WO2020262287A1

WO2020262287A1 - Farm operation machine, autonomous travel system, program, recording medium in which program is recorded, and method

Info

Publication number: WO2020262287A1
Application number: PCT/JP2020/024344
Authority: WO
Inventors: 中林隆志; 渡邉俊樹; 江戸俊介; 宮下隼輔; 石見憲一
Original assignee: 株式会社クボタ
Priority date: 2019-06-28
Filing date: 2020-06-22
Publication date: 2020-12-30
Also published as: KR20220025701A

Abstract

This farm operation machine comprises: an operation unit that performs an operation on crops in a field; a machine body position calculation unit 66 that calculates a machine body position on the basis of positioning data from a satellite positioning module; a travel route setting unit 64 that sets a travel route for autonomously traveling through the field; an autonomous travel control unit 61 that performs autonomous travel control so that the machine body position follows the travel route; a crop detection unit 51 that detects a crop interval, which is the interval between adjacent crops in the operation width direction; and a travel control correction unit 65 that corrects the offset of a steering control signal from the autonomous travel control unit 61 so that a specified area (divider) of the machine body enters between the crops.

Description

Agricultural work machines, automated driving systems, programs, recording media on which programs are recorded, and methods

The present invention relates to an agricultural work machine, an automatic driving system, a program, a recording medium on which a program is recorded, and a method.

The combine according to Patent Document 1 is equipped with an automatic steering control device. This automatic steering control device detects uncut grain rods by a steering sensor provided near the tip of a weed board (a type of divider) in the cutting section, and automatically adjusts the rods. The steering sensor consists of a pair of left and right steering sensors consisting of limit switches. When the left steering sensor is "OFF" and the right steering sensor is "ON", left turning is performed and the left steering sensor is When it is "ON" and the right steering sensor is "OFF", a right turn is performed. When both the left steering sensor and the right steering sensor are "OFF" or "ON", it is considered that the cursive script is located in the center of the culm row called the strip, and the straight running is performed. With this configuration, when the combine reaches the uncut grain rod region by manual operation, the combine is automatically steered so that the weed board enters approximately between the rows.

Patent Document 2 discloses a traveling route generating device that generates a traveling route for a field work vehicle capable of automatically traveling. This traveling route generation device generates a traveling route for automatic traveling in the field based on the handwritten locus input by handwriting through the touch panel. As a result, the field work vehicle can automatically travel along the travel route that matches the user's image. However, in this traveling route generating device, the relationship between the direction of the grain culm (row) and the traveling direction is not taken into consideration.

Japanese Unexamined Patent Publication No. 2003-180130 Japanese Unexamined Patent Publication No. 2018-03799

Since the combine harvester according to Patent Document 1 is steered so that the harvester fits in the center of the interrows, the problem that the harvester collides with the stem of the planted culm during the cutting operation is solved. Will be done. However, since the steering sensor is configured to detect the displacement of the limit switch due to the contact with the stem of the planted culm, the detection timing differs depending on the thick or thin stem. As a result, there is a problem that the steering control becomes inaccurate.

An object of the present invention is to provide an agricultural work machine capable of automatically traveling along a preset travel path while allowing a specific site to enter between planted crops.

The first agricultural work machine according to the present invention has a working unit that performs work on planted crops in the field, an airframe position calculation unit that calculates the airframe position based on positioning data from a satellite positioning module, and an automatic field. The distance between the traveling route setting unit that sets the traveling route for traveling, the automatic traveling control unit that automatically controls the traveling so that the machine position follows the traveling route, and the adjacent planted crops in the working width direction. A planted crop detection unit that detects the crop interval, and a travel control correction unit that offset-corrects the steering control signal by the automatic travel control unit so that a specific part of the aircraft enters between the planted crops. , Equipped with.

According to this configuration, the planted crop detection unit detects the distance between the planted crops in a non-contact manner, so that the distance between the planted crops away from the aircraft can be detected quickly. Further, the travel control correction unit calculates the offset amount required for the specific part to enter between the crops with reference to the travel route set by the travel route setting unit. That is, since the steering control is performed along the traveling path that is the control target, the control target immediately reacts to the left-right deviation of one planted culm with respect to the stem portion as in Patent Document 1, and the steering control is performed. Stable steering control is possible compared to the above-mentioned form.

The second agricultural work machine according to the present invention automatically performs the work unit for working on the planted crops in the field, the machine position calculation unit for calculating the machine position based on the positioning data from the satellite positioning module, and the field. The distance between the traveling route setting unit that sets the traveling route for traveling, the automatic traveling control unit that automatically controls the traveling so that the machine position follows the traveling route, and the adjacent planted crops in the working width direction. It is provided with a planted crop detection unit that detects the crop interval, and a travel control correction unit that corrects the travel route so that a specific part of the machine enters between the planted crops.

This second agricultural work machine is different from the above-mentioned first agricultural work machine in the method of correcting the misalignment for the specific part to enter between the crops. In the first agricultural work machine, the displacement correction is performed by the offset amount from the traveling path as a control reference, whereas in the second agricultural working machine, the displacement correction is set by the traveling path setting unit. The traveling path itself is corrected (displaced). In this method, since the corrected travel path becomes a new travel target, stable steering control is possible as compared with the steering control of the combine according to Patent Document 1, as in the case of the first agricultural work machine described above. Become.

One of the detection methods suitable for detecting the distance between planted crops in a non-contact manner is to recognize the planted crops using a photographed image. By considering the position of the photographing unit and the angle of view of the photographing unit, the positional relationship between the crop recognized in the photographed image and the specific part can be accurately calculated. For this reason, in one of the preferred embodiments of the present invention, a photographing unit that photographs the planted crop and outputs a captured image is provided, and the planted crop detection unit includes the captured image and the photographed image. The position of the planted crop is detected based on the position of the photographing unit calculated from the position of the machine body and the photographing angle of view of the photographing unit. At that time, in order to clearly photograph the planted crops in front of the traveling direction, it is preferable that the photographing section is arranged in the front part of the working section.

Image recognition using pattern matching is preferable in order to detect planted crops using captured images as input data. However, in recent years, in the field of image recognition, good results have been obtained by using machine-learned neural networks, and by using this, planted crops in which weeds are mixed and crops that have fallen down. But it can be detected. For this reason, 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 interval using the captured image as an input image. It is possible to calculate the accurate distance from a specific site to the planted crop by performing epipolar image processing on the captured image acquired over time.

Another detection method suitable for non-contact detection of planted crops is the propagation 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. It is to analyze the time. As a result, three-dimensional point cloud data (also called a radar scan image or a distance image) of the traveling forward region is generated, so that the position of the planted crop can be calculated from the three-dimensional point cloud data. For this reason, in one of the preferred embodiments of the present invention, the planted crop detection unit is composed of 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 lined up is one of the important conditions when setting the travel route for the first time. For this reason, in one of the preferred embodiments of the present invention, a touch panel for displaying the traveling route is provided, and the direction in which the planted crops are lined up is manually input using the touch panel. As a result, the traveling route is set on the condition that the planted crops are lined up.

When the working unit is equipped with a divider, it is preferable that the aircraft is controlled so that the divider enters between the crops. In one of the preferred embodiments of the present invention, the specific portion is a divider provided in the working portion.

When the aircraft is equipped with traveling wheels, it is preferable that the aircraft is controlled so that the traveling wheels enter between the crops. In one of the preferred embodiments of the present invention, the specific portion is a traveling wheel provided on the airframe.

Further, the automatic traveling system according to the present invention includes an agricultural work machine provided with a work unit for working on planted crops in a field, and an aircraft position for calculating the aircraft position of the agricultural work machine based on positioning data from a satellite positioning module. A calculation unit, a travel route setting unit that sets a travel route for automatic work travel performed by the agricultural work machine, and an automatic travel control unit that automatically runs the agricultural work machine so that the machine position follows the travel route. The planted crop detection unit that detects the crop interval, which is the interval between the planted crops adjacent to each other in the work width direction, and the planted crop so that a specific part of the machine of the agricultural work machine enters between the planted crops. It is provided with a travel control correction unit that offset-corrects the steering control signal by the automatic travel control unit.

Further, the program according to the present invention is a program for an agricultural work machine provided with a working unit for performing work on planted crops in a field and a satellite positioning module, and the aircraft position is based on positioning data from the satellite positioning module. A machine position calculation function for calculating, a travel route setting function for setting a travel route for automatically traveling in the field, an automatic travel control function for performing automatic travel control so that the aircraft position follows the travel route, and an automatic travel control function. The planted crop detection function that detects the crop interval, which is the interval between the planted crops adjacent in the work width direction, and the automatic travel control unit so that a specific part of the aircraft enters between the planted crops. The computer realizes a driving control correction function that offset-corrects the steering control signal.

Further, the recording medium on which the program according to the present invention is recorded is a recording medium on which a program for an agricultural work machine including a working unit for performing work on planted crops in a field and a satellite positioning module is recorded, and is used for satellite positioning. An aircraft position calculation function that calculates the aircraft position based on the positioning data from the module, a travel route setting function that sets a travel route for automatically traveling in the field, and an automatic operation so that the aircraft position follows the travel route. An automatic travel control function that controls travel, a planted crop detection function that detects the crop interval that is the interval between adjacent planted crops in the work width direction, and a specific part of the aircraft that enters between the planted crops. As described above, a program for realizing a travel control correction function for offset-correcting the steering control signal by the automatic travel control unit and a computer is recorded.

Further, the method according to the present invention is a method of causing an agricultural work machine equipped with a working unit for working on planted crops in a field and a satellite positioning module to perform automatic work running, and using positioning data from the satellite positioning module. An aircraft position calculation step that calculates the aircraft position based on the vehicle position, a travel route setting step that sets a travel route for automatically traveling in the field, and automatic travel that automatically controls the aircraft position so as to follow the travel route. The control step, the planted crop detection step that detects the crop interval that is the interval between the planted crops adjacent in the working width direction, and the automatic operation so that a specific part of the machine enters between the planted crops. It includes a travel control correction step for offset-correcting the steering control signal by the travel control unit.

Further, the automatic traveling system according to the present invention includes an agricultural work machine provided with a work unit for working on planted crops in a field, and an aircraft position for calculating the aircraft position of the agricultural work machine based on positioning data from a satellite positioning module. A calculation unit, a travel route setting unit that sets a travel route for automatic work travel performed by the agricultural work machine, and an automatic travel control unit that automatically runs the agricultural work machine so that the machine position follows the travel route. The planted crop detection unit that detects the crop interval, which is the interval between the planted crops adjacent to each other in the work width direction, and the planted crop so that a specific part of the machine of the agricultural work machine enters between the planted crops. It is provided with a travel control correction unit that corrects the travel route.

Further, the program according to the present invention is a program for an agricultural work machine including a working unit for performing work on planted crops in a field and a satellite positioning module, and the machine position is based on the positioning data from the satellite positioning module. A machine position calculation function for calculating, a travel route setting function for setting a travel route for automatically traveling in the field, an automatic travel control function for performing automatic travel control so that the aircraft position follows the travel route, and an automatic travel control function. The planted crop detection function that detects the crop interval, which is the interval between the planted crops adjacent in the work width direction, and the traveling route are corrected so that a specific part of the aircraft enters between the planted crops. The driving control correction function is realized in the computer.

Further, the recording medium on which the program according to the present invention is recorded is a recording medium on which a program for an agricultural work machine including a working unit for performing work on planted crops in a field and a satellite positioning module is recorded, and is used for satellite positioning. An aircraft position calculation function that calculates the aircraft position based on the positioning data from the module, a travel route setting function that sets a travel route for automatically traveling in the field, and an automatic operation so that the aircraft position follows the travel route. An automatic travel control function that controls travel, a planted crop detection function that detects the crop interval that is the interval between adjacent planted crops in the work width direction, and a specific part of the aircraft that enters between the planted crops. As described above, a program for realizing the travel control correction function for correcting the travel path and the computer is recorded.

Further, the method according to the present invention is a method of causing an agricultural work machine equipped with a working unit for working on planted crops in a field and a satellite positioning module to perform automatic work running, and using positioning data from the satellite positioning module. An aircraft position calculation step that calculates the aircraft position based on the vehicle position, a travel route setting step that sets a travel route for automatically traveling in the field, and automatic travel that automatically controls the aircraft position so as to follow the travel route. The control step, the planted crop detection step that detects the crop interval that is the interval between the planted crops adjacent in the working width direction, and the traveling so that a specific part of the aircraft enters between the planted crops. It includes a travel control correction step that corrects the route.

It is a side view of an agricultural work machine. It is a top view of an agricultural work machine. It is explanatory drawing which illustrates the traveling route for carrying out work in a field. It is a functional block diagram which shows the control system of an agricultural work machine. It is explanatory drawing explaining the recognition process of a 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 interval. It is explanatory drawing which shows the flow of control at the time of changing the steering control shown in FIG. It is a schematic diagram for demonstrating an example of the steering control change accompanying the detection of a crop interval. It is explanatory drawing which shows the flow of control at the time of changing the steering control shown in FIG. It is a top view of an agricultural work machine. It is a top view of an agricultural work machine. It is a top view of an agricultural work machine. It is a top view of an agricultural work machine. It is a schematic diagram for demonstrating an example of the steering control change accompanying the detection of a crop interval. It is a schematic diagram for demonstrating an example of the steering control change accompanying the detection of a crop interval.

An embodiment of a head-feeding combine, which is an example of an agricultural work machine according to the present invention, is described below based on drawings. Unless otherwise specified, the direction of the arrow F shown in FIGS. 1 and 2 is defined as “front”, and the direction of arrow B is defined as “rear”. Further, the direction of the arrow L shown in FIG. 2 is "left", and the direction of the arrow R is "right". Further, the direction of the arrow U shown in FIG. 1 is "up", and the direction of the arrow D is "down".

As shown in FIGS. 1 and 2, the head-feeding combine includes a crawler-type traveling device 11, a driving unit 12, a threshing device 13, a grain tank 14 (shown only in FIG. 2), and a working unit. A cutting unit 15, a transport device 16, a grain discharge device 18, and a satellite positioning module 80 are provided. The combine harvester 10 means an aggregate of the main components of the combine, but in some cases, it may mean individual components such as the traveling device 11 and the cutting section 15.

The traveling device 11 is provided at the lower part of the combine. Further, the traveling device 11 is driven by power from an engine (not shown). Then, the combine can be self-propelled by the traveling device 11.

Further, the operation unit 12, the threshing device 13, and the grain tank 14 are provided above the traveling device 11. The grain discharge device 18 is provided above the threshing device 13 and the grain tank 14. An operator who monitors the work of the combine can be boarded on the driver unit 12. The operator may monitor the work of the combine from outside the combine.

The cutting section 15 is supported by the front portion of the machine body 10. The transport device 16 is provided adjacent to the rear side of the cutting section 15. In this embodiment, the cutting unit 15 cuts and harvests the planted culm as a planted crop in the field. Planted culms include rice, wheat, soybeans and corn. The combine harvests the planted culms in the field while traveling. The reaping unit 15 performs reaping work on the planted culm.

As shown in FIG. 2, the cutting section 15 is provided with a divider 15C as a specific portion. The tip of the divider 15C protrudes forward in order to weed the adjacent planted culm to be harvested. The aircraft 10 is steered so that the tip of the divider 15C enters between the rows of stems (called strips or rows) of the planted culm. In addition, the stem of the planted culm also includes a stem as a cut mark of the cut planted culm, and the divider 15C was cut with the stem of the planted culm before cutting. It often enters between the stem of the planted culm.

The planted grain culm cut by the cutting unit 15 is transported to the threshing device 13 by the transport device 16 as a harvested grain culm. The harvested culm is threshed by the threshing device 13. The harvested grains obtained by the threshing treatment are stored in the grain tank 14. The grains stored in the grain tank 14 are discharged to the outside of the machine by the grain discharging device 18 as needed. The grain discharge device 18 is configured to swing around the vertical axis core at the rear of the machine body. That is, the discharge portion of the grain discharge device 18 is located in a discharge state in which the discharge portion of the grain discharge device 18 projects to the lateral outside of the machine body 10 to discharge crops, and the discharge portion of the grain discharge device 18 is located within the range of the machine width of the machine body 10. The grain discharge device 18 is configured so that it can be switched between the stored state and the stored state. When the grain discharge device 18 is in the stored state, the discharge port portion of the grain discharge device 18 is located on the front side of the operation unit 12 and above the cutting unit 15.

The satellite positioning module 80 is attached to 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 the aircraft position. In addition, in order to complement the satellite navigation by the satellite positioning module 80, an inertial navigation unit incorporating a gyro acceleration sensor and a magnetic compass sensor is incorporated 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, a photographing unit 21 composed of a CCD camera or a CMOS camera is provided on the upper surface of the divider 15C at the right end. The photographing unit 21 can photograph the stems of the planted culms lined up laterally in the front of the traveling direction and the stalks of the cut culms or both of the cut culms during the cutting run. It has a shooting angle of view set as such. Since the photographed image includes at least two stems that are adjacent to each other in the harvest width direction, the distance between the stems of the planted culm, that is, the interstitial space can be detected from the photographed image. The photographing unit 21 can be provided not only on the rightmost divider 15C but also on the leftmost divider 15C and other dividers 15C.

The combine of this embodiment can run in both automatic running and manual running. In automatic driving, the combine automatically travels along a traveling route set in the field. FIG. 3 shows an example of a standard harvesting operation in the field. Here, when the combine enters the field, the rotary mowing work is manually performed along the boundary (shore, etc.) of the field, and the outer peripheral area SA, which is the already worked area (already mowed area), is formed on the outer periphery of the field. To. If the outer peripheral region SA formed by the peripheral mowing run becomes a size that enables the combine's alpha-shaped turn run, the rotary mowing by the automatic run is possible. Next, as the central mowing work run, a running route for automatic running with respect to the unworked area (uncut area) which is the inner area CA of the outer peripheral area SA is set. In FIG. 3, a reciprocating travel route that combines straight-line travel and U-turn travel is used as the travel route for the central mowing work travel. The traveling route of this straight traveling includes not only a straight route but also a large curved route and a meandering route.

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

The control unit 6 is a core 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 input to the control unit 6 through a wiring network such as an in-vehicle LAN.

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 equipment group 7A and the working equipment group 7B. The vehicle traveling device group 7A includes control devices related to vehicle traveling, such as an engine control device, a shift control device, a braking control device, and a steering control device. The working equipment group 7B includes a cutting unit 15, a transporting device 16, a threshing device 13, a power control device in the grain discharging device 18, and the like. A traveling system detection sensor group 8A, a working system detection sensor group 8B, and the like are connected to the input processing unit 6A. The traveling system detection sensor group 8A includes sensors that detect the state of the engine speed adjuster, the accelerator pedal, the brake pedal, the speed change operation tool, and the like. The work system detection sensor group 8B includes a sensor for detecting the device state in the cutting unit 15, the transport device 16, the grain removal device 13, and the grain discharge device 18, and the state of the culm and the grain.

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, a travel locus management unit 68, and a planted crop detection unit 50. .. Specifically, the control unit 6 is composed of a computer device having a CPU, a communication function, and a storage function (a drive unit and / or an input / output interface for an internal recording medium and an external recording medium), and a predetermined computer program. To. This computer program uses a computer device as 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, a travel locus management unit 68, and a planted crop detection unit 50. Make it work. This computer program is recorded on the computer-readable recording medium described above. By executing this computer program, a method including steps corresponding to the above-mentioned functional units is executed in the automatic driving system.

Based on the positioning data sequentially sent from the satellite positioning module 80, the aircraft position calculation unit 66 determines the aircraft position which is the map coordinates (or field coordinates) of at least one specific location of the aircraft 10, for example, the cutting unit 15. calculate.

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

The automatic driving control unit 61 and the manual driving control unit 62 have an engine control function, a steering control function, a vehicle speed control function, and the like, and give a driving control signal to the vehicle traveling equipment group 7A. The automatic traveling control unit 61 includes a position deviation calculation unit 61a and a steering control amount calculation unit 61b. The position deviation calculation unit 61a calculates the travel position deviation between the travel route set by the travel route setting unit 64 and the aircraft position calculated by the aircraft position calculation unit 66. The steering control amount calculation unit 61b calculates the steering control amount for automatically steering the aircraft 10 so as to eliminate the deviation of the traveling position. The vehicle speed during automatic driving is determined based on a vehicle speed command generated by the automatic driving control unit 61 based on a vehicle speed value set in advance. 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 driving control unit 62 based on the manual operation. The work control unit 63 gives a work control signal to the work equipment group 7B via the output processing unit 6B in order to control the movements of the cutting unit 15, the threshing device 13, the grain discharge device 18, and the like.

The travel route setting unit 64 has a function of expanding the created travel route for automatic driving in a memory and sequentially setting it as a target travel route in automatic driving. The notification unit 67 generates notification data based on a request from each functional unit of the control unit 6 and gives the notification data to the notification device 84. The travel locus management unit 68 manages an unworked area and an existing work area in the field 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 non-contactly detects the inter-row spacing (an example of "crop spacing"), which is the spacing between the stems of adjacent planted culms in the harvest width direction (working width direction). The stems left after cutting the planted culms have a height of several centimeters or more from the field scene. Therefore, the stem portion left after cutting the planted grain culm is detected by the planted crop detection unit 50 and treated as the stem portion of the planted grain culm.

In this embodiment, the planted crop detection unit 50 includes a photographed image from the photographing unit 21, a position of the photographing unit 21 calculated based on the body position from the machine body position calculation unit 66, and a photographed image of the photographing unit 21. Based on the angle of view, the positions of the stems and the inter-rows of at least two planted culms are detected, and the positional relationship of the divider 15C between the inter-rows in the harvest width direction is calculated.

Therefore, the planted crop detection unit 50 of this embodiment includes an image acquisition unit 51, a machine learning unit 52, and a divider position calculation unit 53. The image acquisition unit 51 stores the photographed image sent from the photographing unit 21 at a predetermined cycle in the memory by linking it with the own machine position calculated by the machine body position calculating unit 66.

The machine learning unit 52 is constructed by a machine-learned neural network. In this machine-learned neural network, as schematically shown in FIG. 5, the photographed image acquired by the photographing unit 21 is used as an input image, and the stem of the planted culm included in this photographed image is used. It recognizes the part and outputs the position of the stem part. Therefore, a deep learning algorithm excellent in such recognition is used. In FIG. 5, the stem of the planted culm is shown by a rectangular frame. The size of this rectangular frame and the position of the rectangular frame in the captured image are output.

As schematically shown in FIG. 6, the divider position calculation unit 53 starts from the mounting position of the divider 15C, the position of the stem with respect to the machine body 10, and the target divider position (here, the central position between the strips). , The divider position shift (indicated by α in FIG. 6), which is the 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 appropriately enters the gap between the planted culms. The flow of this steering control is shown in FIG. In this embodiment, the travel control correction unit 65 includes an offset amount calculation unit 65a. The displacement of the aircraft 10 in the lateral direction (direction orthogonal to the traveling path) required for the divider 15C to approach the target divider position based on the divider misalignment output from the offset amount calculation unit 65a and the planted crop detection unit 50. The amount is calculated as an offset amount (indicated by β in FIG. 7). Simply, the divider misalignment is used as is as the offset amount (β = α). However, more appropriate steering control may be realized by weighting either the divider misalignment or the traveling misalignment calculated by the misalignment calculation unit 61a. When weighting the divider misalignment, the offset amount takes a value larger than the divider misalignment, and when weighting the traveling position shift, the offset amount takes a value smaller than the divider misalignment. From this, 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 non-linear function.

This offset amount is added to the traveling position deviation calculated by the position deviation calculation unit 61a, and the mixed value is given to the steering control amount calculation unit 61b. In FIG. 7, the mixed value is indicated by “Δd + β”, but the method for calculating the mixed value is not necessarily limited to addition. For example, the mixed value may be calculated by using a weighting operation or the like. The steering control amount calculation unit 61b calculates the 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 directional deviation (direction of the traveling route, the direction of the aircraft, and the deviation) as a control parameter.

8 and 9 show another embodiment of the traveling control correction unit 65. Here, the travel control correction unit 65 includes a route correction amount calculation unit 65b instead of the offset amount calculation unit 65a. The route correction amount calculation unit 65b issues a route displacement command for displacing the travel route set by the travel route setting unit 64 so that the divider 15C appropriately enters the gap between the planted culms. Give to 64. As shown in FIG. 8, the divider 15C is the target divider by laterally displacing the travel path by a distance of the displacement of the divider 15C from the target divider position (indicated by α in FIG. 8). It will approach the position. The lateral displacement amount of this traveling path is referred to as a path 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, as in the previous embodiment, the path correction amount may be calculated from the divider position shift using a predetermined function (γ = g (α)). This function g may also be a linear function or a non-linear function.

This route correction amount is sent to the traveling route setting unit 64 in the form of a route displacement command. The travel route setting unit 64 corrects the travel route currently set by using the route correction amount included in the route displacement command, and sends the corrected travel route to the position deviation calculation unit 61a.

The tablet computer 85 is provided with a touch panel 85a (touch panel type display device), and various control commands can be given to the control unit 6 by an operation by an operator. In this embodiment, the operator can manually input (manually input) the row direction of the planted culm using the touch panel 85a. For example, the operator manually inputs the row direction (planting direction, cutting direction) on the touch panel 85a showing the outer shape of the field. The travel route setting unit 64 creates and sets a travel route so as to follow the input strip direction.

The control functional 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 separated for explanatory purposes, and the control thereof. The integration of functional elements and the division of the control functional elements may be freely performed.
[Another Embodiment]

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

(2) In the above-described embodiment, the photographing unit 21 is attached to the upper surface of the divider 15C. The photographing unit 21 may be attached to other parts as long as the stem portion of the planted grain culm is within the photographing field of view of the photographing unit 21.

(3) In the above-described embodiment, the machine learning unit 52 is composed of a neural network machine-learned by using a deep learning algorithm, but of course, a neural network using an algorithm other than the deep learning algorithm, for example, recurrent. It may be composed of a neural network. Furthermore, an image recognition technique other than the machine-learned neural network may be adopted.

(4) In the above-described embodiment, a machine learning unit 52 that uses a photographed image as an input image is used in the planted crop detection unit 50 for non-contact detection of the stem of the planted culm. The planted crop detection unit 50 may be composed of a scanning sensor using an ultrasonic beam, a light beam, an electromagnetic wave beam, or the like. The shape of the reflector can be evaluated and the position of the planted crop can be calculated from the three-dimensional point cloud data of the traveling front region obtained by the scanning sensor.

(5) In the above-described embodiment, a head-feeding combine has been described as an example of an agricultural work machine. The agricultural work machine may be a conventional combine.

(6) The agricultural work machine may be a corn harvester. FIG. 10 shows a corn harvester as an example of an agricultural work machine. In the corn harvester of the present embodiment, the header (cutting section) of the ordinary combine is replaced with the pre-harvest processing apparatus 115. This corn harvester separates tufts from the corn to be planted, separates grains from tufts, and stores the grains.

This corn harvester includes a crawler type traveling device (not shown), an operating unit 112, a threshing device 113, a grain tank 114, a harvesting pretreatment device 115 as a working unit, a transport device 116, a grain discharging device 118, and a satellite. It includes components such as a positioning module 180. The body 110 of the corn harvester means a collection of components, but in some cases may mean individual components such as a traveling device or a pre-harvesting device 115.

The pre-harvest treatment device 115 separates the tufts from the corn to be planted and sends the tufts to the transport device 116. The threshing device 113 separates the grains from the tufts transported by the transport device 116. The pre-harvest treatment apparatus 115 includes a divider 115C, a scraping auger 115D, and the like as specific parts. A photographing unit 121 is provided on the upper surface of the divider 115C at the right end.

(7) FIG. 11 shows another form of corn harvester. This corn harvester separates tufts from the corn to be planted, removes the bracts from the tufts, and stores the tufts.

This corn harvester has components such as a wheel-type traveling device (not shown), a driving unit 212, a leaflet removing unit 213, a storage tank 214, a harvesting unit 215 as a working unit, a transport device 216, and a satellite positioning module 280. It has. The body 210 of the corn harvester means a collection of components, but in some cases, it may mean individual components such as a traveling device and a harvesting unit 215.

The harvesting unit 215 separates the tufts from the corn to be planted and sends the tufts to the transport device 216. The bract removing unit 213 removes the bracts from the tufts transported by the transport device 216. The harvesting unit 215 includes a divider 215C and the like as a specific part. An imaging unit 221 is provided on the upper surface of the rightmost divider 215C.

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

This sugar cane harvester is equipped with components such as a wheel-type traveling device 311, a driving unit 312, a separating device 313, a harvesting unit 315 as a working unit, a transport device 316, a discharge device 318, and a satellite positioning module 380. The body 310 of the sugar cane harvester means a collection of components, but in some cases, it may mean individual components such as a traveling device 311 and a harvesting unit 315.

The harvesting unit 315 cuts the sugar cane to be planted and sends the sugar cane to the transport device 316. The separation device 313 separates impurities from the sugar cane transported by the transfer device 316. The discharge device 318 discharges sugar cane separated from impurities by the separation device 313 to the rear of the machine body 310. The harvesting unit 315 is provided with a divider 315C or the like as a specific part. An imaging unit 321 is provided on the upper surface of the rightmost divider 315C.

(9) An embodiment in which the agricultural work machine does not have a divider is also possible. For example, the agricultural work machine may be a passenger type management machine. In this case, the specific portion may be a traveling wheel provided on the airframe. The travel control correction unit offset-corrects the steering control signal by the automatic travel control unit so that the traveling wheels enter between the planted crops. Alternatively, the travel control correction unit corrects the travel route so that the traveling wheels enter between the planted crops.

FIG. 13 shows a passenger-type management machine as an example of an agricultural work machine. This passenger-type management machine performs spraying work of spraying chemicals (agricultural chemicals, fertilizers, etc.) on planted crops while traveling in the field.

This passenger-type management machine includes components such as 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. There is. The body 410 of the passenger-type management machine means a collection of components, but in some cases, it may mean individual components such as a traveling wheel 411 and a chemical spraying unit 415.

The drug spraying unit 415 sprays the drug stored in the drug tank 425 to the field. The chemical spraying portion 415 includes a center boom 415D and left and right side booms 415E. An imaging unit 421 is provided on the upper surface of the right end of the center boom 415D.

The passenger-type management machine includes a control unit 6 having the same configuration as that of the above-described embodiment (illustrated examples of FIGS. 4 and 7). In the present embodiment, the control unit 6 includes a traveling wheel position calculation unit instead of the divider position calculation unit 53. The traveling wheel position calculation unit calculates the traveling wheel position deviation (δ in FIG. 14) instead of the divider position deviation (α in FIG. 6). Specifically, as shown schematically in FIG. 14, the traveling wheel position calculation unit includes the mounting position of the traveling wheel 411, the position of the stem portion with respect to the machine body 410, and the target traveling wheel position (here, the inter-row space). The traveling wheel position deviation (δ in FIG. 14), which is the displacement of the traveling wheel 411 from the target traveling wheel position, is calculated from the center position of the traveling wheel 411.

In the present embodiment, the traveling control correction unit 65 offset-corrects the steering control signal by the automatic traveling control unit 61 so that the traveling wheels 411 properly enter the gaps between the planted culms. The traveling control correction unit 65 offset-corrects the steering control signal by the same processing as in the illustrated example of FIG. 7 by using the traveling wheel position deviation (δ) instead of the divider position deviation (α).

The passenger-type management machine may include a 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 route correction amount calculation unit 65b instead of the offset amount calculation unit 65a. The route correction amount calculation unit 65b sets a travel route by setting a route displacement command that displaces the travel route set by the travel route setting unit 64 so that the traveling wheels 411 appropriately enter between the rows of the planted culms. Give to part 64. As shown in FIG. 15, the traveling wheel 411 is displaced laterally by the distance of the displacement of the traveling wheel 411 from the target traveling wheel position (indicated by δ in FIG. 15). Will approach the target running wheel position. The amount of lateral displacement of this traveling path is called the path correction amount (γ). Simply, the misalignment of the traveling wheels is used as it is as the path correction amount (γ = δ).

(10) The agricultural work machine may be a vegetable harvester. The vegetable harvester harvests vegetables (carrots, radishes, cabbage, Chinese cabbage, etc.) as planting crops while traveling in the field. When the vegetable harvester is provided with a divider (an example of a specific part), the vegetable harvester is provided with a control unit 6 having the same configuration as the illustrated example of FIG. In the embodiment 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 appropriately enters between the planted crops (vegetables). Alternatively, the travel control correction unit 65 includes a route correction amount calculation unit 65b instead of the offset amount calculation unit 65a. In the embodiment shown in FIG. 9, the route correction amount calculation unit 65b displaces the travel route set by the travel route setting unit 64 so that the divider can appropriately enter between the planted crops. Is given to the traveling route setting unit 64.

The vegetable harvester does not have to be equipped with a divider. When the vegetable harvester does not have a divider, the travel control correction unit 65 uses the automatic travel control unit 61 so that the traveling wheels (an example of a specific part) can appropriately enter between the planted crops (vegetables). Offset correct the steering control signal. Alternatively, the route correction amount calculation unit 65b issues a route displacement command that displaces the travel route set by the travel route setting unit 64 so that the traveling wheels appropriately enter between the planted crops. Give to.

(11) The photographing unit 21 may be used to detect crops around the divider 15C. For example, the planted crop detection unit 50 may detect that the divider 15C is in a state of being thrust into the row of the planted crop based on the image captured by the photographing unit 21. According to the detection result, the travel control module 60 stops and reverses the aircraft 10 so that the divider 15C passes between the planted crops, and then advances the aircraft 10 along an appropriate travel route to continue automatic traveling. For example, the planted crop detection unit 50 may detect that the divider 15C is in a state of dragging the cut crop based on the image captured by the photographing unit 21. Based on the detection result, the travel control module 60 stops and reverses the aircraft 10 so that the cut crop is separated from the divider 15C, and then advances again.

The present invention is applicable to agricultural work machines, automatic driving systems, programs, recording media on which programs are recorded, and methods for working on planted crops in fields.

10: Aircraft 15: Cutting part (working part)
15C: Divider (specific part)
21: Photographing unit 50: Planted crop detection unit 61: Automatic travel control unit 64: Travel route setting unit 65: Travel control correction unit 66: Aircraft position calculation unit 80: Satellite positioning module 85a: Touch panel 110: Aircraft 115: Before harvest Processing equipment (working unit)
115C: Divider (specific part)
121: Imaging unit 180: Satellite positioning module 210: Aircraft 215: Harvesting unit (working unit)
215C: Divider (specific part)
221: Imaging unit 280: Satellite positioning module 310: Aircraft 315: Harvesting unit (working unit)
315C: Divider (specific part)
321 ： Imaging unit 380 ： Satellite positioning module 410 ： Airframe 411 ： Traveling wheel (specific part)
415: Chemical spraying part (working part)
421: Imaging unit 480: Satellite positioning module

Claims

A working department that works on planted crops in the field,
An aircraft position calculation unit that calculates the aircraft position based on the positioning data from the satellite positioning module,
A travel route setting unit that sets a travel route for automatically traveling in the field,
An automatic driving control unit that performs automatic driving control so that the position of the aircraft follows the traveling path.
A planted crop detection unit that detects the crop interval, which is the interval between the planted crops adjacent in the working width direction, and
An agricultural work machine including a travel control correction unit that offset-corrects a steering control signal by the automatic travel control unit so that a specific part of the machine enters between the planted crops.
A working department that works on planted crops in the field,
An aircraft position calculation unit that calculates the aircraft position based on the positioning data from the satellite positioning module,
A travel route setting unit that sets a travel route for automatically traveling in the field,
An automatic driving control unit that performs automatic driving control so that the position of the aircraft follows the traveling path.
A planted crop detection unit that detects the crop interval, which is the interval between the planted crops adjacent in the working width direction, and
An agricultural work machine provided with a travel control correction unit that corrects the travel path so that a specific part of the aircraft enters between the planted crops.
A shooting unit that shoots the planted crop and outputs the shot image is provided.
The claim that the planted crop detection unit detects the position of the planted crop based on the photographed image, the position of the photographing unit calculated from the position of the machine body, and the angle of view of the photographing unit. Agricultural work machine according to 1 or 2.
The agricultural work machine according to claim 3, wherein the photographing unit is located in front of the work unit.
The agricultural work machine according to claim 3 or 4, wherein the planted crop detection unit includes a neural network machine-learned to detect the crop interval using the captured image as an input image.
The agricultural work machine according to claim 1 or 2, wherein the planted crop detection unit is composed of a scanning sensor using an ultrasonic beam, a light beam, an electromagnetic wave beam, or the like.
The agricultural work machine according to any one of claims 1 to 6, which is provided with a touch panel for displaying the traveling route, and the direction in which the planted crops are lined up is manually input using the touch panel.
The agricultural work machine according to any one of claims 1 to 7, wherein the specific part is a divider provided in the work part.
The agricultural work machine according to any one of claims 1 to 7, wherein the specific part is a traveling wheel provided on the machine body.
An agricultural work machine equipped with a work unit that works on planted crops in the field,
An aircraft position calculation unit that calculates the aircraft position of the agricultural work machine based on the positioning data from the satellite positioning module, and
A travel route setting unit that sets a travel route for automatic work travel performed by the agricultural work machine, and
An automatic traveling control unit that automatically runs the agricultural work machine so that the machine position follows the traveling path.
A planted crop detection unit that detects the crop interval, which is the interval between the planted crops adjacent in the working width direction, and
An automatic traveling system including a traveling control correction unit that offset-corrects a steering control signal by the automatic traveling control unit so that a specific portion of the body of the agricultural work machine enters between the planted crops.
A program for agricultural work machines equipped with a work unit that works on planted crops in the field and a satellite positioning module.
The aircraft position calculation function that calculates the aircraft position based on the positioning data from the satellite positioning module, and
A travel route setting function for setting a travel route for automatically traveling in the field, and
An automatic driving control function that performs automatic driving control so that the aircraft position follows the traveling route,
A planted crop detection function that detects the crop interval, which is the interval between the adjacent planted crops in the work width direction, and
A program that allows a computer to realize a travel control correction function that offset-corrects a steering control signal by the automatic travel control unit so that a specific part of the aircraft enters between the planted crops.
A recording medium that records a program for an agricultural work machine equipped with a work unit that works on planted crops in the field and a satellite positioning module.
The aircraft position calculation function that calculates the aircraft position based on the positioning data from the satellite positioning module, and
A travel route setting function for setting a travel route for automatically traveling in the field, and
An automatic driving control function that performs automatic driving control so that the aircraft position follows the traveling route,
A planted crop detection function that detects the crop interval, which is the interval between the adjacent planted crops in the work width direction, and
A recording medium that records a program that enables a computer to realize a travel control correction function that offset-corrects a steering control signal by the automatic travel control unit so that a specific part of the aircraft enters between the planted crops.
It is a method of having an agricultural work machine equipped with a work unit for working on planted crops in a field and a satellite positioning module perform automatic work running.
The aircraft position calculation step that calculates the aircraft position based on the positioning data from the satellite positioning module,
A travel route setting step for setting a travel route for automatically traveling in the field, and
An automatic driving control step that performs automatic driving control so that the aircraft position follows the traveling path, and
A planted crop detection step that detects a crop interval that is an interval between adjacent planted crops in the work width direction, and
A method including 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 aircraft enters between the planted crops.
An agricultural work machine equipped with a work unit that works on planted crops in the field,
An aircraft position calculation unit that calculates the aircraft position of the agricultural work machine based on the positioning data from the satellite positioning module, and
A travel route setting unit that sets a travel route for automatic work travel performed by the agricultural work machine, and
An automatic traveling control unit that automatically runs the agricultural work machine so that the machine position follows the traveling path.
A planted crop detection unit that detects the crop interval, which is the interval between the planted crops adjacent in the working width direction, and
An automatic traveling system including a traveling control correction unit that corrects the traveling path so that a specific portion of the body of the agricultural work machine enters between the planted crops.
A program for agricultural work machines equipped with a work unit that works on planted crops in the field and a satellite positioning module.
The aircraft position calculation function that calculates the aircraft position based on the positioning data from the satellite positioning module, and
A travel route setting function for setting a travel route for automatically traveling in the field, and
An automatic driving control function that performs automatic driving control so that the aircraft position follows the traveling route,
A planted crop detection function that detects the crop interval, which is the interval between the adjacent planted crops in the work width direction, and
A program that allows a computer to realize a travel control correction function that corrects the travel route so that a specific part of the aircraft enters between the planted crops.
A recording medium that records a program for an agricultural work machine equipped with a work unit that works on planted crops in the field and a satellite positioning module.
The aircraft position calculation function that calculates the aircraft position based on the positioning data from the satellite positioning module, and
A travel route setting function for setting a travel route for automatically traveling in the field, and
An automatic driving control function that performs automatic driving control so that the aircraft position follows the traveling route,
A planted crop detection function that detects the crop interval, which is the interval between the adjacent planted crops in the work width direction, and
A recording medium that records a program that allows a computer to realize a travel control correction function that corrects the travel path so that a specific part of the aircraft enters between the planted crops.
It is a method of having an agricultural work machine equipped with a work unit for working on planted crops in a field and a satellite positioning module perform automatic work running.
The aircraft position calculation step that calculates the aircraft position based on the positioning data from the satellite positioning module,
A travel route setting step for setting a travel route for automatically traveling in the field, and
An automatic driving control step that performs automatic driving control so that the aircraft position follows the traveling path, and
A planted crop detection step that detects a crop interval that is an interval between adjacent planted crops in the work width direction, and
A method that includes a travel control correction step that corrects the travel path so that a specific part of the airframe enters between the planted crops.