KR102394967B1 - Combine harvester - Google Patents

Abstract

By changing the height position of the mowing unit based on the position information acquired using GPS, while being able to prevent damage to the mowing unit, it provides a combine that can promote the ease and efficiency of mowing operations. As a combine (1) capable of autonomous driving, a harvesting unit (2) having a divider (23); Elevating cylinder 27 for elevating the harvesting unit 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 harvesting unit 2 by controlling the lifting cylinder 27 based on the preset pavement information, the recognized position information, and the inclination angle of the aircraft. The pavement information includes information of the travel route of the combine 1 and information of the pavement end.

Description

Combine {COMBINE HARVESTER}

The present invention relates to a combine having a configuration for acquiring position information using GPS and automatically changing the height position of the front working machine among the 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 is conventionally known (refer to Patent Document 1). As a method of recording the position of the pavement, the operator moves the autonomous work vehicle to the pavement 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 in the control device. there is.

On the other hand, the unmanned control combine which can change the height position of the mowing apparatus as a front working machine automatically is conventionally well-known (patent document 2). In the unmanned control combine, an obstacle detection sensor for detecting an obstacle such as a headgear or a wall is provided in the mowing body of the mowing device. 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 control combine can prevent the breakage of the weeding body, and can be harvested by mowing the grain stem to the vicinity of the head.

However, by changing the height position of the mowing device (mowing part) based on the positional information acquired using GPS without relying on a sensor like the obstacle detection sensor described in patent document 2, the mowing part containing a mowing body is on the road surface While avoiding a collision and being able to prevent damage to the harvesting part, the combine which can promote the ease and efficiency of a harvesting operation is calculated|required.

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

The present invention is to provide a combine that can prevent damage to the mowing unit by changing the height position of the mowing unit on the basis of the position information obtained using the GPS, and that can model the ease and efficiency of the harvesting operation The purpose.

The combine of the present invention is a combine capable of autonomous driving, a harvesting unit having a divider; a drive means for elevating the harvesting unit with respect to the gas; an inclination angle sensor detecting an inclination angle of the gas; GPS for acquiring position information of the aircraft; And based on the preset pavement information, the recognized position information and the inclination angle of the body, comprising a control unit for controlling the driving unit to change the height position of the harvesting unit, the pavement information is the travel of the combine Includes route information and packaging information.

In the combine of the present invention, the pavement information includes information on a target point preset in the travel route, and the control means sets a deviation point at a predetermined distance from the divider in front of the tip of the divider, and the deviation point And it is preferable to change the height position of the harvesting portion when the target point overlaps.

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 tip of the divider, and sets the height position of the mowing part when the deviation point is located at the pavement end at a predetermined height position It is preferable to increase 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 running speed of the combine and the position of the feeder house with respect to the gas.

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

In the combine of the present invention, the control means calculates the 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 combine is a slope on the travel path When it is detected that the tip of the divider reaches the pavement when entering the pavement from, it is preferable to raise the height position of the mowing part to a predetermined height position.

In the combine of the present invention, the pavement information includes information of the mowing operation performed previously, and the control means sets the height of the mowing unit to a predetermined height when the tip of the divider arrives at the unswept area of the pavement. It is preferable to descend.

In the combine of the present invention, the pavement information includes an inclination angle of the ramp on the travel route, and the control means is the ramp when the combine retreats from the pavement to the ramp, the deviation point and the ramp overlap It is preferable to change the height position of the harvesting part according to the inclination angle of the.

According to the combine of this invention, since the height position of a harvesting|reaping part is changed based on the positional information by GPS without dependence on a sensor, it can avoid that a harvesting|reaping part collides with a road surface. Therefore, by changing the height position of the mowing unit based on the position information acquired using GPS, while being able to prevent damage to the mowing unit, it is possible to provide a combine that can achieve the ease and efficiency of the harvesting operation. .

According to the combine of this invention, since the height position of a harvesting|reaping part is changed without depending on the inclination angle and running speed of a body, it can avoid that a harvesting|reaping part collides with a road surface. Therefore, while it is possible to prevent damage to the harvesting unit by changing the height position of the harvesting unit based on the positional information acquired using GPS, it is possible to provide a combine that can promote the ease and efficiency of harvesting work.

According to the combine of the present invention, it is not dependent on the inclination angle and running speed of the aircraft, it is possible to more reliably prevent the collision of the tip of the divider when entering the pavement. Therefore, it is possible to prevent damage to the tip of the divider when entering the packaging, and to provide a combine that can promote the ease and efficiency of the harvesting operation.

According to the combine of this invention, since the height position of a harvesting|reaping part is changed without depending on the position and running speed of a feeder house, it can avoid that a harvesting|reaping part collides with a road surface. Therefore, while it is possible to prevent damage to the harvesting unit by changing the height position of the harvesting unit based on the positional information acquired using GPS, it is possible to provide a combine that can promote the ease and efficiency of harvesting work.

According to the combine of the present invention, even when the body does not enter the pavement and the tip of the divider enters the pavement beyond the pavement, since the distance between the road surface and the mowing part is kept constant, the collision of the tip of the divider is prevented and mowing work can be done properly. Therefore, it is possible to prevent damage to the tip of the divider when entering the packaging, and to provide a combine that can promote the ease and efficiency of the harvesting operation.

According to the combine of the present invention, when detecting that the tip of the divider has reached the edge of the pavement, the harvesting unit automatically rises, so it is possible to prevent the collision of the tip of the divider when entering the pavement. Therefore, it is possible to prevent damage to the tip of the divider when entering the packaging, and to provide a combine that can promote the ease and efficiency of the harvesting operation.

According to the combine of the present invention, while preventing the collision of the tip of the divider when entering the pavement, it is possible to prevent the rake of the discharged grain stem remaining on the ground of the mowing end area. Therefore, it is possible to prevent damage to the tip of the divider when entering the packaging, and to provide a combine that can promote the ease and efficiency of the harvesting operation.

According to the combine of this invention, since the height position of a harvesting part changes according to the inclination angle of a ramp, it can avoid that a harvesting part collides with a ramp. Therefore, by changing the height position of the mowing unit based on the position information acquired using GPS, while being able to prevent damage to the mowing unit, it is possible to provide a combine that can achieve the ease and efficiency of the harvesting operation. .

1 is an external perspective view of a combine.
FIG. 2 is a view viewed from the arrow L of FIG. 1 .
FIG. 3 is a view viewed from the arrow R of FIG. 1 .
4 is a block diagram showing a control system of the combine.
It is a block diagram which shows the structure for acquiring the positional information of a combine.
Figure 6 (A) is a view showing the concept of pavement information input to the combine, (B) is a view showing the one end of the pavement and the ramp showing the information of the inclination angle, (C) is the information of the inclination angle It is a drawing showing the different sections of the pavement and ramps 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.
It is a top view of the combine which shows the detection range by the laser scanner which detects the obstacle around a harvesting part.
10 is a view showing a combine that enters the pavement by driving the slope.
It is a figure which shows the combine which performs a mowing operation while entering a pavement.
It is a figure which shows the combine which drive|works the harvesting|reaping end area in a pavement.
13 is a view showing the combine that reached the uncut area in the pavement.
It is a figure which shows the combine which performs a mowing operation in the vicinity of a pavement end.
It is a figure which shows the combine which performs a mowing operation, exiting from a pavement.
It is a figure which shows the combine which exits from a pavement.
17 is a view showing a combine that leaves the pavement and travels on a slope.

Hereinafter, the combine 1 as embodiment of this invention is demonstrated using FIG. 1, FIG. 2, and FIG. The combine 1 is an autonomous driving type combine capable of autonomous driving and work, and can drive and work unmanned. That is, the unmanned piloted combine 1 can enter the pavement with the mowing object by autonomous driving from the ramp connected to the pavement, and is configured so that it can autonomously travel and withdraw 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 traveling 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). On the other hand, FIG. 1 shows the front-back direction, the left-right direction, and the up-down direction of the combine (1). 2 and 3 show the front-back direction and the up-down direction of the combine 1 .

The traveling part 10 is provided below the chassis 13 . The traveling unit 10 includes 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 makes the combine 1 travel in the front-rear direction. Moreover, the crawler type traveling device 12·12 makes the combine 1 turn in the left-right direction.

The driving unit 10 includes a braking device (not shown). As the braking device, 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 correspond to each other.

The harvesting unit 2 is provided in front of the traveling unit 10 . The cutting unit 2 includes a reel 21 , a blade 22 , and a divider 23 . The reel 21 raises the grain stem of the pavement. In addition, the reel 21 is configured to be rotatable about a rotation axis directed in the left-right direction as a center. 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 is protruding toward the front from the side wall 25 of the right and left of the harvesting|reaping frame 24, and is forming the front end of the harvesting|reaping part 2, and each end of right and left. The harvesting unit 2 constitutes a front working machine.

The conveyance part 3 is provided in the back of the harvesting|reaping part 2 . The conveying unit 3 includes an auger 31 and a conveyor 32 . The auger 31 collects the grain stem 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 in the back of the conveyance part 3 . The threshing unit 4 includes a rotor 41 and a sheave mesh 42 . The rotor 41 threshes a grain from the grain stem conveyed by the conveyance part 3 . Moreover, the rotor 41 conveys a grain stem. The sieve mesh 42 sieves a grain while supporting the grain stem conveyed by the rotor 41 (it makes a grain fall).

The selection unit 5 is provided below the threshing unit 4 . The sorting part 5 is comprised by the rocking|fluctuation device 51 and the blower device 52. As shown in FIG. The rocking|fluctuation apparatus 51 filters the threshing material which fell from the sieve mesh 42, and selects a grain. The blower 52 blows away the grain stem waste which fell with a grain, and the grain stem waste which remained on the rocking|fluctuation apparatus 51. As shown in FIG.

The storage unit 6 is provided on the side of the threshing unit 4 and the sorting unit 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 an apparatus used when discharging the 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 constituted by an engine 71 . The engine 71 converts thermal energy obtained by burning fuel into rotational power.

The combine 1 has a space for an operator to board and control. That is, the cabin 8 is provided in front of the grain tank 61 . Moreover, the combine 1 is provided with the operation tool operated by an operator similarly to a manned control type combine. Each component of the combine 1 can be operated based on the operation by the operator in addition to the automatic operation autonomously and automatically.

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, by operation of this steering wheel, each rotation speed of the crawler type traveling apparatus 12·12 on the left and right is adjusted, and the steering direction of the combine 1 including rotation can be artificially controlled.

The combine 1 configured in this way acquires its own position information by using a GPS (Global Positioning System). Moreover, the combine 1 is comprised so that it may travel along a predetermined route based on these information by calculating each information of a traveling direction, traveling speed, etc. based on this positional information, and work|work.

Next, the structure of the harvesting|reaping part 2 and the conveyance part 3 is demonstrated in more detail.

The conveyor 32 of the conveying unit 3 is accommodated in the feeder house 33 . The feeder house 33 is rotatably connected with respect to the base body 9 . A rear end of the feeder house 33 is supported by a front portion of a frame member constituting the chassis 13 . The front end of the feeder house 33 supports the rear end of the harvesting frame 24 .

On the other hand, the base 9 of the combine 1 refers to a site excluding the conveying unit 3 and the harvesting unit 2 among each configuration of the combine 1 , and is a site supported by the chassis 13 . . The base 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 . When the feeder house 33 swings up and down with respect to the base|substrate 9 with expansion-contraction of the hydraulic cylinder 34, the harvesting part 2 moves up and down with respect to the base|substrate 9. The height position of the conveyance part 3 containing the feeder house 33 and the harvesting part 2 is continuously changeable from the set lowest position to the highest position.

The reel 21 of the harvesting|reaping part 2 is comprised so that vertical movement is possible with respect to the harvesting|reaping frame 24. Each arm 26 on either side which supports the reel 21 with respect to the harvesting|reaping frame 24 is swingably supported by the upper part of the harvesting|reaping frame 24. Between each arm 26 on either side and the side wall 25 of the harvesting|reaping frame 24, the raising/lowering cylinder 27 for reel raising/lowering is provided, respectively. One end (upper end) of each lifting cylinder 27 is supported by the rear end of each arm 26 , and the other end (lower end) is supported by the side wall 25 of the harvesting frame 24 .

When the arm 26 swings up and down with respect to the harvesting frame 24 according to the expansion and contraction of the hydraulically operated lifting cylinder 27, the reel 21 moves up and down with respect to the harvesting frame 24 together with the arm 26. . The height position of the reel 21 with respect to the mowing frame 24 is continuously changeable from the set lowest position to the highest position.

On the other hand, 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 telescopic, and a hydraulically operated cylinder connected between the harvesting frame 24 and the reel 21 may be provided.

As shown in Figures 1 to 3, the unmanned steerable combine (1) is a normal combine. However, as an embodiment of the present invention, the combine 1 may be a self-extracting combine. In a scraping-type combine, the harvesting|reaping part 2 is equipped with a lifting device, a some dusting board, a cutting blade, a rake|raking apparatus, and a conveyance apparatus.

Although not shown in figure, the lifting device is equipped with the some raising tine which raises an uncut grain stem for every set. The lifting device lifts up the grain stems separated by each set by each division board. The rake device rakes the stem of the grain stem raised by the lifting device. A cutting device including a blade is provided below the rake device. The cutting device cuts the grain stem raked by the rake device.

The conveying apparatus provided on the cutting edge 2 of the threshing type combine is the upper conveying apparatus which grips the tip of a grain stem, the lower conveying apparatus which grips the bottom of a grain stem, The vertical which succeeds a grain stem from a lower conveying apparatus to the threshing part 4 It is comprised by a conveying apparatus and a water system conveying apparatus.

In addition, when the combine 1 is a self-removing type combine, the hydraulic cylinder 34 is connected to the chassis 13 and the frame of the harvesting part 2 . By expansion and contraction of the hydraulic cylinder 34 , the self-deleting combine can change the height position of the harvesting part 2 .

Next, the control apparatus 80 of the combine 1 is demonstrated.

In the combine 1, an information network is installed at each point so that the maximum performance can be exhibited. Specifically, each configuration of the combine 1 other than the power unit 7 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 Read Only Memory (ROM), RAM, hard disk drive, flash memory, etc. It has a storage unit 82 . The processing unit 81 may read a program stored in the ROM into the RAM and then execute it. Further, in the control device 80, the processing unit 81 executes the control program to control the operation of various components. Specifically, transmission/reception of information during communication, various input/output control, arithmetic processing control, and the like are performed.

The combine 1 is a configuration on the input side of the control device 80 , and includes an engine speed sensor 101 , a traveling 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. In addition, the combine 1 is provided with a laser scanner 108 to be described later.

The engine rotation speed sensor 101 detects the rotation speed of the crankshaft (not shown) of the engine 71 . The traveling speed sensor 102 detects the traveling speed of the combine 1 . The gyro sensor 103 as an inclination angle sensor detects the angular velocity of the front-back direction inclination (pitch), the angular velocity of the left-right direction inclination (roll), and the angular velocity of turning as the displacement of the base 9 of the combine 1. . In this way, the gyro sensor 103 detects the inclination angle θ1 (refer to FIG. 10) of the road surface at the current position of the combine 1 acquired using the GPS.

The orientation sensor 104 detects the advancing 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 of the feeder house 33 with respect to the base 9 (see FIG. 10 ). As the angle of the feeder house 33 with respect to the base 9, the extension amount 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 a height position of the reel 21 with respect to the harvesting|reaping frame 24, the extension amount of the raising/lowering cylinder 27 is detectable.

As each of these sensors, a sensor having a known configuration can be used. A signal from each sensor is transmitted to the control device 80 . The control device 80 selects the posture (direction, inclination of the aircraft front-back direction and the aircraft left-right direction, turning direction) of the combine 1 based on the signals obtained from the gyro sensor 103 and the orientation sensor 104 among such information. Recognize by calculating or deriving.

The control device 80 is configured such that the combine 1 travels along a preset travel route based on the results of calculation, etc., and the combine 1 performs a predetermined operation in the pavement based on the information of the preset operation. Control each configuration. That is, the control device 80 controls the traveling unit 10 , the harvesting unit 2 , the conveying unit 3 , the threshing unit 4 , the sorting unit 5 , the storage unit 6 , and the power unit 7 . control

At this time, the control device 80 controls the engine 71 based on input information (detection information) from the engine speed sensor 101 , a temperature sensor, and an oil temperature sensor (all not shown) that detect the state of the engine 71 . ) to control the operating status of In addition, the control device 80 adjusts the height of the harvesting unit 2 and the conveying unit 3 to a set height by changing the angle of the feeder house 33, or controls to adjust the height position of the reel 21 run Moreover, the control apparatus 80 changes the conveyance speed in the conveyance part 3 with the change of a mowing speed, or changes the rotation speed of the rotor 41 of the threshing part 4 according to a throughput, or a blower ( 52) and control to change the opening degree of the sheave mesh 42 according to the throughput. Moreover, the control apparatus 80 controls the traveling part 10 so that the steering direction may be changed based on the positional information mentioned later, displacement and orientation information, pavement information fI (refer FIG. 6), etc., and a harvesting part 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 operation|work performed by the combine 1, the operation|movement of each structure is programmed along a traveling route or for every traveling state. The combine 1 can perform a predetermined operation according to such a program. Moreover, in the combine 1, the emergency stop required for autonomous driving and work, a temporary stop, a re-start, a change of traveling speed, change of engine speed, automatic adjustment of the height position of the harvesting|reaping part 2, and conveyance speed of a harvesting object A setting value for automatic adjustment of , etc. is stored in the storage unit 82 in advance.

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 is capable of communicating with other vehicles such as combine, other vehicles transporting crops, portable terminals, and the like through the communication unit 83 . The control device 80 may be configured such that necessary information is input from the external configuration by reading and interpreting information transmitted from the external configuration, and a program or the like can respond to rewriting of the stored information.

Next, a method for the combine 1 to acquire its own location information using GPS will be described.

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, the fixed communicator 94 serving as the reference station, the fixed GPS antenna 95, and the data transmission antenna 96 are arranged at a predetermined position where work is not obstructed in a pavement such as a headband. Phase measurement (relative positioning) is performed on both the reference station and the mobile station, and the data positioned by the fixed communicator 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 a signal from the GPS satellites 90·90.... This signal is transmitted to the mobile communicator 91 to be positioned. Then, the fixed GPS antenna 95 serving as a reference station simultaneously receives signals from the GPS satellites 90·90.... Data positioned by the fixed communicator 94 is transmitted from the data transmitting antenna 96 to the mobile communicator 91 through the data receiving antenna 93 . In the mobile communication unit 91 of the combine 1, the observed data is interpreted and the position of the mobile station is determined. The positional information obtained in this way is transmitted to the control device 80 of the combine 1 .

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

The control device 80 of the combine 1 includes the traveling unit 10 and the power unit 7, etc. so that the combine 1 travels along a preset traveling route based on these position information, displacement information and orientation information. Control each configuration. In addition, the combine (1) by the control device 80 by recognizing the location information, to perform a predetermined operation set along the traveling route according to the current location, or to perform the operation set for each driving state of the combine (1) there is.

On the other hand, each set value is made different settings for each of two or more types of mowing objects such as rice or beans. That is, each set value may be different for each mowing object. Or, the control device 80 of the combine 1 can use each set value corrected according to the kind of mowing object with respect to setting of a reference|standard, while storing in advance the setting value used as a reference for mowing work.

Next, the packaging information fI input previously into the control apparatus 80 of the combine 1 is demonstrated. An example of packaging information fI is shown in FIG. As shown in Fig. 6A, the pavement information fI is configured in a map shape.

As the pavement information fI, the positional information (map information) of the outer periphery of the pavement F used as the work range is preset. An operator designates the outer periphery of the pavement F as the pavement end E on the map which has been converted into data by visually inspecting the pavement F in advance. Alternatively, a method instead of the naked eye may be employed by utilizing satellite images, drones, or the like.

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

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

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

7 , the travel route corresponds to the map information as pavement information fI. The set traveling path includes a path entering the pavement F through the ramp SL, a path running and working within the pavement F, and a path retreating from the pavement F to the ramp SL. A path entering the pavement F through the ramp SL and a path retreating from the pavement F to the ramp SL are set as paths intersecting the pavement end E. Accordingly, as will be described later, the control device 80 of the combine 1 uses the position information acquired using the pavement information fI, GPS, and the information of the inclination angle detected by the gyro sensor 103 . Thus, it is possible to recognize the position of the pavement end (E) on the driving route.

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

On the other hand, depending on the environment such as the shape of the pavement, a different travel route may be set for each pavement. Another example of a travel route is shown in FIG.

The travel route shown in FIG. 8 is a route set with respect to the other pavement Fo. This travel route is set so that the combine 1 may drive|work and a mowing operation in the pavement Fo in the order of the number in a circle. The path in which the combine 1 performs a mowing operation is shown by the straight arrow in a figure. The path in which the numbers 1 to 10 are recorded is a path for the combine 1 to travel in order as a mowing path in the pavement Fo. The path in which the combine 1 only travels without performing a mowing operation is shown by the arrow of the dashed-two dotted line in a figure. According to the travel route set in this way, the combine 1 moves spirally while following the pavement Fo and the two ramps SL around it in the order of 1-10 in a figure.

The combine 1 travels on the ramp SL, passes one of the sides of the two pavement ends E (lower side in the drawing), and enters the pavement Fo. In addition, the combine 1 carries out a mowing operation while traveling in a straight line in the pavement Fo between the sides of the two pavement ends E, and from the pavement end E of the other (upper side in the drawing) to the pavement Fo ) out of Then, after turning 90° to the left on the ramp SL, it moves along the side of the other pavement end E, and then rotates 90° to the left again and drives the ramp SL toward the pavement Fo. Then, it re-enters the pavement Fo from the other pavement end E, and mowing is performed while traveling straight toward the one pavement end E, and from the one pavement end E, the pavement Fo ) out of Then, after turning 90° left on the slope SL, it moves along the side of one pavement end E, then rotates 90° to the left again, and then drives the slope SL toward the pavement Fo. When the combine 1 enters in the pavement Fo from the one pavement end E next, it travel|works just left of the trajectory which passed earlier. In addition, when the combine 1 enters into the pavement Fo from the pavement end E of the other side next, it travels just right of the trajectory which passed first.

The characteristic of the pavement Fo is that the inclination angle of each ramp SL adjacent to the sides of the two pavement ends E facing each other is very gentle, and there is space for the rotation of the combine 1 in this ramp SL. largely included. A vehicle (transport vehicle) carrying the harvested grain is parked on the roadway adjacent to this ramp SL. In addition, the yield per one field Fo exceeds the capacity of the grain tank 61 (refer to FIG. 1). Therefore, while the combine 1 is performing a mowing operation within the field Fo, it is necessary to temporarily stop a mowing operation before the grain tank 61 is full.

However, the combine 1 carries out mowing work between the sides of one side of the pavement E and the other side of the pavement Fo, and then, on the ramp SL outside the pavement Fo You can then move to the next mowing path. Therefore, when the yield approaches the upper limit of the grain tank 61, mowing is carried out up to the pavement end E, then withdraws from the pavement Fo, and runs on the ramp SL to the position where the truck waits, A grain can be discharged|emitted from the grain tank 61. That is, since the combine 1 can discharge|emit a grain in the vicinity of the position which interrupted a harvesting operation, efficiency improvement of a harvesting operation can be aimed at.

On the other hand, in the travel route shown in FIG. 8, the combine 1 does not sit on the ramp SL every time until the yield approaches the upper limit of the grain tank 61, and 90° left in front of the pavement end E and may be set to move to the mowing path in which the following number is recorded along the sides of each of the two pavement ends (E) in the pavement (Fo). According to such a route, since the distance that the combine 1 sits on the ramp SL and travels here is omitted, efficiency improvement of a mowing operation can be further aimed at.

7 and 8, the travel path of the combine 1 is set in a counterclockwise direction from the gaze looking down at the pavement from above. That is, the combine 1 performs a mowing operation, turning to the left. Therefore, the right side of the combine 1 which drive|works within the pavement F Fo corresponds to the mowing-finished side. The combine 1 is provided with a configuration for detecting an obstacle biased 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 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 part 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 irradiation range of the laser from the laser scanner 108 inclines to the right side of the harvesting part 2 .

In detail, the center of the irradiation range of the laser scanner 108 , that is, the installation position of the laser scanner 108 is on the right side of the center position C of the harvesting unit 2 . The irradiation range (angle) of the laser from the laser scanner 108 is set at 90 degrees forward with the installation position as the center. Therefore, the right part of the harvesting|reaping part 2 converges to an irradiation range in the range wider than the left part. In this way, the irradiation range of the laser is biased toward the mowing finished side.

About the work in the pavement (F·Fo), there may be many cases where a person enters the side where mowing has been completed. The combine 1 is configured so that a laser is irradiated to the right side of the harvesting unit 2 in preparation for a case where a person enters the mowing end. In addition, most of the road surface is exposed by the mowing object being mowing of the mowing-finished part in pavement F*Fo. Since it is difficult to block the irradiation of the laser to such a mowing end part, obstacles, such as a person and an animal, can be easily detected in the mowing-finished side, ie, the right part of the mowing part 2, and its right side.

Next, when the combine 1 enters into the pavement F1, the control performed by the control apparatus 80 is demonstrated using FIG. 10 and FIG.

As shown in FIG. 10, the combine 1 runs on the ramp SL connected to the pavement F1, and the case where it enters into the pavement F1 is demonstrated. The combine 1 starts an operation for mowing while driving 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 (refer to FIG. 1), etc. are started.

The combine 1 acquires its own location information in and out of the pavement F1 using GPS every predetermined time. 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, the pavement information fI including the information of the travel route and the information of the pavement end E as described above is stored. It has been entered in advance. And, while driving along the driving route set in the pavement information (fI), the combine (1) enters the pavement (F1).

The combine 1 can recognize the current position inside and outside the pavement F1 by the positional information acquired. About the positional information acquired by the combine 1, the position of the data receiving antenna 93 (refer FIG. 1) of the combine 1 corresponds to a current position. Further, with respect to the acquired positional information, the position of the front end of the divider 23T is farther away by a predetermined distance. Therefore, this predetermined distance information, that is, the dimension information of the predetermined distance from the position of the data receiving antenna 93 to the position of the tip 23T of the divider is stored in advance in the storage unit 82 of the control device 80 . . As the 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 stored in advance. 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 stored in advance.

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

In this way, the combine (1) is detected by the pavement information (fI), the position information obtained using the GPS and the gyro sensor (103) including the information of the pavement end (E) and information of the travel route set in advance. The position of the divider tip 23T of the harvesting part 2 with respect to the pavement edge E is recognized using the information of the inclination angle θ1.

And, the combine (1) raises the height position of the harvesting unit (2) when recognizing that the deviation point (D) overlaps with the pavement end (E). Accordingly, the combine 1 can change the height position of the harvesting unit 2 based on location information by GPS without depending on the sensor of the altitude. The pavement end 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 ramp (SL) on the travel path, when the divider tip (23T) reaches the pavement (E), the height position of the mowing part (2) is raised. It can be configured to When the traveling speed of the combine 1 is comparatively low, etc., the height position of the harvesting|reaping part 2 can be changed effectively by such simple and easy control. Accordingly, it is possible to simplify the information previously input to the control device 80 of the combine (1). In this way, when detecting that the divider tip 23T or the deviation point D reaches the pavement end E, the height position of the harvesting part 2 automatically rises, so the divider tip at the time of entering the pavement F1 ( 23T) can prevent collision.

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 comprising such a ground sensor, the lower surface of the harvesting unit (2) or the divider tip (23T) on the uneven road surface in the ramp (SL) or the pavement (F1) can be effectively prevented from colliding.

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 base body 9 . Thereby, the control apparatus 80 of the combine 1 can acquire the positional information of the feeder house 33 with respect to the base|substrate 9. As shown in FIG. The combine 1 is based on the position information (ie, angle θ2) of the feeder house 33 with respect to the aircraft 9 and the information of the inclination angle θ1 detected by the gyro sensor 103, the travel route The height position of the harvesting part 2 is changed so that the distance between the road surface and the harvesting part 2 is kept constant.

On the other hand, the distance between the road surface and the harvesting unit 2 on the travel route referred to herein is, for example, the distance between the ground sensor and the road surface described above provided in the harvesting unit 2, and the collision between the road surface and the harvesting unit 2 is prevented. It is an interval set to avoid. 11 shows the set interval Hs between the road surface on the travel route and the harvesting unit 2 .

According to this structure, as shown in FIG. 11, the combine 1 can enter into the pavement F1 from the ramp SL, mowing appropriately the mowing object in the immediate vicinity of the pavement end E. That is, even if the aircraft 9 does not enter 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 can be performed appropriately. In this way, the combine 1 which entered the pavement F1 performs a predetermined operation along the travel route by control by the control device 80 thereafter.

Next, when the combine 1 travels in the pavement F2, the control which the control apparatus 80 implements is demonstrated using FIG. 12 and FIG. The pavement F2 is illustrated as pavement by which a mowing operation was previously performed to the middle.

First, the control apparatus 80 (refer FIG. 4) of the combine 1 has the information of the mowing operation performed previously. Specifically, the storage unit 82 of the control device 80 is a vehicle that entered the pavement F2 before the combine 1, and as information on the traveling path of another combine and the work performed along the traveling path, driving Information performed for each location of the route is stored. Alternatively, the storage unit 82 of the control device 80 is information of the travel route of the combine 1 that previously entered the pavement F2 and the work performed along the travel route, which is performed at each location of the travel route. storing information. The memory|storage part 82 makes this information of a mowing operation correspond to the field|pavement information fI, and is storing it. In other words, the pavement information fI includes information of the mowing operation performed previously.

The processing unit 81 of the control device 80 reads work information for each location on the travel route, that is, work information performed at the current location on the travel route on which the combine 1 travels. Thereby, the control device 80 combines the work information read out with the pavement information fI including the travel route information set in the pavement F2 so that the current position is any of the mowing end area and the uncultivated area. can be read and distinguished.

As shown in FIG. 12, as a result that the mowing operation was previously carried out to the middle, the pavement F2 is divided into the mowing end area F21 and the non-removing area F22. When the combine (1) enters the pavement (F2) from the pavement end (E), the mowing unit (2) does not maintain a constant distance between the road surface and the mowing unit (2) on the travel path, and is set at 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 base 9, so that the reel 21 does not scrape the discharge grain stem and the discharge grain stem does not contact the divider 23; It is the height position of the harvesting unit (2) set according to the type of. According to this configuration, it is possible to prevent the collision of the divider tip 23T when entering the pavement, while preventing the rake of the discharged grain stem remaining on the ground of the mowing end area F21.

And as shown in FIG. 13, when the divider front-end|tip 23T arrives at the non-removing area|region F22 of the pavement F2, that is, in other words, the boundary point of the harvesting|reaping end area|region F21 and the non-removing area|region F22. When the divider front-end|tip 23T reaches to (B), the height position of the harvesting|reaping part 2 is made to fall to the set predetermined height. The boundary point B is one of the target points on the travel route. An example of the predetermined height here is based on the position information of the feeder house 33 with respect to the body 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) of the road surface on a path and the harvesting part 2 is kept constant. According to such a structure, after preventing rake of the discharge grain stem remaining on the ground of the mowing end area|region F21, the combine 1 can perform a mowing operation appropriately from the beginning end of the non-removing area F22. . In this way, the combine 1 which has reached the non-harvesting area F22 of the pavement F2 performs a predetermined operation along the travel route according to the control by the control device 80 thereafter.

Next, when the combine 1 carries out a mowing operation within the pavement F3, the control which the control apparatus 80 implements is demonstrated using FIG. As shown in FIG. 14, the combine 1 which performs a mowing operation in the vicinity of the pavement end E in the pavement F3 is demonstrated.

As described above, the control device 80 (see Fig. 4) of the combine 1 includes pavement information fI (in Fig. 6 ( B) and (see FIG. 6C)). Alternatively, the inclination angle information of the slope SL passed when the combine 1 enters the pavement F3 and the inclination surface information of the traveling path passing up to the current position are the gyro sensor 103 (refer to FIG. 4 ). It is stored in the memory|storage part 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 location on the map information in the pavement information fI.

The combine 1 is based on the information of the inclination angle θ1 detected by the pavement information fI including each information described above, the position information acquired using GPS and 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, the combine 1 changes the height position of the harvesting part 2 when recognizing that the deviation point D overlaps with the pavement end E as a target point. According to this configuration, even if a situation occurs in which the deviation point (D) crosses the pavement end (E) while the divider tip (23T) remains inside the pavement end (E), the collision of the divider tip (23T) is prevented and We can perform mowing work appropriately together. Specifically, the combine 1 can mowing the mowing object in the vicinity of the pavement end E similarly to other mowing objects in the pavement F3.

In this way, the combine 1 is based on the information of the inclination angle θ1 detected by the pavement information fI including the above-described information, the position information acquired using the GPS and the gyro sensor 103, The height position of the harvesting part 2 is changed. In this case, the ascending amount Mi of the mowing unit 2 considers the information of the slope in the pavement F from the height position for mowing set according to the type of mowing object and the lounging state of the mowing object. is calculated by

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

For example, when the angle of the feeder house 33 with respect to the base 9 is smaller than the set predetermined angle, by setting the deviation point D more forward, the combine 1 is removed from the position farther from the target point. (2) is raised, and/or the harvesting|reaping part (2) is raised 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 more rearward, the combine 1 cuts the mowing part 2 from a position closer to the target point raise, and/or raise the mowing part 2 at a slower speed. On the other hand, when the traveling speed is higher than the set predetermined speed, the combine 1 raises the harvesting unit 2 at a position farther from the target point by setting the deviation point D more forward, and/or faster The harvesting part 2 is raised at speed. When the traveling speed is lower than the set predetermined speed, by setting the deviation point D more rearward, the combine 1 raises the harvesting unit 2 from a nearby position by the slope SL, and/or slower The harvesting part 2 is raised at speed. According to this configuration, the combine 1 does not depend on the position and running speed of the feeder house 33, does not generate mowing residues, and mowing work can be performed appropriately, and on the road surface of the divider tip 23T. collision can be avoided.

Next, when the combine 1 withdraws out of a pavement, the control which the control apparatus 80 implements is demonstrated using FIG. 15, FIG. 16, and FIG.

As in the description using FIG. 14 , the control device 80 (see FIG. 4 ) of the combine 1 includes information on the pavement end E and information on the slope in the pavement F4 pavement information fI. Have. In particular, when using the travel route on the ramp SL traveled when entering the pavement F4 as the travel route on the ramp SL to travel when retreating from the pavement F4, the combine 1 stores Information on the inclination angle of the ramp SL stored in the unit 82 can be effectively used.

First, as shown in Fig. 15, the combine (1) will be described in the case of retreating to the slope (SL) through the pavement end (E) while performing a mowing operation within the pavement (F4). In this case, the combine 1 is based on the pavement information fI including each information described above, the position 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 tip of the divider (23T), the position of the deviation point (D) can be recognized. And, when the combine (1) recognizes that the deviation point (D) overlaps on the slope (Si) of the slope (SL) outside the pavement end (E), the height position of the harvesting unit (2) is changed. According to this configuration, the combine 1 passes the pavement end (E) and retreats from the pavement F4, and the mowing object in the vicinity of the pavement end (E) can be mowinged like other mowing objects in the pavement (F4). .

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

As shown in FIG. 16, when the combine 1 retreats from the pavement F4 to the ramp SL, the height position of the harvesting unit 2 is changed according to the inclination angle θ3 of the ramp SL. Information on the inclination angle θ3 of the ramp SL is stored in the storage unit 82 as pavement information fI. According to this configuration, the combine 1 does not generate mowing residues when withdrawing from the pavement F4 and can properly perform mowing work, and also prevents a collision with the slope SL of the divider tip 23T. can

In addition, similarly to the description using FIG. 14 , the combine 1 is based on the position information (that is, the angle θ2) and the running speed of the feeder house 33 with respect to the base 9, the height position of the harvesting unit 2 Change the changing speed and the position of the deviation point (D).

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

According to the pavement information fI including information of the inclination angle θ3 of the outer ramp SL of the pavement end E and the information of the slope in the pavement F4 (approximately 0° from the pavement F4), the combine In (1), based on the information of the angle θ2 and the information of the inclination angle θ3, the harvesting unit 2 may be maintained at a predetermined interval Hs with respect to the road surface on the travel route. When entering the pavement F4 and when leaving the pavement F4, the respective intervals Hs between the road surface and the mowing part 2 on the driving path may be different from each other. That is, the interval Hs maintained when leaving the pavement F4 may be greater than or smaller than the interval Hs maintained when entering the pavement F4.

In addition, as shown in FIG. 17 , even if the inclination angle is changed on the way in the ramp SL, the stored pavement information fI includes the inclination angle θ3 · θ4 of the ramp SL outside the pavement end E. information is included. In this way, according to the pavement information fI including the information of the different inclination angles θ3·θ4, the combine 1 travels on the slope SL, the slope angle θ3·θ4 of the slope SL. It is possible to change the height position of the harvesting unit 2 according to the. Therefore, the combine 1 does not raise the height position of the harvesting part 2 and the conveyance part 3 more than necessary with respect to the inclination angle of the road surface on the travel route, or the harvesting part 2 does not collide with the road surface. You can safely withdraw from the pavement (F4).

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

This invention can be used for a combine.

1: Combine 2: Yeast
3: Transport section 9: Airframe
23: divider 23T: divider tip
33: feeder house E: packing group

Claims (2)

As a combine having a harvesting unit connected to the body so as to be able to ascend and descend and an inclination angle sensor for detecting the inclination angle of the body, acquiring position information using a satellite positioning system, and capable of autonomous driving,
Based on the information of the pavement information, the position information, and the inclination angle information, including information of the driving route and information of the pavement, changing the height position of the harvesting unit,
With respect to the position information to be acquired, a deviation point is set at a predetermined interval in front of the harvesting unit,
The pavement information includes information on a target point preset on the travel route,
The combine which changes the height position of the said harvesting part, when recognizing that the said deviation point overlaps with the said target point. delete

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