KR20220025701A - Agricultural equipment, automatic driving system, program, recording medium recording the program, and method - Google Patents

Abstract

The agricultural machine includes: a work unit that performs work on planted crops in the field; A traveling path setting unit 64 to set, an automatic traveling control unit 61 that performs automatic traveling control so that the aircraft position follows the traveling path, and a planted crop that detects a crop spacing that is an interval between adjacently planted crops in the working width direction A detection unit 50 and a travel control correction unit 65 for offset-correcting a steering control signal by the automatic travel control unit 61 so that a specific part (divider) of the base body enters between the planted crops is provided.

Description

Agricultural equipment, automatic driving system, program, recording medium recording the program, and method

The present invention relates to an agricultural machine, an automatic driving system, a program, a recording medium recording the program, and a method.

The combine by patent document 1 is equipped with the automatic steering control apparatus. This automatic steering control apparatus detects a non-harvesting grain stem with the steering sensor provided in the front-end|tip vicinity of the planting board (a kind of divider) of a mowing part, and aligns automatically. The steering sensor is composed of a pair of left and right steering sensors composed of a limit switch, and when the left steering sensor is “OFF” and the right steering sensor is “ON”, left-hand turning is performed, and the left steering sensor is “ON” and the right When the steering sensor is "OFF", turning to the right is performed. When both the left steering sensor and the right steering sensor are "OFF" or "ON", it is assumed that the branching body is located in the center of the grain stalk called a row, and a straight travel is performed. By this structure, as for a combine, when a combine reaches a non-harvesting grain stem area by manual operation, automatic steering control is performed so that a grass-threading board may enter between rows approximately next.

Patent Document 2 discloses a travel route generating device that generates a travel route for a paving work vehicle capable of running automatically. This travel route generating device generates a travel route for automatic travel in the pavement based on the handwritten trajectory inputted through the touch panel. As a result, the paving work vehicle can automatically travel along the travel route that matches the user's image. However, in this travel path|route generating apparatus, the relationship between the direction of a grain stem row (coarse), and a travel direction is not considered.

Japanese Patent Laid-Open No. 2003-180130 Japanese Patent Laid-Open No. 2018-093799

Since the combine by patent document 1 is steered-controlled so that a grass cutting board may enter the center of a tidal trough, the problem that a grass cutting board collides with the stem part of an implantation grain stem in the middle of a mowing operation is solved. However, since the steering sensor is configured to detect the displacement of the limit switch due to contact with the stem of the planted grain stem, the detection timing is different depending on the thick or thin stem, and as a result, the steering control becomes inaccurate. there is a problem with

SUMMARY OF THE INVENTION An object of the present invention is to provide an agricultural machine capable of automatically running along a preset travel route while entering a specific site between planted crops.

A first agricultural machine according to the present invention includes a work unit that performs work on planted crops in a field, a gas position calculation unit that calculates a position of a body based on positioning data from a satellite positioning module, and automatically runs the field A traveling path setting unit for setting a traveling path for the planting process, an automatic traveling control unit performing automatic traveling control so that the position of the aircraft follows the traveling path, and an implantation detecting a crop interval that is an interval between the adjacently planted crops in the working width direction a crop detection unit; and a travel control correction unit for offset-correcting a steering control signal by the automatic travel control unit so that a specific portion of the body enters between the planted crops.

According to this structure, since the space|interval of planted crops is detected non-contact by a planted crop detection unit, the space|interval of the planted crops spaced apart from the base|substrate can also be detected quickly. In addition, the travel control correction unit calculates an offset amount required for a specific site to enter between crops, based on the travel path set by the travel path setting unit. That is, since steering control is carried out so that it may follow the travel path used as a control target, as in patent document 1, the steering control stable compared with the form in which a control target responds immediately to the shift|offset|difference with respect to the stem part of one planting grain stem to perform steering control becomes possible.

A second agricultural work machine according to the present invention includes a work unit that performs work on planted crops in a field, a gas position calculation unit that calculates a position of the body based on positioning data from a satellite positioning module, and automatically runs the field A traveling path setting unit for setting a traveling path for the planting process, an automatic traveling control unit performing automatic traveling control so that the position of the aircraft follows the traveling path, and an implantation detecting a crop interval that is an interval between the adjacently planted crops in the working width direction A crop detection unit and a travel control correcting unit for correcting the travel path so that a specific portion of the substrate enters between the planted crops is provided.

This second agricultural work machine differs from the above-described first agricultural machine in the method of correcting the position shift for a specific site to enter between the crops. In the first agricultural machine, the displacement correction is performed by the amount of offset from the travel route as a control standard, whereas in this second agricultural machine, the displacement correction is performed on the travel route itself set by the travel route setting unit. to be corrected (displaced). In this method, since the corrected travel path|route becomes a new travel target, stable steering control is attained compared with the steering control of the combine by patent document 1 similarly to the 1st agricultural work machine mentioned above.

One of the detection methods suitable for non-contact detection of the intervals between planted crops is image recognition of the planted crops using a photographed image. By considering the position of the photographing unit and the photographing angle of view of the photographing unit, the positional relationship between the crop recognized and the specific part in the photographed image can be accurately calculated. From this point of view, in one of the preferred embodiments of the present invention, a photographing unit for photographing the planted crop and outputting a photographed image is provided, and the planted crop detection unit includes the photographed image calculated from the photographed image and the base position. The position of the planted crop is detected based on the position of the photographing unit and the photographing angle of view of the photographing unit. In that case, in order to image|photograph the planted crop ahead of a running direction clearly, it is preferable that an imaging|photography part is arrange|positioned at the front part of a work part.

In order to detect a planted crop using a captured image as input data, image recognition using pattern matching is suitable. However, in recent years, in the field of image recognition, good results have been obtained by using a machine-learned neural network, and by using this, it becomes possible to detect even planted crops and fallen crops in which weeds are mixed. From this fact, in one of the preferred embodiments of the present invention, the planted crop detection unit includes a neural network machine-learned to detect the crop spacing using the captured image as an input image. In addition, by performing epipolar image processing on the photographed image acquired over time, the exact distance from a specific site|part to a planted crop can also be calculated.

Another suitable detection method for non-contact detection of a planted crop is to analyze the propagation time of the reflected beam at each scanning position using a scanning sensor using an ultrasonic beam, a light beam, an electromagnetic wave beam, or the like. Thereby, since three-dimensional point cloud data (also called a radar scan image or a distance image) of the travel front region is generated, the position of the planted crop can be calculated from the three-dimensional point cloud data. From this point, in one of the preferred embodiments of the present invention, the planted crop detection unit is constituted by a scanning sensor using an ultrasonic beam, a light beam, an electromagnetic wave beam, or the like.

The direction in which the planted crops are arranged is one of the important conditions when setting the driving route in the first place. From this point, in one of preferred embodiments of the present invention, a touch panel for displaying the travel route is provided, and the direction in which the planted crops are arranged is manually input using the touch panel. Thereby, a travel route is set on condition of the direction in which planted crops are arranged.

If the work unit is equipped with a divider, it is preferable if the gas is controlled so that the divider enters between the crops. In one preferred embodiment of the present invention, the specific site is a divider provided in the work unit.

When the aircraft is provided with running wheels, it is preferable if the aircraft is controlled so that the running wheels enter between the crops. In one preferred embodiment of the present invention, the specific site is a traveling wheel provided on the base body.

In addition, the automatic travel system according to the present invention provides an agricultural machine having a work unit for performing work on planted crops in a field, and a machine body position calculation for calculating a body position of the agricultural machine based on positioning data from a satellite positioning module a traveling path setting unit for setting a traveling path for automatic work travel performed by the agricultural machine; an automatic travel control unit for automatically operating the agricultural machine such that the aircraft position follows the travel path; and a working width direction. and a planted crop detection unit that detects a crop spacing, which is an interval of the adjacently planted crops, and a steering control signal by the automatic driving controller so that a specific part of the airframe of the agricultural machine enters between the planted crops. and a travel control correction unit.

In addition, the program according to the present invention is a program for an agricultural machine having a satellite positioning module and a working unit that performs an operation on planted crops in the field. A position calculation function, a travel route setting function for setting a travel route for automatically running the pavement, and an automatic travel control function for automatically performing travel control so that the aircraft position follows the travel route, and adjacent in the working width direction A planted crop detection function for detecting the crop spacing, which is the interval between the planted crops, and a driving control correction function for offset-correcting the steering control signal by the automatic driving control unit so that a specific part of the aircraft enters between the planted crops to the computer make it come true

Further, the recording medium in which the program according to the present invention is recorded is a recording medium in which a program is recorded for an agricultural machine having a satellite positioning module and a working unit for performing an operation on planted crops in the field, and the positioning data from the satellite positioning module is An aircraft position calculation function for calculating the aircraft position based on the aircraft position calculation function, a travel route setting function for setting a travel route for automatically traveling on the pavement, and an automatic travel control function for performing automatic travel control so that the aircraft position follows the travel route and a planted crop detection function for detecting a crop spacing, which is an interval between adjacent planted crops in the working width direction, and offset correction of a steering control signal by the automatic driving controller so that a specific part of the aircraft enters between the planted crops A program for realizing the driving control correction function to be performed on the computer is recorded.

In addition, the method according to the present invention is a method for automatically operating an agricultural machine having a satellite positioning module and a working unit for performing an operation on planted crops in a field, and based on positioning data from the satellite positioning module, a gas An aircraft position calculation step of calculating a position, a travel route setting step of setting a travel route for automatically traveling on the pavement, an automatic travel control step of performing automatic travel control so that the aircraft position follows the travel route, an operation; A planted crop detection step for detecting a crop spacing, which is an interval between the adjacently planted crops in the width direction, and a driving control for offset-correcting a steering control signal by the automatic driving controller so that a specific part of the body enters between the planted crops Includes calibration steps.

In addition, the automatic travel system according to the present invention provides an agricultural machine having a work unit for performing work on planted crops in a field, and a machine body position calculation for calculating a body position of the agricultural machine based on positioning data from a satellite positioning module a traveling path setting unit for setting a traveling path for automatic work travel performed by the agricultural machine; an automatic travel control unit for automatically operating the agricultural machine such that the aircraft position follows the travel path; and a working width direction. and a planted crop detection unit for detecting a crop spacing, which is an interval between adjacent planted crops, and a running control correction unit for correcting the traveling path so that a specific part of the base of the agricultural machine enters between the planted crops.

In addition, the program according to the present invention is a program for an agricultural machine having a satellite positioning module and a working unit that performs an operation on planted crops in the field. A position calculation function, a travel route setting function for setting a travel route for automatically running the pavement, and an automatic travel control function for automatically performing travel control so that the aircraft position follows the travel route, and adjacent in the working width direction The computer realizes a planted crop detection function for detecting a crop spacing, which is an interval between the planted crops, and a running control correction function for correcting the traveling path so that a specific part of the body enters between the planted crops.

Further, the recording medium in which the program according to the present invention is recorded is a recording medium in which a program is recorded for an agricultural machine having a satellite positioning module and a working unit for performing an operation on planted crops in the field, and the positioning data from the satellite positioning module is An aircraft position calculation function for calculating the aircraft position based on the aircraft position calculation function, a travel route setting function for setting a travel route for automatically traveling on the pavement, and an automatic travel control function for performing automatic travel control so that the aircraft position follows the travel route and a planted crop detection function for detecting a crop spacing, which is an interval between adjacent planted crops in the working width direction, and a running control correction function for correcting the traveling path so that a specific part of the body enters between the planted crops. A program to realize it is recorded.

In addition, the method according to the present invention is a method for automatically operating an agricultural machine having a satellite positioning module and a working unit for performing an operation on planted crops in a field, and based on positioning data from the satellite positioning module, a gas An aircraft position calculation step of calculating a position, a travel route setting step of setting a travel route for automatically traveling on the pavement, an automatic travel control step of performing automatic travel control so that the aircraft position follows the travel route, an operation; and a planted crop detection step for detecting a crop spacing that is an interval between adjacent planted crops in the width direction, and a running control correction step for correcting the traveling path so that a specific portion of the body enters between the planted crops.

1 is a side view of an agricultural machine.
2 is a plan view of the agricultural machine.
3 is an explanatory diagram illustrating a travel route for performing work on a pavement.
It is a functional block diagram which shows the control system of an agricultural machine.
It is explanatory drawing explaining the recognition process of the planted crop in a machine learning unit.
It is a schematic diagram for demonstrating an example of the steering control change accompanying the detection of a crop spacing.
Fig. 7 is an explanatory diagram showing a flow of control when the steering control shown in Fig. 6 is changed.
It is a schematic diagram for demonstrating an example of the steering control change accompanying the detection of a crop spacing.
FIG. 9 is an explanatory diagram showing the flow of control when the steering control shown in FIG. 8 is changed.
10 is a plan view of the agricultural machine.
11 is a plan view of the agricultural machine.
12 is a plan view of the agricultural machine.
13 is a plan view of the agricultural machine.
It is a schematic diagram for demonstrating an example of the steering control change accompanying the detection of a crop spacing.
It is a schematic diagram for demonstrating an example of the steering control change accompanying the detection of a crop spacing.

EMBODIMENT OF THE INVENTION Embodiment of the self-extraction type combine which is an example of the agricultural work machine which concerns on this invention is described below based on drawing. In addition, let the direction of the arrow F shown in FIGS. 1 and 2 be "front" and the direction of the arrow B is "rear" unless otherwise indicated. In addition, let the direction of arrow L shown in FIG. 2 be "left", and let the direction of arrow R be "right". In addition, let the direction of the arrow U shown in FIG. 1 be "upward", and let the direction of the arrow D be "downward".

As shown in FIG. 1 and FIG. 2, this self-extracting type combine is the crawler-type traveling apparatus 11, the driving|operation part 12, the threshing apparatus 13, the grain tank 14 (shown only in FIG. 2). , a harvesting unit 15 as a work unit, a conveying device 16, a grain discharging device 18, and a satellite positioning module 80 are provided. Although the base body 10 of a combine means the aggregate of main components of a combine, it may mean individual components, such as the traveling apparatus 11 and the harvesting|reaping part 15 in some cases.

The traveling apparatus 11 is provided in the lower part in a combine. In addition, the traveling device 11 is driven by power from an engine (not shown). And the combine is often possible by the traveling device 11.

In addition, the driving part 12, the threshing apparatus 13, and the grain tank 14 are provided above the traveling apparatus 11. The grain discharge apparatus 18 is provided above the threshing apparatus 13 and the grain tank 14. The operator who monitors the operation|work of a combine can ride in the driving part 12. In addition, the operator may monitor the operation|work of a combine from the body exterior of a combine.

The harvesting part 15 is supported by the front part of the base|substrate 10. The conveying apparatus 16 is provided adjacent to the rear side rather than the harvesting|reaping part 15. In this embodiment, the harvesting|reaping part 15 mows and harvests the planted grain stem as a planted crop in a field|field. Planted grains include rice, wheat, soybean, and corn. The combine harvests the planted grain stem of the pavement while driving. The harvesting|reaping part 15 performs harvesting operation|work of a planting grain stem.

As shown in FIG. 2, the harvesting part 15 is equipped with the divider 15C as a specific site|part. The front-end|tip of 15 C of dividers protrudes forward in order to scatter the adjacent planting culm used as mowing object. The base body 10 is steered so that the tip of the divider 15C enters between rows (referred to as rows or rows) of the stems of the planted grain stems. Moreover, the stem part as a mowing residual part of the planting grain stem is also included in the stem part of an implanted grain stem, and 15 C of dividers enter between the stem part of the planting grain stem before mowing, and the stem part of the mowed planting grain stem. not.

The planting grain stem mowed by the harvesting|reaping part 15 is conveyed by the conveying apparatus 16 to the threshing apparatus 13 as a harvesting grain stem. A harvesting grain stem is threshed by the threshing apparatus 13. The grain as a harvest obtained by the threshing process is stored in the grain tank 14. The grain stored in the grain tank 14 is discharged|emitted to the gas outside by the grain discharge apparatus 18 as needed. The grain discharge apparatus 18 is comprised so that it can rock|fluctuate around the longitudinal axis center of a gas rear part. That is, the discharge part of the grain discharging device 18 protrudes outward from the gas horizontally than the gas 10, and the discharge state capable of discharging crops, and the discharge part of the grain discharging device 18 is located within the range of the gas lateral width of the gas 10 The grain discharging apparatus 18 is comprised so that it may switch to the storage state to say. When the grain discharging apparatus 18 is an accommodation state, the discharge port of the grain discharging apparatus 18 is located above the harvesting|reaping part 15 while being located in the front side rather than the driving part 12.

The satellite positioning module 80 is installed on the upper surface of the ceiling of the driving unit 12 . The satellite positioning module 80 receives a GNSS (Global Navigation Satellite System) signal (including a GPS signal) from the artificial satellite GS, and acquires an aircraft position. In addition, in order to supplement the satellite navigation by the satellite positioning module 80 , an inertial navigation unit including a gyro acceleration sensor or a magnetic orientation sensor is built in the satellite positioning module 80 . Of course, the inertial navigation unit may be arranged at a different location from the satellite positioning module 80 in the combine.

In this embodiment, on the upper surface of the divider 15C of the right end, the imaging|photography part 21 comprised with a CCD camera or a CMOS camera is provided. In the case of a mowing run, the imaging|photography set so that this imaging|photography part 21 can image|photograph the stem part of the planting grain stem arranged in the lateral direction from the advancing direction front, and the stem part as a mowing residual part of the planted grain stem or the stem part of both. have an angle of view Since the at least two stem part adjacent to the harvest width direction is contained in a captured image, the space|interval of the stem part of a planting grain stem, ie, a tidal line, is detectable from the captured image. The photographing unit 21 can be provided not only in the right-end divider 15C but also in the left-end divider 15C or other dividers 15C.

The combine of this embodiment can drive|work both by automatic running and manual running. In automatic travel, the combine automatically runs along the travel route set in the pavement. 3 shows an example of a standard harvesting operation in a field. Here, when the combine enters the pavement, the surrounding mowing work travel is performed manually along the boundary (head, etc.) of the pavement, and the outer periphery area SA, which is a pre-worked area (preliminary mowing area), is formed on the outer periphery of the pavement. Moreover, if outer periphery area|region SA formed by this periphery mowing run becomes the magnitude|size from which alpha-shaped turn run of a combine becomes possible, perimeter mowing by automatic running is possible. Next, the travel route for automatic travel with respect to the non-work area|region (non-harvesting area) which is the inner area|region CA of the outer peripheral area|region SA is set as a center harvesting|reaping work travel. In FIG. 3, the reciprocating travel path|route which combined linear travel and U-turn travel is used as a travel path|route of center mowing work travel. The travel path of this linear travel includes not only a straight path but also a large curved path and a meandering path.

4 is a functional block diagram of the control system of the combine. The control system of this embodiment is composed of a plurality of electronic control units called ECUs, various operating devices, a sensor group and a switch group, and a wiring network such as an in-vehicle LAN that transmits data therebetween. The notification device 84 is a device for notifying a driver or the like of a warning such as a detection result of an obstacle or a state of work travel, and is a buzzer, a lamp, a speaker, a display, and the like.

The control unit 6 is a key element of this control system, and is shown as an aggregate of a plurality of ECUs. Positioning data from the satellite positioning module 80, captured images from the photographing unit 21, and control commands from the tablet computer 85 installed in the driving unit 12 are controlled via a wiring network such as an in-vehicle LAN. is input to the unit 6 .

The control unit 6 includes an output processing unit 6B and an input processing unit 6A as input/output interfaces. The output processing unit 6B is connected to the vehicle traveling device group 7A and the work device device group 7B. The vehicle traveling device group 7A includes control devices related to vehicle travel, for example, an engine control device, a shift control device, a brake control device, a steering control device, and the like. The power control apparatus in the harvesting|reaping part 15, the conveying apparatus 16, the threshing apparatus 13, the grain discharge apparatus 18, etc. are contained in the work apparatus apparatus group 7B. A travel system detection sensor group 8A, a work system detection sensor group 8B, etc. are connected to the input processing unit 6A. The travel system detection sensor group 8A includes sensors that detect the states of an engine speed adjusting tool, an accelerator pedal, a brake pedal, a speed change operation tool, and the like. The sensor which detects the state of the apparatus in the harvesting|reaping part 15, the conveying apparatus 16, the threshing apparatus 13, the grain discharge apparatus 18, and a grain stem and a grain is in the work system detection sensor group 8B Included.

The control unit 6 includes a travel control module 60 , a travel route setting unit 64 , a travel control correction unit 65 , an aircraft position calculation unit 66 , a notification unit 67 , and a travel trajectory management unit 68 . , a planted crop detection unit 50 is provided. Specifically, the control unit 6 is composed of a CPU, a computer device having a communication function, and a storage function (drive unit and/or input/output interface to an internal recording medium and an external recording medium), and a predetermined computer program. do. This computer program configures the computer device for the travel control module 60, the travel route setting unit 64, the travel control correction unit 65, the aircraft position calculation unit 66, the notification unit 67, and the travel trajectory management unit ( 68), and the planted crop detection unit 50 . This computer program is recorded in the above-described computer-readable recording medium. By executing this computer program, in the autonomous driving system, a method including steps corresponding to the respective functional units described above is executed.

The aircraft position calculation unit 66, based on the positioning data sequentially transmitted from the satellite positioning module 80, at least one specific location of the body 10, for example, map coordinates of the harvesting unit 15 or the like (or Calculate the position of the aircraft, which is the pavement coordinates).

The travel control module 60 includes an automatic travel control unit 61 , a manual travel control unit 62 , and an operation control unit 63 . A driving mode switch (not shown) for selecting either an automatic driving mode for traveling by automatic steering or a manual steering mode for traveling by manual steering is provided in the driving unit 12 . By operating this travel mode switch, it is possible to shift from the manual steering driving to the automatic steering driving or from the automatic steering driving to the manual steering driving.

The automatic travel control unit 61 and the manual travel control unit 62 have an engine control function, a steering control function, a vehicle speed control function, and the like, and provide a travel control signal to the vehicle traveling device group 7A. The automatic travel control unit 61 includes a position shift calculation unit 61a and a steering control amount calculation unit 61b. The position shift calculation unit 61a calculates a traveling position shift between the travel path set by the travel path setting unit 64 and the body position calculated by the body position calculation unit 66 . The steering control amount calculation unit 61b calculates the steering control amount for automatically steering the body 10 so as to eliminate the traveling position shift. The vehicle speed during automatic travel is determined based on a vehicle speed command generated by the automatic travel control unit 61 based on a preset vehicle speed value. The steering control amount and vehicle speed during manual driving are determined based on the steering control amount and vehicle speed command generated by the manual travel control unit 62 based on the manual operation. In order to control the movements of the harvesting part 15, the threshing apparatus 13, the grain discharge apparatus 18, etc., the work control part 63 controls work to the work apparatus equipment group 7B via the output processing part 6B. give a signal

The travel route setting unit 64 has a function of developing the created travel route for automatic travel in a memory and setting it as a target travel route for sequential automatic travel. The notification unit 67 generates notification data based on a request from each functional unit of the control unit 6 and provides it to the notification device 84 . The travel trajectory management unit 68 manages the unworked area and the pre-worked area in the pavement based on the aircraft position from the aircraft position calculation unit 66 and the work travel information from the travel control module 60 .

The planted crop detection unit 50 detects, in a non-contact manner, an intertidal line (an example of a "crop spacing") that is an interval between the stem portions of an adjacent planting grain stem in the harvest width direction (working width direction). The stem part left after mowing a planting grain stem has a height of several centimeters or more from a pavement surface. Therefore, the stem part left after mowing a planted grain stem is detected by the planted crop detection unit 50, and is handled as a stem part of an planted grain stem.

In this embodiment, the planted crop detection unit 50 includes: a position of the photographing unit 21 calculated based on the photographed image from the photographing unit 21 and the base position from the aircraft position calculating unit 66; Based on the imaging|photography angle of view of the imaging|photography part 21, the position of the stem part of an at least two planting grain stem and a tidal tidal are detected, and the positional relationship in the harvest width direction of 15 C of dividers in a tidal is computed.

For this reason, the image acquisition part 51, the machine learning unit 52, and the divider position calculation part 53 are contained in the planted crop detection unit 50 of this embodiment. The image acquisition unit 51 stores the captured image sent from the photographing unit 21 at a predetermined period by linking it with the self-position calculated by the aircraft position calculating unit 66 and storing it in the memory.

The machine learning unit 52 is constructed by a machine-learned neural network. In this machine-learning neural network, as schematically shown in FIG. 5, the photographed image acquired by the imaging|photography part 21 is made into an input image, and the stem part of the planted grain stem contained in this photographed image is recognized. Thus, the position of the stem is output. For this reason, a deep learning algorithm excellent for such recognition is used. In FIG. 5, the stem part of an implanted grain stem is shown by the rectangular frame. The size of the rectangular frame and the position of the rectangular frame in the captured image are output.

As schematically shown in FIG. 6 , the divider position calculating unit 53 includes the installation position of the divider 15C, the position of the stem with respect to the base 10, and the target divider position (here, the center of the intertidal line). position), a divider position shift (indicated by α in FIG. 6 ) that is a position shift from the target divider position of the divider 15C is calculated.

The travel control correction unit 65 offset-corrects the steering control signal by the automatic travel control unit 61 so that the divider 15C enters the intertidal phase of the planting grain stem appropriately. The flow of this steering control is shown in FIG. 7 . In this embodiment, the travel control correction unit 65 includes an offset amount calculation unit 65a. Based on the shift in the divider position output from the offset amount calculation unit 65a and the planted crop detection unit 50, the lateral direction of the substrate 10 required for the divider 15C to approach the target divider position (orthogonal to the travel path) direction) is calculated as an offset amount (indicated by β in FIG. 7). Simply, the divider position shift is used as it is as the offset amount (β = α). However, by giving weight to either of the divider position shift and the traveling position shift calculated by the position shift calculation unit 61a, more appropriate steering control can be realized in some cases. When weighting the divider position shift, the offset amount takes a larger value than the divider position shift, and when focusing on the traveling position shift, the offset amount takes a smaller value than the divider position shift. From this fact, the offset amount may be calculated from the divider position shift using a predetermined function (β=f(α)). This function f may be a linear function or a nonlinear function.

This offset amount is added to the travel position shift calculated by the position shift calculation unit 61a, and the mixed value is given to the steering control amount calculation unit 61b. In FIG. 7 , the blended value is represented by “Δd+β”, but the method for calculating the blended value is not necessarily limited to addition. For example, a mixed value may be calculated using weight calculation or the like. The steering control amount calculation unit 61b calculates a steering control amount (indicated by S in FIG. 7 ) using PI control or the like, converts it into a steering control signal, and sends it to the vehicle traveling equipment group 7A. Although not shown, the steering control amount calculation unit 61b can also use the azimuth deviation (the direction of the travel path and the aircraft orientation and the deviation) as a control parameter.

8 and 9 show another embodiment of the travel control correction unit 65 . Here, the travel control correction unit 65 includes a path correction amount calculation unit 65b instead of the offset amount calculation unit 65a. This path correction amount calculation unit 65b sends a path displacement command for displacing the traveling path set by the traveling path setting unit 64 so that the divider 15C enters the intertidal phase of the planted grain stem appropriately. 64) is given. As shown in Fig. 8, by displacing the travel path in the lateral direction by the distance of the positional deviation (indicated by α in Fig. 8) from the target divider position of the divider 15C, the divider 15C is moved to the target divider position. to come close to The amount of displacement in the lateral direction of this travel route is referred to as a route correction amount (indicated by γ in FIG. 8). Simply, the divider position shift is used as it is as the path correction amount (γ=α). Here, similarly to the previous embodiment, the path correction amount may be calculated using a predetermined function (γ=g(α)) from the divider position shift. This function g may also be a linear function, or a nonlinear function may be sufficient as it.

This route correction amount is sent to the travel route setting unit 64 in the form of a route displacement command. The travel route setting unit 64 uses the route correction amount included in the route displacement command to correct the travel route set at the present time, and is sent to the position shift calculation unit 61a as the corrected travel route.

The tablet computer 85 is provided with the touch panel 85a (touch panel type display device), and can give various control commands to the control unit 6 by operation by an operator. In this embodiment, an operator can handwrite the roughing direction of a planting grain stem using the touchscreen 85a (manual input). For example, an operator manually inputs a nail direction (planting direction, a harvesting direction) to the touch panel 85a in which the external shape of a pavement was displayed. The travel route setting unit 64 creates or sets a travel route so as to follow the input group direction.

In addition, control function elements, such as the travel control module 60, the travel route setting unit 64, the travel control correction unit 65, and the planted crop detection unit 50 shown in FIG. 4, are mainly divided for explanation purposes. , the integration of the control function element or the division of the control function element may be freely performed.

[Other embodiment]

(1) In the above-described embodiment, a visible light camera equipped with a wide-angle lens is employed as the photographing unit 21 . The photographing unit 21 may be a monochrome camera, an infrared camera, or a hybrid camera comprising a visible light camera and an infrared camera.

(2) In the above-described embodiment, the photographing unit 21 is provided on the upper surface of the divider 15C. As long as the stem part of an implanted grain stem enters the imaging field of the imaging part 21, the imaging|photography part 21 may be provided in another site|part.

(3) In the above-described embodiment, the machine learning unit 52 is composed of a neural network machine-learned using a deep learning algorithm, of course, a neural network using an algorithm other than the deep learning algorithm, for example, It may consist of a current neural network. Furthermore, image recognition techniques other than machine-learned neural networks may be employed.

(4) In embodiment mentioned above, the machine learning unit 52 which makes a captured image an input image in the planted crop detection unit 50 is used for the non-contact detection of the stem part of a planting grain stem. The planted crop detection unit 50 may be constituted by a scanning sensor using an ultrasonic beam, a light beam, an electromagnetic wave beam, or the like. From the three-dimensional point cloud data of the traveling front region obtained by the scanning sensor, the shape of the reflector can be evaluated, and the position of the planted crop can be calculated.

(5) In the above-mentioned embodiment, as an example of an agricultural work machine, the self-extraction type|mold combine was demonstrated. A normal combine may be sufficient as an agricultural machine.

(6) The agricultural machine may be a corn harvesting machine. 10 shows a corn harvester as an example of an agricultural machine. The corn harvester of this embodiment replaces the header (mowing part) of a normal type combine with the harvest pre-processing apparatus 115, and is attached. This corn harvester isolate|separates a spindle from planted corn, isolate|separates a grain from a spindle, and stores a grain.

This corn harvester includes a crawler-type traveling device (not shown), a driving unit 112 , a threshing device 113 , a grain tank 114 , a pre-harvest treatment device 115 as a working unit, a conveying device 116 , It is provided with components, such as the grain discharge device 118, the satellite positioning module 180. The gas 110 of the corn harvester means an assembly of components, and in some cases, it may mean individual components such as a traveling device or a harvest pre-processing device 115 .

The pre-harvest treatment device 115 separates the box from the planted corn, and sends the box to the conveying device 116 . The threshing apparatus 113 separates a grain from the box conveyed by the conveying apparatus 116. The pre-harvest treatment apparatus 115 is equipped with the divider 115C, the scraping auger 115D, etc. as a specific site|part. A photographing unit 121 is provided on the upper surface of the divider 115C at the right end.

(7) Fig. 11 shows another type of corn harvester. In this corn harvesting machine, the spinoids are separated from the planted corns, the bracts are removed from the spinous bodies, and the spinous bodies are stored.

This corn harvester includes a wheeled traveling device (not shown), a driving unit 212 , a bract removal unit 213 , a storage tank 214 , a harvesting unit 215 serving as a working unit, a conveying device 216 , It is provided with components such as a satellite positioning module 280 . The body 210 of the corn harvester means an assembly of components, and in some cases, it may mean individual components such as a traveling device or the harvester 215 .

The harvesting unit 215 separates the box from the planted corn, and sends the box to the conveying device 216 . The bract removal unit 213 removes the bract from the spinneret conveyed by the conveying device 216 . The harvesting unit 215 is provided with a divider 215C or the like as a specific site. A photographing unit 221 is provided on the upper surface of the right-end divider 215C.

(8) The agricultural machine may be a sugar cane harvesting machine. 12 shows a sugar cane harvester as an example of an agricultural machine. This sugarcane harvester harvests the planted sugarcane, separates the sugarcane from impurities, and discharges the sugarcane to the rear of the gas.

This sugarcane harvester includes a wheeled traveling device 311 , a driving unit 312 , a separating device 313 , a harvesting unit 315 as a working unit, a conveying device 316 , a discharging device 318 , and satellite positioning. It includes components such as a module 380 . The body 310 of the sugar cane harvester refers to an aggregate of constituent elements, and in some cases, it may refer to individual constituent elements such as the traveling device 311 and the harvester 315 .

The harvesting unit 315 harvests the planted sugarcane and sends the sugarcane to the conveying device 316 . The separation device 313 separates foreign substances from the sugar cane conveyed by the conveying device 316 . The discharge device 318 discharges the sugar cane separated from the contaminants by the separation device 313 to the rear of the gas 310 . The harvesting unit 315 is provided with a divider 315C or the like as a specific site. A photographing unit 321 is provided on the upper surface of the right-end divider 315C.

(9) The embodiment in which the agricultural machine does not have a divider is also possible. For example, an agricultural machine may be a riding type management contribution. In this case, the specific site|part may be the traveling wheel provided in the base body. The driving control correction unit offset-corrects the steering control signal by the automatic driving control unit so that the driving wheel enters between the planted crops. Alternatively, the traveling control correction unit corrects the traveling path so that the traveling wheel enters between the planted crops.

13, the riding type management machine as an example of an agricultural work machine is shown. This riding type management machine performs the spraying operation|work which sprays a chemical|medical agent (agrochemical, a fertilizer, etc.) to a planted crop while traveling on a field.

This riding type manager includes a traveling wheel 411 (wheel type traveling device), a driving unit 412 , a chemical spraying unit 415 as a working unit, a chemical tank 425 , a broadcaster 426 , and a satellite positioning module. (480) and the like are provided. The body 410 of the riding type manager means an assembly of components, and in some cases, it may mean individual components such as the traveling wheel 411 and the chemical spraying unit 415 .

The chemical|medical agent spraying part 415 sprays the chemical|medical agent stored in the chemical|medical agent tank 425 to a package. The chemical|medical agent dispersion|spreading part 415 is equipped with the center boom 415D and the side boom 415E of right and left. An imaging unit 421 is provided on the upper surface of the right end of the center boom 415D.

The riding type manager is provided with the control unit 6 having the same configuration as that of the above-described embodiment (shown in FIGS. 4 and 7 ). In the present embodiment, the control unit 6 includes a traveling wheel position calculating unit instead of the divider position calculating unit 53 . The traveling wheel position calculation unit calculates the traveling wheel position shift (δ in FIG. 14 ) instead of the divider position shift (α in FIG. 6 ). In detail, as schematically shown in FIG. 14 , the traveling wheel position calculation unit includes the installation position of the traveling wheel 411 , the position of the stem with respect to the body 410 , and the target traveling wheel position (here, From the center position of the intertidal zone), a traveling wheel position shift (δ in FIG. 14 ) that is a position shift from the target traveling wheel position of the traveling wheel 411 is calculated.

In this embodiment, the travel control correction|amendment part 65 offset-corrects the steering control signal by the automatic travel control part 61 so that the traveling wheel 411 may enter into the intertidal phase of a planted grain stem appropriately. The traveling control correcting unit 65 offset-corrects the steering control signal by processing similar to the example illustrated in FIG. 7 , using the traveling wheel position shift δ instead of the divider position shift α.

The riding type manager may include the travel control correction unit 65 according to another embodiment shown in FIGS. 8 and 9 . In this case, the travel control correction unit 65 includes a path correction amount calculation unit 65b instead of the offset amount calculation unit 65a. This path correction amount calculation unit 65b sends a path displacement command for displacing the traveling path set by the traveling path setting unit 64 so that the traveling wheel 411 enters the tidal path of the planted grain stem appropriately. (64). As shown in Fig. 15, by displacing the traveling path in the lateral direction by a distance of a position shift (indicated by δ in Fig. 15) of the traveling wheel 411 from the target traveling wheel position, the traveling wheel 411 is The target driving wheel position is approached. This amount of displacement in the lateral direction of the travel path is referred to as a path correction amount γ. Simply, the traveling wheel position shift is used as it is as the path correction amount (γ=δ).

(10) The agricultural machine may be a vegetable harvesting machine. The vegetable harvester harvests vegetables (carrots, radishes, cabbage, Chinese cabbage, etc.) as planted crops while driving in the field. When a vegetable harvester is provided with a divider (an example of a specific site|part), the vegetable harvester is provided with the control unit 6 of the structure similar to the example of FIG. 4 . In the aspect shown in FIG. 7 , the travel control correction unit 65 offset-corrects the steering control signal by the automatic travel control unit 61 so that the divider properly enters between the planted crops (vegetables). Alternatively, the travel control correction unit 65 includes a path correction amount calculation unit 65b instead of the offset amount calculation unit 65a. In the aspect shown in FIG. 9 , the path correction amount calculating unit 65b receives a path displacement command for displacing the traveling path set by the traveling path setting unit 64 so that the divider properly enters between the planted crops. (64).

The vegetable harvester does not need to be equipped with a divider. When the vegetable harvester does not have a divider, the driving control correction unit 65 sends a steering control signal by the automatic driving control unit 61 so that the driving wheel (an example of a specific part) properly enters between the planted crops (vegetables). is offset corrected. Alternatively, the path correction amount calculation unit 65b sends a path displacement command for displacing the traveling path set by the traveling path setting unit 64 to the traveling path setting unit 64 so that the traveling wheel properly enters between the planted crops. give

(11) The imaging unit 21 may be used to detect crops around the divider 15C. For example, the planted crop detection unit 50 may detect that it is in the state which the divider 15C dug into the tank of a planted crop based on the imaging|photography image by the imaging|photography part 21. According to the detection result, the travel control module 60 stops and reverses the base body 10 so that the divider 15C passes between the planted crops, and then advances to an appropriate travel path to continue the automatic travel. For example, the planting crop detection unit 50 may detect that the divider 15C is in the state which drags a harvesting crop to the ground based on the imaging|photography image by the imaging|photography part 21. Based on the detection result, the travel control module 60 stops and reverses the base body 10 so that the harvesting crop is separated from the divider 15C, and then advances it again.

INDUSTRIAL APPLICABILITY The present invention is applicable to an agricultural machine, an automatic driving system, a program, a recording medium in which the program is recorded, and a method for performing an operation on planted crops in a field.

10: gas
15: mowing department (work department)
15C: Divider (specific area)
21: Cinematography
50: planted crop detection unit
61: automatic driving control unit
64: driving route setting unit
65: driving control correction unit
66: aircraft position calculation unit
80: satellite positioning module
85a: touch panel
110: gas
115: Harvest Preprocessor (Working Unit)
115C: Divider (specified area)
121: shooting department
180: satellite positioning module
210: gas
215: Harvesting Department (Working Department)
215C: Divider (specified area)
221: filming department
280: satellite positioning module
310: gas
315: Harvesting Department (Working Department)
315C: Divider (specified area)
321: filming department
380: satellite positioning module
410: gas
411: Driving wheel (specific part)
415: chemical spraying unit (work unit)
421: filming department
480: satellite positioning module

Claims (17)

A working unit that works on planted crops in the field;
a gas position calculating unit for calculating a position of the aircraft based on the positioning data from the satellite positioning module;
A driving route setting unit for setting a driving route for automatically driving the pavement;
an automatic travel control unit that performs automatic travel control so that the position of the aircraft follows the travel route;
a planted crop detection unit for detecting a crop spacing that is an interval between the adjacently planted crops in the working width direction;
and a travel control correction unit configured to offset-correct a steering control signal by the automatic travel control unit so that a specific part of the body enters between the planted crops. A working unit that works on planted crops in the field;
a gas position calculating unit for calculating a position of the aircraft based on the positioning data from the satellite positioning module;
A driving route setting unit for setting a driving route for automatically driving the pavement;
an automatic travel control unit that performs automatic travel control so that the position of the aircraft follows the travel route;
a planted crop detection unit for detecting a crop spacing that is an interval between the adjacently planted crops in the working width direction;
An agricultural work machine comprising a travel control correction unit for correcting the travel path so that a specific part of the base body enters between the planted crops. 3. The method of claim 1 or 2,
A photographing unit for photographing the planted crop and outputting a photographed image is provided,
The planted crop detection unit is configured to detect the position of the planted crop based on the photographed image, a position of the photographing unit calculated from the position of the aircraft, and a photographing angle of view of the photographing unit. 4. The method of claim 3,
The photographing unit is disposed in the front portion of the work unit, agricultural equipment. 5. The method according to claim 3 or 4,
and the planted crop detection unit includes a neural network machine-learned to detect the crop spacing using the captured image as an input image. 3. The method of claim 1 or 2,
wherein the planted crop detection unit is configured with a scanning sensor using an ultrasonic beam, a light beam, an electromagnetic wave beam, or the like. 7. The method according to any one of claims 1 to 6,
A touch panel for displaying the travel path is provided, and a direction in which the planted crops are arranged is manually input using the touch panel. 8. The method according to any one of claims 1 to 7,
The specific site is a divider provided in the work unit, agricultural equipment. 8. The method according to any one of claims 1 to 7,
The said specific site|part is a traveling wheel provided in the said base body, The agricultural work machine. An agricultural machine comprising a work unit for performing work on planted crops in the field;
a gas position calculation unit for calculating the gas position of the agricultural machine based on the positioning data from the satellite positioning module;
a travel route setting unit for setting a travel route for automatic work travel performed by the agricultural machine;
an automatic travel control unit for automatically operating the agricultural machine so that the position of the aircraft follows the travel path;
a planted crop detection unit for detecting a crop spacing that is an interval between the adjacently planted crops in the working width direction;
and a travel control correction unit configured to offset-correct a steering control signal by the automatic travel control unit so that a specific portion of the body of the agricultural machine enters between the planted crops. It is a program for an agricultural machine equipped with a work unit that works on planted crops in the field and a satellite positioning module,
an aircraft position calculation function for calculating a position of the aircraft based on the positioning data from the satellite positioning module;
A driving route setting function for setting a driving route for automatically driving the pavement;
an automatic travel control function for performing automatic travel control so that the position of the aircraft follows the travel route;
A planted crop detection function for detecting a crop spacing that is an interval between the adjacently planted crops in the working width direction;
A program for realizing, in a computer, a travel control correction function of offset-correcting a steering control signal by the automatic travel control unit so that a specific part of the body enters between the planted crops. It is a recording medium recording a program for a work unit that works on planted crops in the field and an agricultural work machine having a satellite positioning module,
an aircraft position calculation function for calculating a position of the aircraft based on the positioning data from the satellite positioning module;
A driving route setting function for setting a driving route for automatically driving the pavement;
an automatic travel control function for performing automatic travel control so that the position of the aircraft follows the travel route;
A planted crop detection function for detecting a crop spacing that is an interval between the adjacently planted crops in the working width direction;
A recording medium having recorded a program for realizing, in a computer, a travel control correction function of offset-correcting a steering control signal by the automatic travel control unit so that a specific part of the body enters between the planted crops. It is a method of automatically operating an agricultural machine having a work unit and a satellite positioning module that performs work on planted crops in the field,
an aircraft position calculation step of calculating the aircraft position based on the positioning data from the satellite positioning module;
A driving route setting step of setting a driving route for automatically driving the pavement;
an automatic travel control step of performing automatic travel control so that the position of the aircraft follows the travel route;
A planted crop detection step of detecting a crop spacing that is an interval between the adjacently planted crops in the working width direction;
and a travel control correction step of offset-correcting a steering control signal by the automatic travel control unit so that a specific part of the body enters between the planted crops. An agricultural machine comprising a work unit for performing work on planted crops in the field;
a gas position calculation unit for calculating the gas position of the agricultural machine based on the positioning data from the satellite positioning module;
a travel route setting unit for setting a travel route for automatic work travel performed by the agricultural machine;
an automatic travel control unit for automatically operating the agricultural machine so that the position of the aircraft follows the travel path;
a planted crop detection unit for detecting a crop spacing that is an interval between the adjacently planted crops in the working width direction;
and a travel control correction unit configured to correct the travel path so that a specific portion of the base of the agricultural machine enters between the planted crops. It is a program for an agricultural machine equipped with a work unit that works on planted crops in the field and a satellite positioning module,
an aircraft position calculation function for calculating a position of the aircraft based on the positioning data from the satellite positioning module;
A driving route setting function for setting a driving route for automatically driving the pavement;
an automatic travel control function for performing automatic travel control so that the position of the aircraft follows the travel route;
A planted crop detection function for detecting a crop spacing that is an interval between the adjacently planted crops in the working width direction;
A program for causing a computer to realize a travel control correction function for correcting the travel path so that a specific part of the body enters between the planted crops. It is a recording medium recording a program for a work unit that works on planted crops in the field and an agricultural work machine having a satellite positioning module,
an aircraft position calculation function for calculating a position of the aircraft based on the positioning data from the satellite positioning module;
A driving route setting function for setting a driving route for automatically driving the pavement;
an automatic travel control function for performing automatic travel control so that the position of the aircraft follows the travel route;
A planted crop detection function for detecting a crop spacing that is an interval between the adjacently planted crops in the working width direction;
A recording medium on which a program is recorded, which causes a computer to realize a travel control correction function for correcting the travel path so that a specific part of the body enters between the planted crops. It is a method of automatically operating an agricultural machine having a work unit and a satellite positioning module that performs work on planted crops in the field,
an aircraft position calculation step of calculating the aircraft position based on the positioning data from the satellite positioning module;
A driving route setting step of setting a driving route for automatically driving the pavement;
an automatic travel control step of performing automatic travel control so that the position of the aircraft follows the travel route;
A planted crop detection step of detecting a crop spacing that is an interval between the adjacently planted crops in the working width direction;
and a travel control correction step of correcting the travel path so that a specific part of the body enters between the planted crops.

Images