JPH0759439A - Harvesting method using unmanned carrier - Google Patents

Abstract

PURPOSE:To reduce the labor of a worker in harvesting works and improve efficiency of the harvesting works. CONSTITUTION:An unmanned carrier 1 which carries a harvesting box 3 to receive harvested crops cultured on ridges and can move forward and backward and rotate is allowed to automatically and intermittently move on a moving path between ridges. When the unmanned carrier 1 is in a resting state in the intermittent movement, the harvested crops are successively placed in the harvesting box 3 in a harvesting process.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for harvesting a ridge crop made in a house or the like by using an unmanned vehicle.

[0002]

2. Description of the Related Art Conventionally, when harvesting a ridge crop made in a house or the like, for example, an operator puts the harvest crop in a basket placed on a wheelbarrow, and the box is filled with the harvest crop. Every time, the wheelbarrow is moved out of the house, a full basket is unloaded, an empty basket is placed, and the above harvesting work is continued again.

[0003]

According to the above-mentioned conventional harvesting method, since it is necessary for the worker to push the wheelbarrow or the like and carry the harvested product, the labor of the worker becomes excessive and time is required. Therefore, it has been eagerly desired to have an efficient harvesting method that can reduce the labor of the worker. Therefore, in the present invention, an unmanned vehicle that follows the worker is automatically driven to automatically convey the harvested crop, thereby reducing the labor of the worker and improving the efficiency of the harvesting work. Is a technical issue to be solved.

[0004]

[Means for Solving the Problems] The technical means for solving the above problems is to provide an unmanned vehicle capable of moving forward and backward and turning, equipped with a harvest box for taking in crops cultivated in the furrow, between furrows. A harvesting method is adopted in which the traveling passage is automatically intermittently run, and when the unmanned vehicle is in a stopped state in the intermittent running process, the harvested crops are sequentially put into a harvest box.

[0005]

According to the above-mentioned harvesting method, the unmanned vehicle automatically intermittently runs after the worker starts the traveling of the unmanned vehicle after performing the required setting operation, so that the unmanned vehicle stops intermittently. When the harvested crops are put in the mounted harvesting box in the state, the harvested crops are automatically conveyed, so that the labor of the worker is reduced and the efficiency of the harvesting work is improved.

[0006]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Next, an embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a side view of an unmanned traveling vehicle 1 which can automatically move a harvested crop cultivated in a house or the like and can be moved forward and backward and left and right, and FIG. 2 is a front view of the unmanned traveling vehicle 1. As shown in FIGS. 1 and 2, a trolley 2 of an unmanned vehicle 1 is mounted with a harvest box 3 into which harvested crops are sequentially placed.

FIG. 3 is a plan view of the unmanned vehicle 1 with the top plate of the carriage 2 removed, and FIG. 4 is a side view thereof. As shown in FIG. 3, the unmanned vehicle 1 has two left and right sides.
Rubber tire type wheels 11L and 11R are provided one by one. In addition, each wheel 11L, 11R is a variable speed motor 1.
2L and 12R are rotated, and therefore gear 13 is attached to the output shaft of variable speed motors 12L and 12R.
L, 13R and gears 14L, 14R attached to the rotating shafts of the wheels 11L, 11R are connected by chains 15L, 15R. With this configuration, the variable speed motor 12L,
The unmanned vehicle 1 travels forward while the 12R are both rotating at the same speed in the forward direction, while the variable speed motors 12L and 12R are driven.
When both are rotating at the same speed and in reverse, the unmanned vehicle 1 travels backward. When turning the unmanned vehicle 1 to the left, the variable speed motor 12R is rotated in the forward direction while the variable speed motor 12L is rotated in the reverse direction. Further, when turning the unmanned vehicle 1 to the right, the variable speed motor 12 is used.
While L is rotated in the forward direction, the variable speed motor 12R is rotated in the reverse direction.

Next, the sensor relationship will be described. Figure 3
As shown in, the ridge detection sensors 21L and 21R are attached to the front part of the unmanned vehicle 1, and the ridge detection sensors 22L and 22R are attached to the rear part. These ridge detection sensors 21L, 21R, 22L, 22R are provided so that the unmanned traveling vehicle 1 can accurately enter the traveling path between the ridges, as described later. Further, a mirror detection sensor 23 is provided at the center of the front part of the unmanned vehicle 1, and a mirror detection sensor 24 is provided at the center of the rear part. These mirrors
The detection sensors 23 and 24 are used for the unmanned vehicle 1 as described later.
Is provided for stopping at a predetermined position after leaving the ridge area after moving forward or backward in the traveling passage between the ridges. Therefore, as will be described later, a mirror detected by the mirror detection sensors 23 and 24 is attached at a predetermined position out of the ridge area. Further, the ridge detection sensors 25L and 25R are provided on the left and right side surfaces of the unmanned vehicle 1, respectively, and the mirror detection sensors 26L and 26R are also provided.
Is provided.

The ridge detection sensors 25L and 25R detect left and right ridges when the unmanned vehicle 1 is moving forward or backward in the traveling path between the ridges. Further, the mirror detection sensors 26L and 26R are provided to detect a 90-degree turn when the unmanned vehicle 1 turns left and right at a predetermined position. Further, human detection sensors HSL and HSR for detecting a person are provided at the rear of the unmanned vehicle 1.

Bumpers 27 and 28 for stopping a collision are provided at the front and rear of the unmanned vehicle 1. These bumpers 27 and 2 are provided.
When 8 collides with a person, an object, a building or the like, a limit switch or the like operates to immediately stop. Further, a battery 29 is provided in the bogie 2 of the unmanned vehicle 1 and serves as a drive power for the variable speed motors 12L, 12R and a control power for a control circuit built in the control box 30. Supply.

Next, the board surface device of the operation panel 31 shown in FIG. 5 will be described. The operation panel 31 is attached to the rear part of the unmanned vehicle 1. Operation panel 3 above
1 is a harvesting function described in the present application, that is, a function in which an unmanned traveling vehicle 1 is automatically intermittently run while an operator picks up ridge crops and puts them in a harvesting box 3 placed on a trolley 2. And the case where the unmanned traveling vehicle 1 previously applied for traveling for the control function is used.

The key-type main switch 32 mounted on the side surface of the operation panel 31 serves as a power switch that enables power supply from the battery 29. Further, each time the mode setting switch 33 is pressed, the control mode, the harvest mode, and the manual mode are sequentially selected, and the control display lamp 34, the harvest display lamp 35, and the manual mode are selected. The display lamps 36 sequentially light up. Therefore, the harvest mode is set in this embodiment.

The progress setting switch 37 sets the direction in which the unmanned traveling vehicle 1 moves a plurality of ridges in the harvesting mode, that is, right or left. When the right is set, the right progress indicator lamp 38 is lit, and when the left is set, the left progress indicator lamp 39 is lit.

When the function setting switch 40 is set to the extermination mode, the one-way scatter display lamp 41 and the reciprocating scatter display lamp 42 are sequentially turned on each time the button is pressed, and the function is in that lighting state. Is set. On the other hand, when the harvest mode is set, the lamps 41 and 42 replace the forward display and the backward display.

The speed setting switch 43 sets the traveling speed of the unmanned vehicle 1 to a high speed or a low speed. The high speed display lamp 44 and the low speed display lamp 45 are pressed each time the unmanned vehicle 1 is pressed.
, But they light up sequentially.

The start / poise switch 46 is pressed when the unmanned traveling vehicle 1 starts to travel, while it is temporarily stopped when the unmanned traveling vehicle 1 is pressed while traveling (poor).
The display lamp 47 lights up. Therefore, if the switch 46 is pressed while the unmanned vehicle 1 is temporarily stopped, the unstarted vehicle 1 is restarted.

The harvest return switch 48 is
This is used to move the unmanned vehicle 1 to the ridge on the opposite side when the harvested crop is lost. In addition, the hose take-up switch 49 is operated when manually winding the hose (not shown) for conveying the chemical liquid. Further, the forward switch 50 and the reverse switch 51 are pressed when the unmanned vehicle 1 is moved forward or backward by manual operation.

The number of ridges / standby time setting switch 52 sets the waiting time of the unmanned vehicle 1 in the range of 5 to 60 seconds at 5 second intervals when the harvest mode is set. On the other hand, when the control mode is set, the number of ridges to be controlled is set within the range of 1 to 20. The set value is the display 53
Are displayed in sequence.

The forward movement distance selection switch 54 is used to select the forward movement distance of the unmanned vehicle 1 from 70, 50 and 30 cm when it is set in the harvest mode, and is pushed once each time. The display lamps 55, 56 and 57 are sequentially turned on.

The spray pressure check lamp 58 is turned on when the pressure of the dynamic jet for pumping the chemical liquid is 15 Kg / cm ² or less.

The battery-voltage check lamp 59 displays five levels according to the voltage of the battery-29. In addition, when the charge display is lit, it indicates that the battery 29 needs to be charged, and the unmanned vehicle 1 is stopped.

Next, a harvesting method using the unmanned traveling vehicle 1 will be described with reference to FIGS. 6, 7 and 8. In FIG. 6, the unmanned traveling vehicle 1 is intermittently traveled in the forward direction using the ridges P1 to P3 formed in the house as a traveling passage, and the crops of each ridge are picked up and the harvest box 3 placed on the cart 2 is mounted. It shows the situation of putting in. As shown in FIG. 6, first,
The unmanned traveling vehicle 1 is set at a point A1 in the house with the harvest box 3 placed on the cart 2. At this time, unmanned vehicle 1
Direct the front of the to the direction of the furrow. Next, the operation panel 31
While the key type main switch 32 attached to the side of the is turned on, the mode setting switch 33 is pushed to set the harvesting mode. Next, the progress setting switch 37 is pressed to set the progress to the right. Next, the speed setting switch 43 is pushed to set the traveling speed of the unmanned vehicle 1 to high speed or low speed. Next, the number of ridges / standby time setting switch 52 is pushed, and the waiting time of the unmanned traveling vehicle 1 is set while observing the display value of the display 53. Next, the forward movement distance selection switch 54
Press to change the forward travel distance of the unmanned vehicle 1 to 70, 50, 3
After selecting, for example, 70 cm from 0 cm, the start / poise switch 46 is pressed to start the unmanned vehicle 1.

(1) The unmanned vehicle 1 starts to move forward from the point A1, enters the traveling path between the ridges P1 and P2, and stops at a point 70 cm from the ridge end. (2) The worker puts the crops taken from the ridges into the harvest box 3. At this time, when the worker approaches the unmanned traveling vehicle 1 to about 15 cm, the human detection sensor HSL (HSR) at the rear part of the trolley 2 detects the worker, and if the detection is continued for a set waiting time, the unmanned traveling vehicle is detected. 1 moves forward by the set forward moving distance of 70 cm and stops again. (3) The worker again picks up the crop and puts it in the harvest box 3, and when the worker approaches the rear part of the cart 2, the human detection sensor HS
L (HSR) detects the worker, and the set waiting time,
If the detection is continued, the unmanned vehicle 1 advances by the set forward movement distance of 70 cm and stops again. (4) When the unmanned traveling vehicle 1 travels along the traveling passage while repeating the intermittent traveling and the harvesting work and the unmanned traveling vehicle 1 comes out to the ridge end on the opposite side, that is, the point A2, the ridge detection sensor 25R on the side surface of the carriage 2 The unmanned traveling vehicle 1 stops because (25 L) does not detect the ridge. The reason why the unmanned vehicle 1 is stopped at this point is to perform work such as replenishment and transshipment of the harvest box 3 when the harvest box 3 is full of crops. (5) When the start / poise switch 46 is pressed, the unmanned vehicle 1 turns 90 degrees to the right set by the progress setting switch 37, and then reaches the point A3 between the next ridges P2 and P3. After moving forward and turning 90 degrees to the right at the point A3, enter the traveling passage between the ridges P2 and P3, and 70c from the ridge end.
Stop at the point where you entered m. The turning control and the straight-ahead control are performed by the mirror detection sensors 23, 24, 26L, 26R.
Is performed on the basis of the detection of the reflection mirror M. (6) After that, the intermittent running and the harvesting work similar to the above are repeated. (7) When the planned harvesting work is completed, the main switch 32 is turned off. In addition, as shown in FIG. 7, when the harvest crop is lost in the middle of the ridge, when the harvest return switch 48 is pressed, the unmanned traveling vehicle 1 travels to the ridge end on the opposite side regardless of the operator,
Automatically stop.

Next, a method of harvesting the unmanned vehicle 1 while intermittently traveling in the reverse direction will be described with reference to FIG. As shown in FIG. 8, first, the unmanned traveling vehicle 1 is set at the point A1 in the house with the harvest box 3 placed on the carriage 2. At this time, the rear of the unmanned vehicle 1 is directed toward the ridge approach direction. Next, with the key type main switch 32 attached to the side surface of the operation panel 31 turned on, the mode setting switch 33 is pressed to set the harvesting mode. Next, the progress setting switch 37 is pressed to set the progress to the right. Next, the speed setting switch 43 is pressed to set the traveling speed of the unmanned traveling vehicle 1 to high speed or low speed, and then the start / poise switch 46 is pressed to start the unmanned traveling vehicle 1. At this time, the worker enters the traveling passage between the ridges P1 and P2 before the unmanned traveling vehicle 1.

(1) When the worker presses the start / poise switch 46 as described above, the unmanned traveling vehicle 1 starts to move backward from the point A1 and enters the traveling passage between the ridges P1 and P2. (2) When the human detection sensor HSL (HSR) at the rear of the carriage 2 detects an operator, the unmanned traveling vehicle 1 stops. (3) The worker puts the crops taken from the ridges into the harvest box 3. (4) When the worker separates from the unmanned traveling vehicle 1, the unmanned traveling vehicle 1 moves backward again, and stops when the worker approaches 15 cm. (5) While the above operation is repeated, the unmanned traveling vehicle 1 has the ridge P
When the vehicle travels backward in the traveling path between the first and second vehicles and reaches the point A2, the ridge detection sensor 25R (25L) on the side surface of the bogie 2 no longer detects the ridges, and the unmanned traveling vehicle 1 stops. (6) When the start / poise switch 46 is pressed, the unmanned vehicle 1 turns 90 degrees to the right set by the progress setting switch 37, and further at the A3 point between the next ridges P2 and P3. After turning 90 degrees to the right, it enters the traveling passage between the ridges P2 and P3, and stops when an operator is detected. (7) After that, the intermittent running and the harvesting work similar to the above are repeated. (8) When the planned harvesting work is completed, the main switch 32 is turned off.

[0026]

As described above, according to the present invention, a forward and backward and turnable unmanned vehicle equipped with a harvest box for taking in crops cultivated in the ridge is automatically provided in the traveling path between the ridges. Intermittently, and when the unmanned vehicle is in a stopped state in the intermittent traveling process, it is possible to harvest by sequentially putting the harvested crops into the harvest box, and thus reducing the labor of the worker, It is possible to improve the efficiency of harvesting work. Then, as a specific effect based on the embodiment, (1) the unmanned traveling vehicle automatically follows the worker, so that the worker can save the labor and labor of pushing the handcart as in the conventional case, and Can concentrate on harvesting work. (2) Since the waiting time of the unmanned vehicle in the intermittent traveling process can be set, the time can be managed for each harvesting work. (3) Since it is stopped outside the ridge, preparation for moving to the next ridge, for example, arrangement of harvest boxes and transfer can be performed. (4) Since the unmanned traveling vehicle automatically follows the worker, it can be used not only for harvesting work but also for various agricultural works.

[Brief description of drawings]

FIG. 1 is a side view of an unmanned vehicle according to an embodiment of the present invention.

FIG. 2 is a front view of an unmanned traveling vehicle.

FIG. 3 is a plan view showing a device layout of an unmanned vehicle.

FIG. 4 is a side view showing a device layout of the unmanned vehicle.

FIG. 5 is a perspective view showing a device layout of an operation panel of the unmanned vehicle.

FIG. 6 is an explanatory diagram of a harvesting work by moving the unmanned vehicle forward.

FIG. 7 is a supplementary explanatory diagram of a harvesting work by an unmanned traveling vehicle.

FIG. 8 is an explanatory diagram of a harvesting work by the backward movement of the unmanned traveling vehicle.

[Explanation of symbols]

 1 unmanned traveling vehicle 2 bogie 3 harvest box 30 control box 31 operation panel P1 to P3 ridge HSL human detection sensor HSR human detection sensor 23 mirror detection sensor 24 mirror detection sensor 26L mirror detection sensor 26R mirror detection sensor

Claims (1)

[Claims] 1. An unmanned vehicle capable of moving forward and backward and turning equipped with a harvest box for receiving crops cultivated in ridges is automatically intermittently run in a running path between the ridges, and in the intermittent running process. A harvesting method using an unmanned vehicle, wherein the harvested crops are sequentially placed in a harvest box when the unmanned vehicle is in a stopped state.