the second detection arm 36b is less than or equal to a predetermined threshold (missing stock threshold), it is determined that the plant is missing. That's what I do.

Moreover, when the control device 40 identifies the occurrence of a stock shortage, the control device 40 may stop the stock tracing run and execute the automatic straight-ahead run.

In the case of a missing plant, it is difficult to predict the position of the next grain culm, so the plant tracking movement is stopped, the steering angle is set to zero, and automatic straight-ahead movement is executed. After that, when the next grain culm is detected, the plant tracing operation is resumed.

Further, when a missing plant is detected, the location of the missing plant may be mapped and the user may be notified. Once you know where the plants are missing, you will be able to decide whether or not to increase fertilizer there.

On the other hand, if the first weeding tool 31a and the second weeding tool 31b invade the grain culm and break the plants, the strokes of the first detection arm 36a and the second detection arm 36b both reach their maximum values. It is possible to identify the occurrence of stock splits. In this embodiment, when the sum of the strokes of the first detection arm 36a and the second detection arm 36b is equal to or greater than a predetermined threshold (stock splitting threshold), it is determined that stock splitting is occurring.

Further, when the control device 40 identifies the occurrence of a stock split, it stops the stock tracing run, and based on the detection result of the first detection arm 36a and the detection result of the second detection arm 36b before the stock split occurs. Automatic traveling in the return direction may be performed with respect to the specified approach direction to the grain culm.

FIG. 7 shows the situation until the stock split occurs. It is assumed that the combine harvester 1 is moving from the bottom to the top in FIG. As shown in the lower part of FIG. 7, the grain culm C is initially located at a desired position approximately in the center of the first weeding tool 31a and the second weeding tool 31b.

However, as shown in the middle part of FIG. 7, if the combine 1 slides to the left for some reason, the second weeding tool 31b approaches the grain culm C, and the stroke of the second detection arm 36b increases. Although FIG. 7 shows that the first detection arm 36a is not detecting the grain culm, in reality, the grain culm C slightly contacts the first detection arm 36a, so the first detection arm 36a does not detect the grain culm. The stroke of 36a is also not zero. At this point, the control device 40 sets the target direction D to the return direction (rightward) and instructs the traveling section 2 to do so. However, if the traveling unit 2 continues to move to the left due to circumstances such as the time it takes for the traveling unit 2 to respond after starting the control, the first detection arm 36a and the second detection arm The strokes of 36b both reach the maximum value.

In only the state shown in the upper part of FIG. 7, the control device 40 cannot determine whether the target direction D should be set to the left or right, and cannot carry out stock tracing travel. Therefore, when a stock split occurs, the stroke value of either the first detection arm 36a or the second detection arm 36b increases first, so as shown in the middle part of FIG. If the stroke becomes larger first, this means that splitting has occurred while the second weeding tool 31b approaches the grain culm C, so the normal stock tracing movement is stopped and the target direction D is moved to the right. setting, and on the other hand, if the stroke of the first detection arm 36a increases first, this means that splitting has occurred while the first weeding tool 31a approaches the grain culm C, so the normal stock tracing run is performed. The vehicle stops, sets the target direction D to the left, and executes automatic travel. When the stock split is resolved, normal stock tracking is resumed.

[Other embodiments]
In the embodiment described above, the plant tracing sensor 35 is provided between the first weeding tool 31a and the second weeding tool 31b, but it may be provided at a location other than this. For example, it may be provided between the third weeding tool 31c, which is the third from the left, and the fourth weeding tool 31d, which is the fourth from the left, shown in FIG. Alternatively, a structure may be adopted in which a plurality of plant tracing sensors 35 are provided between the plurality of weeding tools 31, respectively. Thereby, even when irregular grain culm rows are included in a plurality of grain culm rows, appropriate stock tracing can be realized.

In the embodiment described above, the stock tracing sensor 35 is composed of the first detection arm 36a and the second detection arm 36b, but it may be composed of only one of the first detection arm 36a and the second detection arm 36b. It's okay. Even if only one of the first detection arm 36a and the second detection arm 36b is used, the distance between the first weeding tool 31a and the second weeding tool 31b and each grain culm belonging to the grain culm row can be detected. is possible.

The present invention is not limited to the embodiments described above, and various improvements and changes can be made without departing from the spirit of the present invention.

1 Combine harvester 2 Traveling section 3 Reaping section 31 Weed splitting tool 31a First weed cutting tool 31b Second weed cutting tool 32 Pulling device 35 Stock tracing sensor 36a First detection arm 36b Second detection arm 39a First potentiometer 39b Second potentiometer 40 Control device

Claims (1)

A plurality of weeding tools that guide grain culms, a pulling device that raises the grain culms guided by the weeding tools, a reaping section that cuts and reaps the grain culms raised by the pulling device, and a reaping section that A threshing unit that threshes the harvested grain culm, and a control unit that controls the traveling unit to perform stock tracing travel to automatically travel along the grain culm row,
The reaping unit includes a detection unit that detects the distance between a specific weeding tool and each grain culm belonging to the grain culm row,
The detection section includes a first detection section attached to the specific weeding tool, and a second detection section attached to another weeding tool adjacent to the specific weeding tool,
The first detection unit and the second detection unit are configured to be able to detect grain culms located between the specific weeding tool and the other weeding tool,
The control unit includes:
Based on the plurality of detection results detected by the detection unit, the position of the next grain culm belonging to the grain culm row is predicted, and the position of the next grain culm is determined to be a desired position with respect to the position of the specific weeding tool. Execute the stock tracing run so that the position is
Based on the detection result of the first detection unit and the detection result of the second detection unit, occurrence of a defective plant in which a part of the grain culm is missing from the grain culm row, or the presence of any weeding tool approaching the grain culm. identify the occurrence of invading stock splits,
When the occurrence of stock splitting is identified, stopping the stock tracing run and moving to the grain culm identified based on the detection result of the first detection unit and the detection result of the second detection unit before the occurrence of stock splitting. A harvester that automatically moves in the return direction relative to the approach direction.

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