KR102133940B1 - Apparatus for discharging grain and lifting control of grain tank - Google Patents

Abstract

The present invention relates to a grain discharge assistance apparatus for an autonomous combine. In regard to an autonomous combine, which harvests and threshes grains while autonomously driving in farmland, and then, temporarily stores sorted grains in a grain storage tank installed in the combine, and includes a discharge auger pipe having a grain outlet vertically placed at an end to discharge the temporarily stored grains to a ton gunny sack or a grain tank located on a grain discharge spot by moving to the grain discharge spot when the grain storage tank is full, the grain discharge assistance apparatus includes: a combine-mounted GPS, providing position information data for moving and controlling the combine in real time such that the combine can be located beside the ton gunny sack or the grain tank on the grain discharge spot of the farmland, and enabling the discharge auger pipe to be located within a rotation radius; a grain inlet leading the grains discharged from the combine into the ton gunny sack or the grain tank when the temporarily stored grains inside the combine′s grain storage tank need to be discharged to the ton gunny sack or the grain tank, and including a GPS for grain discharge to share a discharge position of the grains in real time; a photographing part interposed between the discharge auger pipe and a grain outlet placed vertically at an end thereof, providing an image through real time photography, and used to precisely control the position of the grain outlet beside the discharge auger pipe used for grain discharge through a real time photographed image; and a control part controlling general grain discharge beside the combine.

Description

Auxiliary device for grain discharge of self-driving combines{APPARATUS FOR DISCHARGING GRAIN AND LIFTING CONTROL OF GRAIN TANK}

The present invention relates to an auxiliary device for grain discharging of an autonomous driving combine, and more specifically, to support a smoother grain discharging operation during a grain harvesting and discharging operation using an autonomous driving combine, and a driver driving the autonomous driving combine (Worker) It relates to a grain ejection auxiliary device of an autonomous driving combine that allows grain harvesting, threshing and discharging work to be carried out by only one person, and enables grain to be accurately discharged to the outside without loss.

In general, combines harvest rice, barley, wheat, and soybean grains at the same time as harvesting and threshing and sorting grains while driving the farmland. It is a grain harvesting machinery.

These combines include a harvesting section for cutting down grain and cutting it with a reciprocating blade, a transportation device for transporting grain to a threshing sorter by a belt or chain, a threshing sorter for the automatic threshing machine, a storage unit for storing threshed grains, and a combine. It consists of a configuration that includes a driving unit for moving the body.

In the case of using such combines, after harvesting grains, threshing and sorting of grains were often transferred to sacks. In this case, grains are packed and packed in the process of harvesting grains because the sacks containing grains cannot continue to be carried in combines. The old bag had to be put down all over the farmland, and after the grain harvesting was completed, the bag was separately collected and transported, resulting in hassle and inconvenience.

To solve this, recently, after harvesting grains using a combine, threshing and transferring the selected grains to a grain storage tank provided in the combine, and when the grain storage tank is filled, the combine is moved to a separate place. Afterwards, the grain stored in the grain storage tank is discharged and transferred to a bag or stored in a separate storage facility.

On the other hand, agricultural machinery including combines, etc., is in the trend of becoming large, automated, and systemized. Currently, autonomous driving combines with autonomous driving technology are introduced and utilized for automation and unmanned use. It recognizes the current position of the combine and senses the driving direction of the driving combine to autonomously drive along a predetermined path and stops when an obstacle is detected while driving.

However, currently used combines in Korea are promoting automation and unmanned by autonomous driving, but due to the nature of the combines, it is difficult to increase the size of the combines, which limits the storage capacity of the grain storage tank that harvests grain and stores threshed and sorted grains. In the related art, in the case of a ton bag, when the grain is harvested and then discharged, there is a problem in that the input port is very small, but it cannot be discharged accurately, so there is a problem in that a loss occurs and a smooth discharge operation is difficult.

In addition, the current agricultural population is not only decreasing overall, but is also aging, and the labor shortage is increasing. The harvesting and discharging of grains using combines is currently difficult to perform by one worker. Self-driving combines are also difficult to perform smoothly by one worker.

On the other hand, when the prior art documents related to the conventional self-driving combine were examined, Korean Patent Registration No. 10-1594737 discloses the construction of a technique for performing path correction, etc. by utilizing the image visual device of the self-driving combine. Patent No. 10-2016-0118331 discloses a technology configuration used for route setting and posture correction using corresponding data while GPS is attached and used due to the characteristics of an autonomous vehicle.

Republic of Korea Registered Patent Publication No. 10-1594737 Republic of Korea Patent Publication No. 10-2016-0118331

The present invention solves the above-mentioned problems and has been devised in view of this, when the grain storage tank provided in the self-driving combine is full of grain, the grain is autonomously located by being located close to the ton bar and the grain tank located at the grain discharge point. It is an object of the present invention to provide a grain discharging auxiliary device of an autonomous driving combine that enables a grain harvesting and threshing operation to be performed again after performing the discharging operation and enables a smoother grain discharging operation using an autonomous driving combine.

An object of the present invention is to provide a grain discharging auxiliary device of an autonomous driving combine that enables both the harvesting, threshing and discharging operations of grain with only one driver (worker) driving the autonomous driving combine.

The present invention uses the GPS data of the autonomous driving combine to move the combine within a working radius of the combine side discharge auger, and then checks the position of the outlet on the side of the discharge auger using camera equipment. It is inserted into the ton stand or the grain tank so that the grain can be discharged without loss, and when all the grain is discharged, the self-driving combine's grain discharging auxiliary device to restart the harvesting, threshing and temporary storage of grain The purpose is to provide.

To achieve the above object, the self-driving combine's grain discharging auxiliary device, after harvesting and threshing grain while autonomously driving through arable land, temporarily stores the selected grains in the grain storage tank provided in the combine, and the grain storage tank is full. In the self-driving combine comprising a discharge auger pipe having a grain outlet that is vertically arranged at the end to move to the grain discharge point when filled, to discharge the temporarily stored grain to the ton pole or grain tank at the grain discharge point, in the combine A GPS for combines that is equipped and provided, and provides location information data for real-time movement control of the combine so that it is located on the side of a ton stand or a grain tank at a grain discharge point of an arable land, and the discharge auger pipe is located within a rotating radius; When discharging the temporarily stored grain on the combine side to the ton stand or the grain tank, the grain discharged from the combine is put into the ton stand or the grain tank, and the grain with GPS for grain discharge for sharing the location of the grain discharge in real time Inlet; It is interposed between the discharge auger pipe and the grain outlet arranged vertically at the end thereof, and provides an image through real-time shooting, and adjusts the position of the grain outlet at the side of the discharge auger pipe used for discharging grain through the real-time shooting image. An imaging unit for use in making; It characterized in that it comprises a; control unit for controlling the overall grain discharge side of the combine.

Here, the grain inlet having the GPS for discharging the grain is provided to be recognized by the imaging unit, and the controller may be configured with a specific saturation and shape to be learnable using a deep learning system.

Here, the control unit, (a) the process of checking whether the grain side is full of grain in the combine storage tank; (b) if the grain storage tank is full of grain, moving the combine to the grain discharge point; (c) the process of positioning the combine so that the ton bar or the grain tank is located within the rotation radius of the discharge auger pipe for the combine moved to the grain discharge point; (D) process of rotating the discharge auger pipe to position the grain outlet to match the grain inlet; (e) the process of discharging the grain to the outside through the discharge auger pipe having a grain outlet from the combine side, and putting it into a ton bar or a grain tank through the grain inlet; (f) a process of checking whether all of grain discharge from the combine side is completed; (g) when all the grain discharge from the combine is completed, a process of returning the discharge auger pipe having the grain discharge port to its original position; (h) the process of moving the combine to a farmland to restart the operation; It may be programmed to perform sequentially.

Here, in (b), it is possible to accurately move and position the combine to the grain discharge point by utilizing real-time location information data provided by the combine GPS.

Here, in (c), by using the real-time location information data from the GPS for combines and the location data from the grain inlet side GPS built-in GPS for grain discharging, the ton bar is within the radius of rotation of the discharge auger tube for the combine. Alternatively, the combine can be positioned to position the grain tank.

Here, in the above (d), by using the location information data by the grain inlet side GPS and the image data on the imaging unit side with a built-in GPS for grain discharge, by rotating the discharge auger pipe and controlling the location of the grain outlet in detail It is possible to precisely control the position of the grain outlet on the discharge auger pipe to match the grain inlet.

According to the present invention, when the grain storage tank on the side of the self-driving combine is full of grain, it moves closer to the side of the ton bar and the grain tank located at the grain discharging point, so that the grain discharging operation can be performed autonomously, especially the self-driving combine. It is possible to perform the grain operation more smoothly, eliminate the loss and provide a useful effect to more accurately discharge the grain to the outside.

According to the present invention, only one driver (worker) driving the self-driving combine can provide a useful effect to perform both harvesting, threshing and discharging of grain.

According to the present invention, after using the GPS data of the autonomous driving combine to move the combiner within the radius of the rotating operation of the combine side discharge auger, and then confirm the position of the grain outlet on the side of the discharge auger by using the imaging unit, which is a camera device. The grain can be discharged without loss by accurately inserting it into the ton bar or grain tank at the grain discharge point, and when the grains are all discharged, the grain harvesting operation is repeated by restarting operations such as harvesting, threshing, and temporary storage. It can provide useful effects that enable it to perform.

1 is a conceptual view showing for explaining the grain discharging auxiliary device of the self-driving combine according to an embodiment of the present invention, (a) is a state in which the harvesting operation, (b) is a view showing the state in the grain discharging operation .
2 is a schematic block diagram illustrating a grain discharge assisting device of an autonomous driving combine according to an embodiment of the present invention.
3 is a configuration diagram illustrating main parts for explaining a device for assisting grain discharge of an autonomous driving combine according to an embodiment of the present invention.
Figure 4 is a flow chart showing a control algorithm for the grain discharge in the grain discharge auxiliary device of the self-driving combine in accordance with an embodiment of the present invention.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

Terms used in the present invention are terms defined in consideration of functions in the present invention, which may vary according to the intention or custom of the user or operator, so definitions of these terms are consistent with the technical matters of the present invention. And should be interpreted as a concept.

1 to 4 of the accompanying drawings are diagrams for explaining the grain discharge auxiliary device of the self-driving combine according to the present invention.

As shown in Figs. 1 to 4, the apparatus for assisting grain discharge of an autonomous driving combine according to an embodiment of the present invention is basically provided with an autonomous driving combine 100 capable of moving a position on an arable land.

The autonomous driving combine (100) is provided with a grain storage tank (110) for temporarily storing the selected grain after harvesting and threshing grain while autonomously driving through arable land, and when the grain storage tank (110) is full A discharge auger pipe for use in discharging and inputting the grain temporarily stored in the combine 100 side to the grain storage section 10 such as a ton stand or a grain tank at the grain discharge point by moving to the grain discharge point of the cropland ( 120) is provided.

At this time, the discharge auger pipe 120 is rotatably provided by a rotating means (not shown), the end thereof is connected to the vertically disposed grain outlet 121.

In addition, the autonomous driving combine 100 is provided with a GPS 130 for the combine, an imaging unit 140 and a control unit 150.

The combine GPS (130) is mounted on the self-driving combine (100), and is provided as a control, move the combine to be located on the side of the grain storage section 10 of the ton stand or grain tank at the grain discharge point of the cropland It provides location information data for real time.

That is, through the GPS 130 for the combine to be located near the grain storage section 10 side of the ton bar or grain tank within a radius of rotation with respect to the discharge auger pipe 120 having a grain outlet 121 at the end. do.

The imaging unit 140 is interposed between the discharge auger tube 120 and the grain outlet 121 vertically disposed at an end thereof, and is provided to provide an image through real-time imaging to the control unit 150.

At this time, the imaging unit 140 is used to discharge the grain temporarily stored in the grain storage tank 110 of the combine 100 through the provision of images by real-time shooting to the discharge auger pipe 120 and the grain outlet 121 ) Is used to fine-tune the position.

Here, the imaging unit 140 has a configuration in which a camera having a CCD or CMOS imaging device is incorporated.

In the imaging unit 140, in addition to the above-described camera, a camera having various types of imaging elements capable of obtaining a high-quality image through real-time shooting may be applied.

The control unit 150 is a configuration for controlling the overall operation performance in addition to the autonomous driving of the self-driving combine 100, and also performs a function of controlling overall grain discharge.

Further, the grain discharge point includes a grain inlet 160 provided on the top of the grain storage section 10 of the ton stand or the grain tank.

The grain inlet 160 is discharged to the outside from the combine 100 when the grain temporarily stored in the grain storage tank 110 on the side of the self-driving combine 100 is discharged to the grain storage unit 10 of the ton bar or the grain tank. It functions to cause the grain to be input to the grain storage section 10 of the ton stand or the grain tank.

At this time, the grain inlet 160 is equipped with a GPS 170 for grain discharging to share the discharge position of the grain in real time in order to reduce the loss when discharging the grain and to process the discharge on the correct position.

Here, it is preferable that the grain inlet 160 incorporating the GPS 170 for grain ejection is provided to be more easily recognized by the imaging unit 140.

To this end, the grain inlet 160 incorporating the GPS 170 for discharging the grain is provided to enable easier recognition through learning using a deep learning system in the controller 150, and is made of a specific saturation and shape. To lose.

On the other hand, the overall operation of the grain discharging auxiliary device of the self-driving combine according to the present invention having the above-described configuration and the control algorithm for grain discharging on the control side are as follows, and will be described with reference to FIG. 4.

In the autonomous driving combine 100 according to the present invention, all operations are performed by automatic control in the control unit 150, and in particular, in relation to grain discharge, it is performed by a pre-programmed control algorithm, according to the pre-loaded programming process. Sequential control is performed.

That is, after harvesting the grain from the autonomous driving combine 100 side, it moves to the grain discharge point and has an operation process for accurately discharging it to the grain storage section 10, such as a ton stand or a grain tank. Explain mainly.

The controller 150 checks whether or not the grain storage tank 110 provided in the autonomous driving combine 100 is full of grains (S10).

If the grain storage tank 110 on the side of the self-driving combine 100 is full of grain, the combine is moved to the grain discharge point (S20).

At this time, the control unit 150 uses the real-time location information data provided by the combiner GPS 130 to accurately move and control the combine to the grain discharge point.

With respect to the combine moved to the grain discharge point, the combine is positioned so that the grain storage portion 10 of the ton stand or the grain tank is located within the rotation radius of the discharge auger tube 120 (S30).

At this time, using the real-time location information data from the GPS 130 for combines and the location information data by the GPS 170 on the side of the grain inlet 160 with a built-in GPS 170 for discharging, the discharge to the combine 100 The combine 100 is positioned to control the position of the grain storage unit 10 of the ton stand or grain tank within the radius of rotation of the auger tube 120.

When the position movement to the grain discharge point for the combine is completed, the grain storage part 10 of the grain discharge point is provided with the vertically arranged grain discharge hole 121 of the discharge auger tube 120 by rotationally controlling the discharge auger tube 120. ) Is placed to match the grain inlet 160 with the GPS 170 disposed on (S40).

At this time, by using the location information data by the GPS 170 side of the grain inlet 160 with a built-in GPS 170 for discharging the grain and the image data provided in real time from the imaging unit 140, the discharge auger tube 120 ) By precisely controlling the rotation and the position of the grain outlet 121 in detail, the grain outlet 121 on the discharge auger pipe 120 is precisely controlled to match the grain inlet 160.

Subsequently, the grain temporarily stored in the grain storage tank 110 is discharged to the outside through the discharge auger tube 120 having the grain outlet 121 from the combine 100 side, and the ton bar or grain through the grain inlet 160 Put into the grain storage section 10 of the tank (S50).

The grain discharge state is checked whether all of the grain discharge is completed from the combine 100 side (S60).

When all of the grain discharge from the combine 100 is completed, the discharge auger pipe 120 having the grain discharge port 121 is returned to the original position (S70).

Here, if the grain discharge is not completed, the process returns to the process of performing the grain discharge (S50).

The combine 100 is moved back from the grain discharge point to the arable land to restart the work.

That is, while repeatedly performing the above-described processes, the operation of discharging and then harvesting grain can be continuously performed.

Accordingly, through the grain discharging auxiliary device of the self-driving combine according to the present invention having the above-described configuration, it is possible to perform a more smooth operation during the discharge operation after harvesting the grain using the self-driving combine, and the driver driving the self-driving combine (Worker) Only one person can perform both the harvesting, threshing and discharging of grains, and can provide the advantage of accurately discharging to the outside without losing grain.

The embodiments described above are merely for explaining preferred embodiments of the present invention and are not limited to these embodiments, and various modifications and variations by those skilled in the art within the technical spirit and claims of the present invention, or It will be said that the substitution of the steps can be made, which will fall within the technical scope of the present invention.

100: self-driving combine 110: grain storage tank
120: discharge auger pipe 121: grain outlet
130: combine GPS 140: imaging unit
150: control unit 160: grain inlet
170: GPS for grain ejection

Claims (6)

After harvesting and threshing grain while autonomously driving through arable land, the selected grains are temporarily stored in the grain storage tank provided in the combine, and when the grain storage tank is full, it moves to the grain discharge point and is moved to the grain discharge point. In the self-driving combine comprising a discharge auger pipe having a grain outlet which is vertically disposed at the end to discharge the temporarily stored grain to the grain tank,
It is mounted on the combine and is provided, and provides real-time location information data to control the combine so that it is located on the side of the ton stand or grain tank at the grain discharge point of the arable land. Dragon GPS;
When discharging the temporarily stored grain on the combine side to the ton stand or the grain tank, the grain discharged from the combine is put into the ton stand or the grain tank, and the grain with GPS for grain discharging to share the discharge position of the grain in real time Inlet;
It is interposed between the discharge auger pipe and the grain outlet arranged vertically at the end thereof, and provides an image through real-time shooting, and adjusts the position of the grain outlet at the side of the discharge auger pipe used for discharging grain through the real-time shooting image. An imaging unit for use in making; And
A control unit for controlling overall grain discharge on the combine side; Including,
The grain inlet with a GPS for discharging the grain,
A device for assisting grain ejection of an autonomous driving combine, provided to be recognized by the imaging unit, and configured to have a specific saturation and shape so as to be learnable using a deep learning system in the control unit.
delete According to claim 1,
The control unit,
a) checking whether the grain storage tank on the combine side is full of grains;
b) if the grain storage tank is full of grain, moving the combine to the grain discharge point;
c) positioning the combine so that the ton bar or grain tank is located within the radius of rotation of the discharge auger pipe for the combine moved to the grain discharge point;
d) a process of rotating the discharge auger pipe to position the grain outlet to match the grain inlet;
e) the process of discharging the grains from the combine side through the discharge auger pipe having a grain outlet to the outside, and putting them into a ton bar or grain tank through the grain inlet;
f) a process of checking whether all of grain discharge from the combine side is completed;
g) when all the grain discharge from the combine is completed, a process of returning the discharge auger pipe having the grain discharge port to its original position;
h) moving the combine to the arable land to restart the operation; Self-driving combines grain ejection aid, characterized in that the program is processed to perform.
According to claim 3,
In b) above,
A device for assisting grain ejection of self-driving combines, characterized by accurately moving and positioning a combine to a grain ejection point using real-time location information data provided by a combine GPS.
According to claim 3,
In the above c),
Using the real-time location information data from the GPS for combines and the location information data from the grain inlet side GPS with built-in GPS for grain discharging, the combine is positioned so that the ton bar or grain tank is located within the rotation radius of the discharge auger tube with respect to the combine. Self-driving combine of grain ejection aid, characterized in that to control.
According to claim 3,
In the above d),
By using the location information data by the GPS on the grain inlet side with a built-in GPS for grain discharging and the image data on the imaging unit side, the rotation control of the discharge auger pipe and the detailed control of the location of the grain outlet allow the grain outlet on the grain side of the discharge auger. Autonomous driving combine, characterized in that the precise position control to match the grain discharge aid.

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