KR102252840B1 - combine - Google Patents

Abstract

By changing the height position of the harvesting portion based on the location information acquired using GPS, it is possible to prevent damage of the harvesting portion, and provides a combine that can improve the ease and efficiency of the harvesting operation. A combine (1) capable of autonomous driving, comprising: a harvesting unit (2) having a divider (23); An elevating cylinder 27 for elevating the harvesting portion with respect to the gas; A gyro sensor 103 for detecting an inclination angle of the body 9; GPS for acquiring position information of the aircraft 9; And a control device 80 for changing the height position of the mowing unit 2 by controlling the lifting cylinder 27 based on the preset packaging information, the recognized position information, and the inclination angle of the aircraft. The pavement information includes information on the travel route of the combine 1 and information on the pavement end.

Description

combine

The present invention relates to a combine having a configuration of acquiring location information using GPS and automatically changing a height position of a front work machine among a combine capable of autonomous driving.

An autonomous work vehicle capable of recording the position of a pavement end based on position information acquired using GPS has been known from the past (see Patent Document 1). As a method of recording the position of the pavement end, the operator moves the autonomous vehicle to the pavement end in advance and then operates the display of the remote control device to store the latitude and longitude information corresponding to the position of the pavement end in the control device. have.

On the other hand, an unmanned control combine that can automatically change the height position of a mowing device as a front working machine has been known from the prior art (Patent Document 2). In the unmanned control combine, an obstacle detection sensor for detecting an obstacle such as a headland or a fence is provided in the grass body of the mowing apparatus. The unmanned control combine raises and lowers the mowing device based on the height of the obstacle and the distance to the obstacle detected by the obstacle detection sensor. Accordingly, the unmanned maneuvering combine can prevent the breakage of the grasshopper, and can harvest the grain by mowing up to near the headland.

However, by changing the height position of the harvesting device (the harvesting unit) based on the position information acquired using GPS, without relying on a sensor such as the obstacle detection sensor described in Patent Document 2, the harvesting unit including the grasshopper is placed on the road surface. There is a need for a combine capable of avoiding collisions and preventing damage to the mowing unit, as well as improving the ease and efficiency of harvesting work.

International Publication No. 2015/118730 Japanese Patent Publication No. 2016-010372

The present invention is to provide a combine capable of preventing damage to the harvesting portion by changing the height position of the harvesting portion based on location information acquired using GPS, and driving the ease and efficiency of harvesting work. The purpose.

The combine of the present invention is a combine capable of autonomous driving, comprising: a harvesting unit having a divider; A driving means for raising and lowering the harvesting unit with respect to the vehicle; An inclination angle sensor that detects an inclination angle of the aircraft; GPS for acquiring the location information of the aircraft; And a control means for changing the height position of the harvesting unit by controlling the driving means based on preset packing information, the recognized position information, and the inclination angle of the aircraft, wherein the packing information is the driving of the combine. Includes route information and pavement information.

In the combine of the present invention, the pavement information includes information of a target point set in advance on the travel path, and the control means sets a deviation point at a predetermined interval from the divider in front of the front end of the divider, and the deviation point It is preferable to change the height position of the mowing unit when the target point and the target point overlap.

In the combine of the present invention, the control means sets a deviation point at a predetermined distance from the divider in front of the front end of the divider, and when the deviation point is located at the pavement end, the height position of the harvesting part is positioned at a predetermined height. It is desirable to raise it to.

In the combine of the present invention, it is preferable that the harvesting unit includes a feeder house, and the control means changes the position of the deviation point according to the position of the feeder house with respect to the vehicle and the traveling speed of the combine.

In the combine of the present invention, the harvesting unit includes a feeder house, and the control means has a constant distance between the road surface of the travel path and the harvesting unit based on the position of the feeder house with respect to the aircraft and the inclination angle of the aircraft. It is preferable to change the height position of the mowing unit so that it is maintained.

In the combine of the present invention, the control means calculates a position of the tip of the divider with respect to the pavement based on the pavement information, the position information, and the inclination angle of the aircraft, and the combine When it is detected that the tip of the divider reaches the pavement end when entering the pavement from, it is preferable to raise the height position of the harvesting part to a predetermined height position.

In the combine of the present invention, the pavement information includes information of a previously performed mowing operation, and the control means moves the height position of the harvesting unit to a predetermined height when the tip of the divider reaches the uncut area of the pavement. It is desirable to lower it.

In the combine of the present invention, the pavement information includes an inclination angle of a slope on the travel path, and the control means is a case where the combine retreats from the pavement to the slope, the deviation point and the slope overlap, the slope It is preferable to change the height position of the cutting unit according to the inclination angle of.

According to the combine of the present invention, since the height position of the harvesting unit is changed based on the location information by GPS without depending on the sensor, it is possible to avoid the harvesting unit colliding with the road surface. Therefore, by changing the height position of the harvesting part based on the location information acquired using GPS, it is possible to prevent damage of the harvesting part and provide a combine that can promote the ease and efficiency of harvesting work. .

According to the combine of the present invention, since the height position of the mowing unit is changed without depending on the inclination angle and running speed of the aircraft, the mowing unit can be avoided from colliding with the road surface. Accordingly, by changing the height position of the harvesting portion based on the location information acquired using GPS, it is possible to prevent damage of the harvesting portion and provide a combine capable of promoting the ease and efficiency of harvesting work.

According to the combine of the present invention, the collision of the tip of the divider when entering the pavement can be more reliably prevented because it does not depend on the inclination angle and the running speed of the aircraft. Therefore, it is possible to prevent damage to the tip of the divider when entering the pavement, and to provide a combine capable of promoting the ease and efficiency of harvesting work.

According to the combine of the present invention, since the height position of the mowing part is changed without depending on the position of the feeder house and the running speed, it is possible to avoid the mowing part colliding with the road surface. Accordingly, by changing the height position of the harvesting portion based on the location information acquired using GPS, it is possible to prevent damage of the harvesting portion and provide a combine capable of promoting the ease and efficiency of harvesting work.

According to the combine of the present invention, even when the gas does not enter the pavement and the divider tip crosses the pavement and enters the pavement, the distance between the road surface and the cutting part is kept constant, so that the collision of the divider tip is prevented and mowing. You can do the job properly. Therefore, it is possible to prevent damage to the tip of the divider when entering the pavement, and to provide a combine capable of promoting the ease and efficiency of harvesting work.

According to the combine of the present invention, when it is detected that the tip of the divider reaches the pavement, the cutting unit automatically rises, so that collision of the tip of the divider when entering the pavement can be prevented. Therefore, it is possible to prevent damage to the tip of the divider when entering the pavement, and to provide a combine capable of promoting the ease and efficiency of harvesting work.

According to the combine of the present invention, it is possible to prevent collision of the tip of the divider when entering the pavement, and to prevent raking of the discharged grain remaining on the ground in the mowing end area. Therefore, it is possible to prevent damage to the tip of the divider when entering the pavement, and to provide a combine capable of promoting the ease and efficiency of harvesting work.

According to the combine of the present invention, since the height position of the harvesting portion is changed according to the inclination angle of the slope, it is possible to avoid colliding the harvesting portion with the slope. Therefore, by changing the height position of the harvesting part based on the location information acquired using GPS, it is possible to prevent damage of the harvesting part and provide a combine that can promote the ease and efficiency of harvesting work. .

1 is an external perspective view of a combine.
FIG. 2 is a view as viewed from an arrow L of FIG. 1.
FIG. 3 is a view as viewed from the arrow R of FIG. 1.
4 is a block diagram showing a control system of a combine.
5 is a block diagram showing a configuration for acquiring position information of a combine.
6A is a diagram showing the concept of pavement information input to the combine, (B) is a diagram showing the pavement indicating information on the inclination angle and one end surface of the ramp, and (C) is a diagram showing the information on the inclination angle. It is a diagram showing another cross section of the pavement and the ramp shown.
7 is a diagram illustrating an example of a travel route included in pavement information.
8 is a diagram illustrating another example of a travel route included in pavement information.
9 is a plan view of a combine showing a detection range by a laser scanner for detecting obstacles around a harvesting portion.
10 is a view showing a combine that enters the pavement by traveling on a slope.
Fig. 11 is a diagram showing a combine for mowing while entering a pavement.
Fig. 12 is a diagram showing a combine traveling in a mowing end area on a pavement.
13 is a diagram showing a combine that has reached an uncut area in a pavement.
Fig. 14 is a diagram showing a combine for mowing in the vicinity of a pavement end.
Fig. 15 is a diagram showing a combine for mowing while leaving the pavement.
Fig. 16 is a diagram showing the combine leaving from the pavement.
Fig. 17 is a diagram showing a combine that leaves the pavement and travels on an incline.

Hereinafter, a combine 1 as an embodiment of the present invention will be described with reference to FIGS. 1, 2 and 3. The combine 1 is an autonomous driving type combine capable of autonomous driving and working, and can drive and work unmanned. That is, the unmanned control type combine 1 is configured to be able to autonomously travel and enter from a slope connected to the pavement in the pavement where the mowing object is located, and also autonomously travel and retreat from the pavement to the outside of the pavement. In addition, the combine 1 is configured to run, rotate and work autonomously within the pavement.

As shown in Fig. 1, the combine 1 mainly includes a running unit 10, a harvesting unit 2, a conveying unit 3, a threshing unit 4, a sorting unit 5, a storage unit 6, and It is composed of a power unit (7). Meanwhile, in FIG. 1, the front and rear directions, the left and right directions, and the up and down directions of the combine 1 are shown. 2 and 3 show the front-rear direction and the vertical direction of the combine 1.

The driving unit 10 is provided under the chassis 13. The traveling unit 10 is composed of a transmission 11 and a crawler type traveling device 12·12. The transmission 11 transmits the rotational power of the engine 71 constituting the power unit 7 to the crawler type traveling device 12·12. The crawler type traveling device 12·12 drives the combine 1 in the front-rear direction. Further, the crawler type traveling device 12·12 rotates the combine 1 in the left-right direction.

The driving unit 10 includes a braking device (not shown). Examples of the braking device include a braking device for braking the operation of the mechanism in the transmission 11 and a braking device for braking the rotation of the crawler type traveling device 12.

The cutting unit 2 is provided in front of the driving unit 10. The mowing unit 2 includes a reel 21, a mowing blade 22, and a divider 23. The reel 21 raises the grain of the pavement. In addition, the reel 21 is configured to be rotatable around a rotation axis in the left-right direction. The blade 22 cuts the grain stem raised by the reel 21. The divider 23 is disposed in front of the blade 22. The divider 23 protrudes from the left and right side walls 25 of the harvesting frame 24 toward the front, thereby forming the front end and the left and right ends of the harvesting portion 2. The cutting unit 2 constitutes a front working machine.

The conveying unit 3 is provided at the rear of the harvesting unit 2. The conveying part 3 includes an auger 31 and a conveyor 32. The auger 31 collects the grain cut by the blade 22 and sends it to the conveyor 32. The conveyor 32 sends the grain stem conveyed by the auger 31 to the threshing part 4.

The threshing part 4 is provided at the rear of the conveyance part 3. The threshing part 4 includes a rotor 41 and a sheave mesh 42. The rotor 41 threshes grains from the grain stem conveyed by the conveying unit 3. Moreover, the rotor 41 conveys a grain stem. The sieve mesh 42 supports the grain stem conveyed by the rotor 41 and sifts the grain through a sieve (falls the grain).

The sorting part 5 is provided below the threshing part 4. The sorting part 5 is comprised of the swinging device 51 and the blowing device 52. The rocking device 51 sifts the threshed material dropped from the sieve mesh 42 and sorts the grains. The blowing device 52 blows away the grain grain debris that has fallen along with the grain or the grain mill debris remaining on the rocking device 51.

The storage part 6 is provided on the side of the threshing part 4 and the sorting part 5. The storage unit 6 is composed of a grain tank 61 and a discharge auger 62. The grain tank 61 stores the grain conveyed from the sorting part 5. The discharge auger 62 is a device used when discharging grains in the grain tank 61.

The power unit 7 is provided below the storage unit 6 (see Fig. 3). The power unit 7 is composed of an engine 71. The engine 71 converts heat energy obtained by burning fuel into rotational power.

The combine 1 has a space for an operator to ride and manipulate. That is, the cabin 8 is provided in front of the grain tank 61. In addition, the combine 1 is provided with an operating tool operated by an operator similarly to the manned-controlled combine. Each component of the combine 1 can be operated autonomously and automatically, in addition to being operated e based on an operation by an operator.

A driver's seat is mounted inside the cabin 8, and a steering handle (not shown) serving as a steering operation means is provided in front of the driver's seat. For example, the number of rotations of the left and right crawler type traveling devices 12·12 is adjusted by operation of the steering handle, and the steering direction of the combine 1 including rotation can be artificially controlled.

The combine 1 constructed in this way acquires its own position information by using a Global Positioning System (GPS). Further, the combine 1 is configured to run and work along a predetermined route based on the respective information by calculating each information of a traveling direction, a traveling speed, and the like based on this positional information.

Next, the configuration of the harvesting unit 2 and the transport unit 3 will be described in more detail.

The conveyor 32 of the conveying part 3 is accommodated in the feeder house 33. The feeder house 33 is connected rotatably with respect to the base 9. The rear end portion of the feeder house 33 is supported on the front portion of the frame member constituting the chassis 13. The front end of the feeder house 33 supports the rear end of the mowing frame 24.

On the other hand, the base body 9 of the combine 1 refers to a part of the combine 1 except for the conveying part 3 and the mowing part 2, and is a part supported by the chassis 13 . The body 9 includes a threshing unit 4, a sorting unit 5, a storage unit 6, a power unit 7 and a cabin 8.

As shown in FIG. 3, one end (front end) of the hydraulic cylinder 34 is supported under the feeder house 33. The other end (rear end) of the hydraulic cylinder 34 is supported by a frame member constituting the chassis 13. As the hydraulic cylinder 34 expands and contracts, the feeder house 33 swings up and down with respect to the base 9, so that the mowing part 2 moves up and down with respect to the base 9. The height positions of the conveying unit 3 including the feeder house 33 and the harvesting unit 2 can be continuously changed from the set lowest position to the highest position.

The reel 21 of the harvesting unit 2 is configured to be movable up and down with respect to the harvesting frame 24. Each arm 26 on the left and right that supports the reel 21 with respect to the mowing frame 24 is supported so as to be able to swing above the mowing frame 24. Between the left and right arms 26 and the side wall 25 of the mowing frame 24, a lifting cylinder 27 for lifting a reel is provided, respectively. One end (upper end) of each lifting cylinder 27 is supported on the rear end of each arm 26, and the other end (lower end) is supported on the side wall 25 of the mowing frame 24.

The arm 26 swings up and down with respect to the mowing frame 24 in accordance with the expansion and contraction of the hydraulically operated lifting cylinder 27, so that the reel 21 moves up and down with respect to the mowing frame 24 together with the arm 26. . The height position of the reel 21 with respect to the mowing frame 24 can be continuously changed from the set lowest position to the highest position.

Meanwhile, although not shown, the combine 1 may include a configuration for moving the reel 21 back and forth with respect to the mowing frame 24. In this case, the arm 26 may be configured to be stretchable, and a hydraulically operated cylinder connected between the mowing frame 24 and the reel 21 may be provided.

As shown in Figs. 1 to 3, the unmanned control type combine 1 is a normal type combine. However, as an embodiment of the present invention, the combine 1 may be a self-removal combine. In the self-removing combine, the harvesting unit 2 is provided with a rolling device, a plurality of grass blades, a cutting blade, a raking device, and a conveying device.

Although not shown, the lifting device is provided with a plurality of other people who cause uncut crops per group. The roll-up device rolls up the grains separated by each group by each branching board. The raking device rakes the root of the grain stem raised by the lifting device. A cutting device including a mowing blade is provided under the raking device. The cutting device cuts the raking grain stem by the raking device.

The conveying device provided in the cutting blade 2 of the cut-off combine is an upper conveying device that grips the ear end of the grain stem, a lower conveying device that grips the bottom east of the grain stem, and a vertical conveying device that inherits the grain stem from the lower conveying device to the threshing part (4). It is composed of a conveying device and a water-based conveying device.

Further, when the combine 1 is a self-release combine, the hydraulic cylinder 34 is connected to the chassis 13 and the frame of the mowing unit 2. Due to the expansion and contraction of the hydraulic cylinder 34, the self-removing combine can change the height position of the mowing unit 2.

Next, the control device 80 of the combine 1 will be described.

In the combine 1, an information network is installed at each point so as to exhibit maximum performance. Specifically, in addition to the power unit 7, each component of the combine 1 constitutes a controller area network CAN that can share information with each other.

As shown in Fig. 4, the control device 80 includes a processing unit 81 made of a microcomputer such as a CPU (Central Processing Unit), and a ROM (Read Only Memory), RAM, a hard disk drive, a flash memory, and the like. It has a storage unit 82. The processing unit 81 can read programs, etc. stored in the ROM onto RAM, and then execute them. Further, the control device 80 controls the operation of various components by executing the control program by the processing unit 81. Specifically, transmission and reception of information at the time of communication, various input/output control, and operation processing control are performed.

The combine 1 is a configuration on the input side of the control device 80, and is an engine speed sensor 101, a travel speed sensor 102, a gyro sensor 103, a direction sensor 104, a steering sensor 105, and a feeder house. An angle sensor 106 and a reel height sensor 107 are provided. Further, the combine 1 includes a laser scanner 108 to be described later.

The engine speed sensor 101 detects the speed of the crankshaft (not shown) of the engine 71. The traveling speed sensor 102 detects the traveling speed of the combine 1. As an inclination angle sensor, the gyro sensor 103 detects the angular velocity of the front and rear inclination (pitch), the angular velocity of the inclination (roll) in the left and right directions, and the angular velocity of the yaw as the displacement of the body 9 of the combine 1. . In this way, the gyro sensor 103 detects the inclination angle θ1 (see Fig. 10) of the road surface at the current position of the combine 1 acquired using GPS.

The orientation sensor 104 detects the traveling direction of the combine 1. The steering sensor 105 detects the steering direction of the combine 1. The feeder house angle sensor 106 detects the angle θ2 (see FIG. 10) of the feeder house 33 with respect to the gas 9. As the angle of the feeder house 33 with respect to the base 9, the amount of elongation of the hydraulic cylinder 34 can be detected. The reel height sensor 107 detects the height position of the reel 21 with respect to the mowing frame 24. As the height position of the reel 21 with respect to the mowing frame 24, the elongation amount of the lifting cylinder 27 can be detected.

As each of these sensors, a sensor having a known configuration can be used. Signals from each sensor are transmitted to the control device 80. Among these information, the control device 80 determines the attitude of the combine 1 (direction, the front and rear directions of the aircraft, and the inclination of the aircraft left and right directions, and the turning direction) based on signals acquired from the gyro sensor 103 and the orientation sensor 104 Recognize by calculating or deriving.

The control device 80 allows the combine 1 to travel on a preset travel route based on a result of calculation, etc., and to allow the combine 1 to perform a predetermined operation within the pavement based on information of a preset operation. Control each configuration. That is, the control device 80 includes a traveling unit 10, a harvesting unit 2, a conveying unit 3, a threshing unit 4, a sorting unit 5, a storage unit 6, and a power unit 7 Control.

At this time, the control device 80 is based on input information (detection information) from the engine speed sensor 101, a temperature sensor, and an oil temperature sensor (all not shown) that detects the state of the engine 71, and the engine 71 ) To control the operating state. In addition, the control device 80 adjusts the height of the mowing unit 2 and the conveying unit 3 to a set height by changing the angle of the feeder house 33, or controlling the height position of the reel 21. Run. In addition, the control device 80 changes the conveying speed in the conveying part 3 along with the change of the mowing speed, or the rotation speed of the rotor 41 of the threshing part 4 according to the processing amount, or the blowing device ( Control of changing the air volume of 52) and the opening degree of the sieve mesh 42 according to the processing amount is executed. In addition, the control device 80 controls the driving unit 10 to change the steering direction based on position information, displacement and orientation information, and pavement information fI (see Fig. 6) to be described later, and the harvesting unit The hydraulic cylinder 34 and the lifting cylinder 27 are controlled so that the height position of (2) and the height position of the reel 21 are changed.

On the other hand, as each set value required for the work performed by the combine 1, the operation of each component is programmed along the travel path or for each driving state. The combine 1 can perform a predetermined operation according to such a program. In addition, in the combine 1, emergency stop, pause, re-launch, change of travel speed, change of engine rotation speed, automatic adjustment of the height position of the mowing unit 2, and conveyance speed of the mowed material required for autonomous driving and work. The setting values for automatic adjustment of the values and the like are previously stored in the storage unit 82.

As shown in FIG. 5, the control device 80 has a communication unit 83. The communication unit 83 has a function of communicating with the external configuration of the combine 1. The control device 80 can communicate with other vehicles such as combines, other vehicles transporting crops, and a portable terminal through the communication unit 83. The control device 80 may be configured so that necessary information is input from the external configuration by reading and interpreting information transmitted from the external configuration, and the program, etc., corresponding to the rewriting of stored information.

Next, a description will be given of how the combine 1 acquires its own location information using GPS.

As shown in Fig. 5, the combine 1 includes a mobile communication unit 91 serving as a mobile station, a mobile GPS antenna 92, and a data receiving antenna 93. In addition, a fixed communication unit 94, a fixed GPS antenna 95, and a data transmission antenna 96 serving as a reference station are arranged in a predetermined position on a pavement such as a headland that does not interfere with work. Phase measurement (relative positioning) is made at both the reference station and the mobile station, and data positioned by the fixed communication unit 94 of the reference station is transferred from the data transmission antenna 96 to the data reception antenna 93 of the combine 1 Is sent.

The mobile GPS antenna 92 arranged in the combine 1 receives signals from GPS satellites 90·90... This signal is transmitted to the mobile communication device 91 and positioned. At the same time, the fixed GPS antenna 95 serving as the reference station receives signals from the GPS satellites 90·90... The data positioned by the fixed communication unit 94 is transmitted from the data transmission antenna 96 to the mobile communication unit 91 through the data receiving antenna 93. In the mobile communication unit 91 of the combine 1, the observed data is analyzed and the position of the mobile station is determined. The positional information thus obtained is transmitted to the control device 80 of the combine 1.

In this way, based on the signal transmitted from the GPS satellites 90·90..., the location information of the combine 1 is acquired by the mobile communication device 91 at set time intervals, and the gyro sensor 103 and the orientation sensor ( From 104), displacement information and orientation information of the combine 1 are detected.

The control device 80 of the combine 1 is based on these location information, displacement information, and bearing information, such as the travel unit 10 and the power unit 7 so that the combine 1 travels along a preset travel path. Control each configuration. In addition, the combine 1 can perform a predetermined task set along the driving route according to the current position, or perform a task set for each driving state of the combine 1, as the control device 80 recognizes the location information. have.

On the other hand, each set value is made different for each of two or more types of mowing targets such as rice or beans. That is, each setting value may be different for each mowing target. Alternatively, the control device 80 of the combine 1 may store a reference setting value in advance and use each setting value corrected according to the type of the object to be harvested for the reference setting for the mowing operation.

Next, the packaging information fI input in advance into the control device 80 of the combine 1 will be described. 6 shows an example of the packaging information fI. As shown in Fig. 6A, the packaging information fI is configured in a map shape.

As the packaging information fI, positional information (map information) of the outer periphery of the packaging F serving as the work range is set in advance. The outer periphery of the packaging (F) is designated as the packaging end (E) on a map that has been converted into data by the operator checking the packaging (F) with the naked eye or the like in advance. Alternatively, it is possible to adopt a method that replaces the naked eye by using satellite photographs or drones.

In addition, as shown in Figs. 6B and 6C, the information on the inclination angle of the slope SL outside the pavement E and the information on the slope in the pavement F are maps. It is input for each block of information (a grid in Fig. 6A), that is, for each point of map information. In this way, the pavement information fI is constituted by three-dimensional map information.

The inclined surface in the pavement F is a surface of a portion inclined with respect to the horizontal direction in the pavement F. The packaging F of this example is formed by a substantially horizontal plane, as shown in Figs. 6B and 6C. On the other hand, the ramp SL is a road surface positioned outside the pavement end E, and is a connection path connected to the pavement F.

The pavement information fI includes information on the travel route. 7 shows an example of a travel route.

As shown in Fig. 7, the travel route corresponds to map information as pavement information fI. The set travel path includes a path entering the pavement F through the slope SL, a path for driving and working within the pavement F, and a path retreating from the pavement F to the slope SL. A path entering the pavement F through the slope SL and a path retreating from the pavement F to the slope SL are set as a path crossing the pavement end E. Accordingly, as will be described later, the control device 80 of the combine 1 uses the location information acquired using the packaging information (fI, GPS) and the information of the inclination angle detected by the gyro sensor 103. Thus, the position of the pavement end E on the driving route can be recognized.

According to the travel path shown in FIG. 7, the combine 1 travels on the slope SL, passes through the side (lower side in the drawing) of the predetermined pavement end E, and enters the pavement F. The combine 1 performs a mowing operation while turning to the left toward the center of the pavement F while traveling straight in the pavement F. Then, the combine (1) leaves the pavement (F) from the vicinity of the entered pavement end (E).

On the other hand, depending on the environment such as the shape of the pavement, a different travel path may be set for each pavement. 8 shows another example of the travel route.

The travel route shown in FIG. 8 is a route set for another pavement Fo. This traveling route is set so that the combine 1 performs traveling and mowing work within the pavement Fo in the order of numbers in a circle. The path through which the combine 1 mowing is performed is indicated by a straight arrow in the drawing. The route on which the numbers from 1 to 10 are recorded is a route for mowing in the pavement Fo and is a route in which the combine 1 travels in order. A path in which the combine 1 only travels without mowing is indicated by an arrow in a dashed-dotted line in the drawing. According to the travel path set in this way, the combine 1 moves in a spiral shape while following the pavement Fo and the two slopes SL around it in the order of 1 to 10 in the drawing.

The combine 1 travels on the slope SL, passes one of the sides of the two pavement ends E (the lower part in the drawing) and enters the pavement Fo. In addition, the combine 1 performs mowing while driving straight through the inside of the pavement Fo between the sides of the two paving ends E, and the pavement (Fo) from the paving end E of the other (upper in the drawing) ). Then, after rotating 90° to the left on the slope SL, it moves along the side of the other pavement end E, rotates 90° to the left again, and then drives the slope SL toward the pavement Fo. Then, the other pavement end (E) enters the pavement (Fo) again, runs straight toward the one pavement end (E), mowing work is carried out, and the pavement (Fo) is carried out from the one pavement end (E). ). Then, after rotating 90° to the left on the slope SL, it moves along the side of one pavement end E, rotates 90° to the left again, and then drives the slope SL toward the pavement Fo. When the combine 1 next enters into the pavement Fo from one pavement end E, it travels just to the left of the trajectory which passed first. Further, when the combine 1 next enters the pavement Fo from the other pavement end E, it travels just to the right of the trajectory that passed first.

The characteristic of the pavement (Fo) is that the slope angle of each slope (SL) adjacent to the sides of the two paving ends (E) facing each other is very gentle, and this slope (SL) has a space for the rotation of the combine (1). It is largely included. A vehicle (carrying vehicle) carrying the harvested grain is parked on the roadway adjacent to this slope SL. In addition, the yield per package Fo exceeds the capacity of the grain tank 61 (see Fig. 1). Therefore, it is necessary for the combine 1 to temporarily stop the mowing operation before the grain tank 61 is full while the mowing operation is being carried out in the pavement Fo.

However, the combine 1 performs a mowing operation between one side of the pavement Fo and the side of the other pavement end E, and then, on the slope SL other than the pavement Fo, establishes a roadway for the transport vehicle to wait. You can move to the next mowing route accordingly. Therefore, when the harvest is close to the upper limit of the grain tank 61, the mowing operation is carried out to the paving end (E) and then withdrawn from the paving (Fo), and then the slope (SL) is driven to the position where the transport vehicle is waiting, Grain can be discharged from the grain tank 61. That is, since the combine 1 can discharge grains in the vicinity of the position where the mowing operation is stopped, the efficiency of the mowing operation can be improved.

On the other hand, in the traveling route shown in FIG. 8, the combine 1 does not rise on the slope SL every time until the harvest amount approaches the upper limit of the grain tank 61, and is 90° left in front of the pavement end E. It may be set to rotate to and move along the sides of each of the two pavement ends E in the pavement Fo to the path for mowing in which the following number is recorded. According to this path, since the distance traveled by the combine 1 sitting on the slope SL is omitted, the efficiency of the mowing operation can be further improved.

As shown in Figs. 7 and 8, the travel path of the combine 1 is set in a counterclockwise direction from a line of sight looking down on the pavement from above. That is, the combine 1 performs mowing while turning to the left. Therefore, the right side of the combine 1 running in the pavement F·Fo corresponds to the side where the mowing is finished. The combine 1 is provided with a configuration for detecting an obstacle inclined toward the end of the mowing. The configuration or method for detecting such an obstacle is not limited to the following laser scanner 108, and may be detection using a millimeter wave radar, or may be performed by image processing using a camera or the like.

As shown in Fig. 9, the combine 1 includes a laser scanner 108. The laser scanner 108 irradiates a laser around the harvesting unit 2. The laser scanner 108 is provided below the cabin 8. The cabin 8 is located on the right side of the body 9 of the combine 1. Therefore, the laser irradiation range from the laser scanner 108 is skewed to the right side of the harvesting unit 2.

Specifically, the center of the irradiation range of the laser scanner 108, that is, the installation position of the laser scanner 108 is to the right of the center position C of the harvesting portion 2. The irradiation range (angle) of the laser from the laser scanner 108 is set to 90° forward with the installation position as the center. Therefore, the right part of the harvesting part 2 converges to the irradiation range in a wider range than the left part. In this way, the irradiation range of the laser is skewed toward the end of the mowing.

For work in the pavement (F·Fo), there may be many cases where people enter the side where the mowing is finished. The combine (1) is configured so that the laser is irradiated on the right side of the harvesting unit (2) in case a person enters the side where the harvesting is finished. In addition, most of the road surface is exposed by the mowing object in the part where the mowing is finished in the pavement F·Fo. Since it is difficult to block irradiation of the laser to the end portion of the harvesting, it is possible to easily detect obstacles such as humans and animals on the side where the harvesting is completed, that is, the right portion of the harvesting unit 2 and the right side thereof.

Next, the control performed by the control device 80 when the combine 1 enters the pavement F1 will be described with reference to FIGS. 10 and 11.

As shown in FIG. 10, a case where the combine 1 travels on the slope SL connected to the pavement F1 and enters the pavement F1 will be described. The combine 1 starts an operation for mowing while traveling on the slope SL toward the pavement F1. Specifically, the rotation of the reel 21, the operation of the blade 22, the drive of the conveyor 32 (all see Fig. 1), and the like are started.

The combine 1 acquires its own location information inside and outside the pavement F1 at predetermined times by using GPS. In addition, the gyro sensor 103 (refer to FIG. 4) of the combine 1 detects the inclination angle θ1 of the current position of the combine 1 among the slopes SL. In addition, as described above, in the storage unit 82 (refer to FIG. 4) of the control device 80, packaging information fI including information on the travel route and information on the pavement end E is stored as described above. It has been entered in advance. Then, the combine 1 enters the pavement F1 while driving along the travel path set in the pavement information fI.

The combine 1 can recognize the current position inside and outside the package F1 based on the acquired positional information. With respect to the positional information acquired by the combine 1, the position of the data receiving antenna 93 (see Fig. 1) of the combine 1 corresponds to the current position. Further, with respect to the acquired positional information, the position of the divider tip 23T is moved forward by a predetermined distance. Therefore, this predetermined distance information, that is, dimension information of a predetermined distance from the position of the data receiving antenna 93 to the position of the divider tip 23T, is previously stored in the storage unit 82 of the control device 80. . As a predetermined distance indicating the position of the divider tip 23T, a value corresponding to the angle θ2 of the feeder house 33 with respect to the base 9 is previously stored. In addition, as a value indicating the height position of the divider tip 23T, a value corresponding to the angle θ2 of the feeder house 33 with respect to the base 9 is previously stored.

In addition, with respect to the acquired positional information, the deviation point D is set at a predetermined interval Lf ahead of the divider tip 23T. Information of the deviation point D, that is, information of a predetermined distance Lf from the divider tip 23T to the front, is previously stored in the storage unit 82 of the control device 80. In this way, the deviation point D is set at a position further from the base 9 than the position of the divider tip 23T.

In this way, the combine 1 is detected by the gyro sensor 103, the pavement information fI including information of the preset travel route and the information of the pavement end E, the location information acquired using GPS, and the gyro sensor 103 The position of the divider tip 23T of the cutting unit 2 with respect to the pavement end E is recognized using the information of the inclination angle θ1.

In addition, when the combine 1 recognizes that the deviation point D overlaps the pavement end E, the height position of the harvesting unit 2 is raised. Accordingly, the combine 1 can change the height position of the harvesting unit 2 based on location information by GPS without depending on the altitude sensor. The pavement stage E is one of the target points included in the pavement information fI.

On the other hand, when the combine (1) enters the pavement (F1) from the slope (SL) on the driving route, when the divider tip (23T) reaches the pavement (E), the height position of the mowing unit (2) is raised. Can be configured to When the travel speed of the combine 1 is relatively low, etc., the height position of the mowing unit 2 can be effectively changed by such simple and easy control. Accordingly, information previously input to the control device 80 of the combine 1 can be simplified. In this way, when detecting that the divider tip 23T or the deviation point D has reached the pavement end E, the height position of the mowing unit 2 automatically rises, so that the divider tip at the time of entering the pavement (F1) ( 23T) collision can be avoided.

In addition, although the combine 1 is not shown, a ground sensor configured by an ultrasonic sensor or the like may be provided. According to the combine 1 further including such a ground sensor, it is possible to effectively prevent the lower surface of the mowing unit 2 or the divider tip 23T from colliding with the uneven road surface in the slope SL or the pavement F1.

Further, as described above, the feeder house angle sensor 106 (see FIG. 4) detects the angle θ2 of the feeder house 33 with respect to the gas 9. Accordingly, the control device 80 of the combine 1 can acquire the positional information of the feeder house 33 with respect to the base 9. The combine 1 is based on the position information of the feeder house 33 with respect to the aircraft 9 (i.e., the angle θ2) and the information of the inclination angle θ1 detected by the gyro sensor 103, the travel path The height position of the cutting unit 2 is changed so that the distance between the upper road surface and the cutting unit 2 is kept constant.

On the other hand, the distance between the road surface on the driving path and the mowing unit 2 is, for example, the distance between the ground sensor and the road surface described above provided in the mowing unit 2, and the collision between the road surface and the mowing unit 2 is prevented. This is a set interval to avoid. Fig. 11 shows a set distance Hs between the road surface on the travel path and the mowing unit 2.

According to this configuration, as shown in FIG. 11, the combine 1 can enter into the pavement F1 from the slope SL while appropriately mowing the object to be harvested near the pavement end E. That is, even if the aircraft 9 is not entering the pavement (F1), when the divider tip (23T) passes through the pavement (E) and enters the pavement (F1), the collision of the divider tip (23T) is prevented. Mowing work can be properly carried out. As described above, the combine 1 entering the pavement F1 performs a predetermined operation along the travel path under control by the control device 80 afterwards.

Next, the control performed by the control device 80 when the combine 1 runs in the pavement F2 will be described with reference to FIGS. 12 and 13. The packaging (F2) is exemplified as a pavement in which the mowing operation has been carried out until the middle.

First, the control device 80 (refer to FIG. 4) of the combine 1 has information on the mowing operation previously performed. Specifically, the storage unit 82 of the control device 80 is a vehicle that entered the pavement F2 before the combine 1, as information on the travel path of another combine and the work performed along the travel path. It stores information carried out for each location of the route. Alternatively, the storage unit 82 of the control device 80 is information on the travel path of the combine 1 that has previously entered into the pavement F2 and the work performed along the travel path, and is performed for each position of the travel path. Saving information. The storage unit 82 stores the information on the harvesting operation in correspondence with the packaging information fI. In other words, the pavement information fI includes information of the previously performed mowing operation.

The processing unit 81 of the control device 80 reads job information for each position on the travel route, that is, job information performed at the current position on the travel route in which the combine 1 travels. Accordingly, the control device 80 combines the job information read into the pavement information fI including information on the travel route set in the pavement F2, so that the current position is one of the harvesting end area and the non-reaping area. It can be read out by distinguishing whether it is.

As shown in FIG. 12, as a result of the previous mowing operation being carried out to the middle, the pavement F2 is divided into a mowing end area F21 and a non-harvesting area F22. When the combine (1) enters the pavement (F2) from the pavement end (E), without maintaining a constant distance between the road surface and the mowing part 2 on the driving route, the mowing part 2 is set to a predetermined height (H1). ) To raise the height position. The predetermined height (H1) is a predetermined angle (θ2s) of the feeder house 33 with respect to the gas 9, and the reel 21 does not scrape the discharged grains and the discharged grains do not contact the divider 23. It is the height position of the cutting unit 2 set according to the type of. According to this configuration, it is possible to prevent a raking of the discharged grain stem remaining on the ground of the harvesting end area F21, and to prevent a collision of the divider tip 23T when entering the pavement.

And, as shown in Fig. 13, when the divider tip 23T reaches the uncut area F22 of the pavement F2, that is, the boundary point between the harvesting end area F21 and the uncut area F22. When the divider tip 23T reaches (B), the height position of the cutting unit 2 is lowered to a set predetermined height. The boundary point B is one of the target points on the driving route. An example of the predetermined height here is based on the position information of the feeder house 33 with respect to the aircraft 9 (that is, the angle θ2) and the information of the inclination angle θ1 detected by the gyro sensor 103, It is a height position changed so that the distance Hs (refer FIG. 11) between the road surface on the path and the cutting part 2 is kept constant. According to this configuration, after the raking of the discharged grain remaining on the ground in the harvesting end area F21 is prevented, the combine 1 can properly mowing from the beginning of the uncut area F22. . In this way, the combine 1 that has reached the uncut area F22 of the pavement F2 then performs a predetermined operation along the travel path under control by the control device 80.

Next, the control performed by the control device 80 when the combine 1 mows in the pavement F3 will be described with reference to FIG. 14. As shown in Fig. 14, a description will be given of the combine 1 for mowing in the vicinity of the paving end E in the paving F3.

As described above, the control device 80 (refer to FIG. 4) of the combine 1 includes the information of the paving end E and the information of the inclined surface in the paving F ( B) and Fig. 6(C)). Alternatively, information on the inclination angle of the slope SL that has passed when the combine 1 enters the pavement F3 and information on the slope of the travel path that has passed to the current position are the gyro sensor 103 (see Fig. 4). It is stored in the storage unit 82 as packaging information fI based on the detection result by. The slope angle information of the slope SL and the slope information of the travel route stored in the storage unit 82 correspond to each position on the map information in the pavement information fI.

The combine 1 is based on the packing information fI including each of the above-described information, location information acquired using GPS, and information of the inclination angle θ1 detected by the gyro sensor 103, the tip of the divider. After calculating the position of 23T and the position of the deviation point D, the position of the deviation point D can be recognized. And, as shown in FIG. 14, when the combine 1 recognizes that the deviation point D overlaps with the paving end E as a target point, the height position of the harvesting part 2 is changed. According to this configuration, even if a situation occurs in which the deviation point D exceeds the pavement end E while the divider tip 23T remains inside the pavement end E, collision of the divider tip 23T is prevented. Together, we can properly perform mowing work. Specifically, the combine 1 can mow the mowing object in the vicinity of the pavement end E in the same manner as other mowing targets in the pavement F3.

As described above, the combine 1 is based on the packaging information fI including each of the above-described information, location information acquired using GPS, and information of the inclination angle θ1 detected by the gyro sensor 103, Change the height position of the cutting part (2). In this case, the ascent amount (Mi) of the mowing unit 2 considers the information of the slope in the pavement (F) from the height position for the mowing operation set according to the type of the mowing object and the loaming state of the mowing object. Is calculated.

Further, as described above, the travel speed sensor 102 (see FIG. 4) detects the travel speed of the combine 1. The combine 1 changes the position of the deviation point D according to the position information (ie, angle θ2) of the feeder house 33 with respect to the body 9 and the running speed. Further, in this case, the speed of changing the height position of the harvesting unit 2 is changed.

For example, if the angle of the feeder house 33 with respect to the aircraft 9 is smaller than the set predetermined angle, by setting the deviation point D further forward, the combine 1 is moved from a position farther from the target point. Raise (2), and/or raise the mowing part 2 at a faster speed. When the angle of the feeder house 33 with respect to the base 9 is larger than the set predetermined angle, by setting the deviation point D to the rear, the combine 1 moves the mowing part 2 from a position closer to the target point. And/or raising the mowing section 2 at a slower speed. On the other hand, when the running speed is higher than the set predetermined speed, the combine (1) sets the deviation point (D) more forward, thereby raising the mowing unit 2 at a position farther from the target point, and/or faster Raise the mowing unit 2 at a speed. When the running speed is lower than the set predetermined speed, by setting the deviation point (D) to the rear, the combine (1) raises the mowing unit (2) from a nearby position by the slope (SL), and/or is slower. Raise the mowing unit 2 at a speed. According to this configuration, the combine 1 does not depend on the position and running speed of the feeder house 33, no mowing residue is generated, and the mowing operation can be properly carried out, and the combine 1 is moved to the road surface of the divider tip 23T. Can prevent collisions.

Next, the control performed by the control device 80 when the combine 1 retreats out of the package will be described with reference to FIGS. 15, 16 and 17.

As in the description using FIG. 14, the control device 80 (refer to FIG. 4) of the combine 1 receives the pavement information fI including information on the pavement end E and information on the inclined surface in the pavement F4. Have. In particular, when the travel path on the slope SL that is driven when retreating from the pavement (F4) is used, and the travel path on the slope (SL) traveled when entering the pavement (F4) is used, the combine 1 is memorized. Information of the inclination angle of the inclined road SL stored in the unit 82 can be effectively used.

First, as shown in FIG. 15, a description will be given of a case where the combine 1 passes through the pavement end E and retreats to the ramp SL while mowing in the pavement F4. In this case, the combine (1) is based on the packaging information (fI) including each of the above-described information, the location information acquired using GPS, and the inclination angle (θ1) information detected by the gyro sensor 103. Thus, after calculating the position of the deviation point D as the position of the divider tip 23T, the position of the deviation point D can be recognized. In addition, when the combine 1 recognizes that the deviation point D overlaps the slope Si of the slope SL outside the pavement end E, the height position of the harvesting portion 2 is changed. According to this configuration, the combine 1 can mow the mowing object in the vicinity of the pavement E, like other mowing objects in the pavement F4, passing through the paving end E and retreating from the paving F4. .

On the other hand, when the combine 1 recognizes that the divider tip 23T has reached the pavement end E when retreating from the pavement F4, the combine 1 may be configured to raise the harvesting part 2.

As shown in FIG. 16, when the combine 1 retreats from the pavement F4 to the slope SL, the height position of the harvesting part 2 is changed according to the slope angle θ3 of the slope SL. The information of the inclination angle θ3 of the slope SL is stored in the storage unit 82 as packaging information fI. According to this configuration, when the combine 1 retreats from the pavement F4, mowing residues do not occur, and the mowing operation can be properly performed, and a collision with the slope SL of the divider tip 23T can be prevented. I can.

In addition, as in the description using FIG. 14, the combine 1 adjusts the height position of the harvester 2 according to the position information (ie, angle θ2) of the feeder house 33 with respect to the body 9 and the running speed. Change the speed to be changed and the position of the deviation point (D).

On the other hand, the control device 80 of the combine 1 can calculate the travel speed of the combine 1 by calculating the movement amount of the combine 1 per unit time based on the acquired positional information.

According to the information of the inclination angle θ3 of the outer slope SL of the pavement end E and the information of the inclined surface within the pavement F4 (approximately 0° in the pavement F4), the combine (1) may maintain the mowing unit 2 at a certain distance Hs with respect to the road surface on the driving path based on the information of the angle θ2 and the information of the inclination angle θ3. When entering the pavement F4 and retreating from the pavement F4, each distance Hs between the road surface on the driving path and the mowing unit 2 may be different from each other. That is, the interval Hs maintained when retreating from the pavement F4 may be larger or smaller than the interval Hs maintained when entering the pavement F4.

In addition, as shown in FIG. 17, even if the inclination angle changes in the middle of the slope SL, the stored pavement information fI contains the inclination angle θ3·θ4 of the slope SL outside the pavement end E. Information is included. As described above, according to the pavement information fI including information of the different inclination angles θ3·θ4, the combine 1 is the inclination angle θ3·θ4 of the inclined road SL when traveling on the inclined road SL. According to the height position of the cutting unit 2 can be changed. Therefore, the height position of the mowing part 2 and the conveying part 3 does not increase more than necessary with respect to the inclination angle of the road surface on the traveling route, or the mowing part 2 does not collide with the road surface, and the combine 1 is You can safely withdraw from the packaging (F4).

In this way, when passing through the slope SL and retreating from the pavement F4, the combine 1 includes the pavement information fI including each of the above-described information, the location information acquired using GPS, and the gyro sensor 103 The height position of the harvesting unit 2 is changed based on the information of the inclination angle θ1 detected by.

The present invention can be used for a combine.

1: combine 2: cutting
3: conveying unit 9: gas
23: divider 23T: divider tip
33: feeder house E: pavement

Claims (8)

As a combine capable of autonomous driving,
A harvesting unit having a divider;
Driving means for raising and lowering the harvesting unit with respect to the gas;
An inclination angle sensor that detects an inclination angle of the aircraft;
GPS for acquiring the location information of the aircraft; And
And a control means for changing the height position of the harvesting unit by controlling the driving means based on the set packaging information, the recognized position information, and the inclination angle of the aircraft,
The pavement information includes information on a target point set in a driving route,
The control means sets a deviation point at a predetermined distance from the divider in front of the tip of the divider, and changes the height position of the harvesting part when the deviation point and the target point overlap,
The harvesting unit is provided with a feeder house,
The control means changes the position of the deviation point according to the position of the feeder house with respect to the body and the traveling speed of the combine. As a combine capable of autonomous driving,
A harvesting unit having a divider;
Driving means for raising and lowering the harvesting unit with respect to the gas;
An inclination angle sensor that detects an inclination angle of the aircraft;
GPS for acquiring the location information of the aircraft; And
And a control means for changing the height position of the harvesting unit by controlling the driving means based on the set packaging information, the recognized position information, and the inclination angle of the aircraft,
The control means calculates a position of the tip of the divider with respect to the pavement end based on the pavement information, the position information, and the inclination angle of the body, and the divider when the combine enters the pavement from the slope on the travel path. When detecting that the tip reaches the paving end, the combine to raise the height position of the harvesting portion to a predetermined height position. As a combine capable of autonomous driving,
A harvesting unit having a divider;
Driving means for raising and lowering the harvesting unit with respect to the gas;
An inclination angle sensor that detects an inclination angle of the aircraft;
GPS for acquiring the location information of the aircraft; And
And a control means for changing the height position of the harvesting unit by controlling the driving means based on the set packaging information, the recognized position information, and the inclination angle of the aircraft,
The pavement information includes information on a target point set in a driving route,
The control means sets a deviation point at a predetermined distance from the divider in front of the tip of the divider, and changes the height position of the harvesting part when the deviation point and the target point overlap,
The pavement information includes an inclination angle of the slope on the driving route,
The control means is configured to change the height position of the mowing part according to the inclination angle of the incline when the combine is retracted from the pavement to the inclined road, when the deviation point and the inclined road overlap. The method of claim 3,
When the deviation point is located on the pavement end, the combine to raise the height position of the harvesting portion to a predetermined height position. The method of claim 3,
The harvesting unit is provided with a feeder house,
The control means changes the height position of the harvesting portion so that the distance between the road surface of the travel path and the harvesting portion is kept constant based on the position of the feeder house with respect to the vehicle and the inclination angle of the vehicle. The method of claim 2,
The packaging information includes information on the previously performed mowing operation,
The control means lowers the height position of the harvesting portion to a predetermined height when the tip of the divider reaches the uncut area of the pavement. delete delete

Images