WO2022071373A1 - Moissonneuse - Google Patents

Moissonneuse Download PDF

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Publication number
WO2022071373A1
WO2022071373A1 PCT/JP2021/035800 JP2021035800W WO2022071373A1 WO 2022071373 A1 WO2022071373 A1 WO 2022071373A1 JP 2021035800 W JP2021035800 W JP 2021035800W WO 2022071373 A1 WO2022071373 A1 WO 2022071373A1
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WO
WIPO (PCT)
Prior art keywords
height
planted
crop
control
ratio
Prior art date
Application number
PCT/JP2021/035800
Other languages
English (en)
Japanese (ja)
Inventor
朝田諒
宮下隼輔
江戸俊介
Original Assignee
株式会社クボタ
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 株式会社クボタ filed Critical 株式会社クボタ
Priority to KR1020237008168A priority Critical patent/KR20230074717A/ko
Priority to CN202180066415.7A priority patent/CN116234432A/zh
Publication of WO2022071373A1 publication Critical patent/WO2022071373A1/fr

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Classifications

    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D41/00—Combines, i.e. harvesters or mowers combined with threshing devices
    • A01D41/12—Details of combines
    • A01D41/127—Control or measuring arrangements specially adapted for combines
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B69/00—Steering of agricultural machines or implements; Guiding agricultural machines or implements on a desired track
    • A01B69/001—Steering by means of optical assistance, e.g. television cameras
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D34/00—Mowers; Mowing apparatus of harvesters
    • A01D34/01—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus
    • A01D34/02—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having reciprocating cutters
    • A01D34/24—Lifting devices for the cutter-bar
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D41/00—Combines, i.e. harvesters or mowers combined with threshing devices
    • A01D41/12—Details of combines
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D57/00—Delivering mechanisms for harvesters or mowers
    • A01D57/01—Devices for leading crops to the mowing apparatus
    • A01D57/02—Devices for leading crops to the mowing apparatus using reels
    • A01D57/04—Arrangements for changing the position of the reels
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D69/00—Driving mechanisms or parts thereof for harvesters or mowers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2200/00—Type of vehicle
    • B60Y2200/20—Off-Road Vehicles
    • B60Y2200/22—Agricultural vehicles
    • B60Y2200/222—Harvesters

Definitions

  • the present invention relates to a harvester provided with a harvesting section for harvesting planted crops in a field.
  • the height of the planted crop from the field scene at the time of harvest varies depending on the variety and degree of growth of the crop.
  • planted crops such as rice and wheat
  • their height becomes considerably lower than the standard height.
  • the combine according to Japanese Patent Application Laid-Open No. 11-155340 is located in front of the cutting section in order to control the collapsed planted culm differently from the upright planted culm in the harvesting operation. It is equipped with a TV camera for shooting grain culms and an image processing device.
  • the image processing device detects the planted state of the grain culm by comparing the image from the television camera with the image showing the planted state of various grain culms stored in advance. When it is detected that a part of the grain culm in front of the cutting section is laid down, the suction reel swings downward. This improves the cutting performance of the fallen grain culm.
  • the degree of lodging of the planted culm is determined before cutting from the power spectrum distribution obtained based on the photographed image acquired at the time of cutting work.
  • the threshing load is adjusted by controlling the vehicle speed and the like in a timely manner according to the degree of lodging determined through image processing. This enables smooth threshing work even for a fallen grain culm.
  • the fallen grain culm is detected by image processing technology, and the working state of the combine is adjusted based on the detection result. Will be done.
  • the height of planted crops such as rice and wheat varies depending on the variety, overgrowth, and strong winds. Therefore, in order to achieve better harvesting work, it is necessary to adjust the working condition of the harvester in consideration of the difference from the standard height of the planted crop to be harvested.
  • an object of the present invention is to provide a harvester in which the working condition of the harvester is adjusted in consideration of the difference from the standard height of the planted crop.
  • the harvester includes a harvesting section for harvesting planted crops in the field, a crop height detection unit for detecting the actual height of the planted crops before harvesting planted in front of the traveling direction of the machine, and a crop height detection unit in the field. It includes a reference height acquisition unit that acquires the reference height of the planted crop, and a control unit that adjusts control parameters that determine the working state of the aircraft based on the ratio of the actual height to the reference height. ..
  • the actual height of the planted crop before harvesting is detected by the crop height detection unit. Further, the ratio of the actual height to the reference height is calculated, and the working state of the machine is appropriately adjusted based on the ratio.
  • the reference height is managed by the reference height setting unit according to the crop variety, crop growth characteristics, field characteristics, statistical values of actual height in the same field, and the like.
  • the above-mentioned technical features of the harvester can also be applied to the control system. Therefore, the present invention can also be subject to control systems.
  • the control system in this case is a control system of a harvester having a harvesting part for harvesting the planted crops in the field, and detects the actual height of the planted crops before harvesting to be planted in front of the traveling direction of the aircraft.
  • the above-mentioned technical features of the harvester can also be applied to the control method. Therefore, the present invention can also be subject to the control method.
  • the control method in this case is a control method of a harvester having a harvesting part for harvesting the planted crops in the field, and detects the actual height of the planted crops before harvesting to be planted in front of the traveling direction of the aircraft.
  • the above-mentioned technical features of the harvester can also be applied to the control program. Therefore, the present invention can also be subject to control programs. Further, a recording medium such as an optical disk, a magnetic disk, or a semiconductor memory in which a control program having this technical feature is recorded can also be subject to the right.
  • the control program in this case is a control program of a harvester having a harvesting part for harvesting the planted crops in the field, and detects the actual height of the planted crops before harvesting to be planted in front of the traveling direction of the aircraft.
  • the ratio is classified into a plurality of ratio ranges, and the control parameter is derived based on the ratio range.
  • the actual height of the planted crop is detected by the crop height detection unit, but it is difficult to detect characteristic data other than the height, for example, the posture and color of the planted crop.
  • Characteristic data of such planted crops can be obtained by image processing the photographed images of the planted crops. From this, in one of the preferred embodiments of the present invention, a camera that photographs a region in front of the traveling direction of the machine including at least the detection target range of the crop height detection unit in the field and acquires a captured image.
  • a unit and a feature data generation unit that generates feature data of the planted crop from the photographed image are provided, and the control parameter is derived based on the ratio and the feature data.
  • the lodging direction of the fallen planted crops is important characteristic data. Even if the machine is tilted to the same degree and its actual height is the same, it is preferable to change the working state of the machine depending on the tilting direction. From this, in one of the preferred embodiments of the present invention, the characteristic data includes the lodging direction of the planted crop.
  • control parameters that determine the working state of the machine are adjusted based on the ratio of the actual height to the reference height.
  • the harvesting section is equipped with equipment that adjusts the height and front-back position of the suction reel that scrapes the planted crops, and equipment that adjusts the harvest height.
  • vehicle speed also affects the working conditions of the aircraft. Therefore, in a preferred embodiment, the control parameters include a reel height parameter for adjusting the height of the suction reel, a reel front-rear position parameter for adjusting the front-rear position of the suction reel, and a harvest height parameter for adjusting the harvest height. Includes vehicle speed parameters to adjust the vehicle speed.
  • the harvest height parameter is adjusted so that the harvest height of the harvest part decreases. Conversely, the higher the ratio, the higher the harvest height parameter is adjusted so that the harvest in the harvest area increases.
  • the vehicle speed parameter is adjusted so that the vehicle speed decreases. On the contrary, if the ratio is high, the vehicle speed parameter is adjusted so that the vehicle speed increases.
  • the crop height detection unit an ultrasonic measurement method, a stereo matching measurement method, and a ToF (Time of flight) measurement method can be used.
  • the ultrasonic measurement method has low measurement accuracy, but is inexpensive.
  • the height (spatial position) of the planted culm can be obtained by processing the point cloud data obtained by the measurement.
  • LiDAR which is a kind of object position measuring instrument adopting the ToF measuring method, is used for collision prevention of automobiles and is widely distributed.
  • the crop height detection unit is the actual object from the object position measuring device for measuring the spatial position of the object and the point cloud data from the object position measuring device. It has a crop actual height calculation unit that calculates the height. Furthermore, by combining the point cloud data from the object position measuring instrument with the color information obtained from the captured image, it is possible to obtain the height of the planted crop more accurately.
  • FIG. 1 when the front-rear direction of the machine 1 is defined, it is defined along the traveling direction of the machine in the working state.
  • the direction indicated by reference numeral (F) in FIGS. 1 and 2 is the front side of the aircraft, and the direction indicated by reference numeral (B) in FIGS. 1 and 2 is the rear side of the aircraft.
  • the direction indicated by the reference numeral (U) in FIG. 1 is the upper side of the machine, and the direction indicated by the reference numeral (D) in FIG. 1 is the lower side of the machine body.
  • FIG. 2 is the left side of the aircraft, and the direction indicated by the reference numeral (R) in FIG. 2 is the right side of the aircraft.
  • R the direction indicated by the reference numeral
  • the left-right direction of the aircraft 1 is defined as viewed from the direction of travel of the aircraft.
  • a normal combine harvester which is a form of a harvester, is provided with a machine 1 and a pair of left and right crawler type traveling devices 11.
  • the machine 1 is provided with a boarding unit 12, a threshing device 13, a grain tank 14, a harvesting unit 15, a transport device 16, and a grain discharging device 18.
  • the traveling device 11 is provided at the lower part of the combine.
  • the traveling device 11 has a pair of left and right crawler traveling mechanisms, and the combine can travel in the field by the traveling device 11.
  • the boarding unit 12, the threshing device 13, and the grain tank 14 are provided above the traveling device 11, and these are configured as the upper part of the machine body 1.
  • a passenger of the combine harvester and an observer who monitors the work of the combine harvester can board the boarding unit 12.
  • a drive engine (not shown) is provided below the boarding section 12.
  • the grain discharge device 18 is connected to the rear lower portion of the grain tank 14.
  • the harvesting section 15 harvests the planted crops in the field.
  • the planted crop is, for example, a planted culm such as rice or wheat, but may be soybean or corn.
  • the combine can be run by the traveling device 11 while harvesting the planted crops in the field by the harvesting unit 15.
  • the transport device 16 is provided adjacent to the rear side of the harvesting section 15.
  • the harvesting section 15 and the transport device 16 are supported on the front portion of the machine body 1 so as to be able to move up and down.
  • the harvesting section 15 and the transport device 16 are integrally swung up and down by being moved up and down by the header actuator 15H capable of expanding and contracting.
  • the harvesting section 15 is provided with a harvesting header 15A, a scraping reel 15B, a horizontal feed auger 15C, and a hair clipper-shaped cutting blade 15D.
  • the harvest header 15A divides the front planted crop into a harvest target and a non-harvest target, and accepts the harvest target among the front planted crops.
  • the scraping reel 15B is located above the harvest header 15A.
  • the reel support arm 15K is swingably supported by the harvest header 15A, and the reel support arm 15K is swing-operated by a first reel actuator 15J capable of expanding and contracting.
  • the rotary shaft core portion of the suction reel 15B is supported by the free end region of the reel support arm 15K. For this reason, the suction reel 15B is configured to be able to swing up and down by the expansion and contraction operation of the first reel actuator 15J.
  • the scraping reel 15B is configured to be rotatable around the lateral axis of the machine while being supported by the reel support arm 15K. Further, the rotation shaft core portion of the suction reel 15B is configured to be slidable in the front-rear direction by the second reel actuator 15L in the free end region of the reel support arm 15K. That is, the scraping reel 15B is configured so that the height can be raised and lowered with respect to the harvest header 15A, and the front and rear positions can be changed with respect to the harvest header 15A.
  • the scraping reel 15B is equipped with a plurality of tines 15T, and the tines 15T act on the planted crops. When the planted crop is harvested from the field, the scraping reel 15B scrapes the portion of the planted crop near the tip with the tine 15T toward the rear.
  • the cutting blade 15D cuts the root side of the planted crop that has been scraped backward by the scraping reel 15B.
  • the lateral feed auger 15C is rotationally driven to the lateral axis of the machine body, laterally feeds the harvested crops cut by the cutting blade 15D to the middle side in the left-right direction, collects them, and sends them out to the rear transport device 16.
  • the ground height CH (harvest height: see FIGS. 5 and 6) of the harvest header 15A is set high, and the planted crop may be harvested only on the tip side. ..
  • the culm of the planted culm after cutting is cut by a clipper-type culm processing unit 19 provided behind the harvesting unit 15 so that the culm of the planted grain stick is not left in the field in a tall state. Ru.
  • the crop (for example, harvested culm) harvested by the harvesting unit 15 is transported to the threshing device 13 by the transport device 16.
  • the harvested crop is threshed by the threshing device 13.
  • the threshing device 13 has a threshing unit 13A, a sorting processing unit 13B, and a wall insert 13C.
  • the threshing section 13A is shown as a handling cylinder in FIG. 1, the handling chamber for accommodating the handling cylinder, the dust feed valve arranged at the upper part of the handling chamber, and the periphery of the lower region of the handling cylinder.
  • the dust valve guides the processed crops sent to the handling room to the rear.
  • the threshing unit 13A threshes the crops sent to the handling room by the transport device 16, that is, the processed crops to be processed by the threshing device 13.
  • the sorting processing unit 13B is provided below the threshing unit 13A, and while receiving the processed crops that have been threshed by the threshing unit 13A and rocking and transporting them backward, the processed crops are sieved into harvested and non-harvested products. do.
  • the sorting processing unit 13B is provided with a chaf sheave, and the chaf sheave has a plurality of chaf flips.
  • Each of the chaflip extends laterally to the fuselage.
  • the plurality of chaflip are arranged along the transport direction (front-back direction) in which the processed crop is transported, and each of the plurality of chaflip is arranged in an inclined posture toward the rear end side and diagonally upward.
  • the leakage opening of each chaflip can be changed.
  • the fact that the leakage opening can be changed means that the tilted posture is changed.
  • the treated crop is rocked backwards over the chaflip and the crop grain leaks downward through the gaps between the chaflip.
  • the wall insert 13C supplies the sorting wind to the sorting processing unit 13B.
  • the grains obtained by the threshing process 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 discharging device 18 is configured to be swingable around the vertical axis core at the rear of the machine body. That is, the free end portion of the grain discharge device 18 protrudes to the lateral outside of the machine body 1 so that the crop can be discharged, and the free end portion of the grain discharge device 18 is within the range of the machine width of the machine body 1.
  • the grain discharging device 18 is configured so as to be switchable between the stored storage state and the positioned storage state. When the grain discharging device 18 is in the stored state, the free end portion of the grain discharging device 18 is located on the front side of the boarding section 12 and above the harvesting section 15.
  • a first object detector 21A constituting the crop height detection unit 21 is provided on the front upper part of the boarding unit 12.
  • the crop height detection unit 21 detects the actual height of the planted crop before harvesting, which is planted in front of the traveling direction of the machine body 1.
  • the first object detector 21A is an object position measuring instrument that measures the spatial position of an object.
  • an ultrasonic measurement method, a stereo matching measurement method, a ToF (Time of flight) measurement method, or the like is used.
  • the first object detector 21A is a two-dimensional scan LiDAR which is a ToF measurement method.
  • the first object detector 21A may use a three-dimensional scan LiDAR instead of the two-dimensional scan LiDAR.
  • the height (spatial position) of the planted culm behind the machine body can be obtained.
  • a second object detector 21B similar to the first object detector 21A is provided in a region above the machine body 1 between the threshing device 13 and the grain tank 14.
  • the second object detector 21B detects the cutting trace of the planted grain stick behind the traveling direction of the machine 1 and the actual height of the surrounding planted crops.
  • the second object detector 21B is also an object position measuring instrument that measures the spatial position, and constitutes the crop height detecting unit 21. Of course, the second object detector 21B can be omitted.
  • a first camera 22A is provided on the front upper part of the boarding section 12.
  • the first camera 22A constitutes the camera unit 22.
  • the first camera 22A photographs a region in front of the traveling direction of the aircraft 1 in the field and acquires a captured image including color information.
  • the photographing area of the first camera 22A includes at least the detection target range of the first object detector 21A.
  • the characteristic data of the planted crop is generated from the photographed image acquired by the first camera 22A. Since the captured image contains color information, it is possible to generate feature data including color information and posture of the planted crop by using an image recognition technique for recognizing the planted crop.
  • a second camera 22B similar to the first camera 22A is provided in a region above the machine body 1 between the threshing device 13 and the grain tank 14.
  • the second camera 22B constitutes the camera unit 22.
  • the second camera 22B photographs a region of the field behind the traveling direction of the aircraft 1 to acquire a captured image including color information.
  • the photographing area of the second camera 22B includes at least the detection target range of the second object detector 21B.
  • the second camera 22B can also be omitted.
  • FIGS. 1 and 2 Examples of planted crops detected by the crop height detection unit 21 are shown in FIGS. 1 and 2.
  • a standard planted crop group with a standard height is indicated by the symbol Z0
  • a short crop group whose height is lower than the standard planted crop group is indicated by the symbol Z1
  • a lodging planted crop group is indicated by the symbol Z0. It is shown by Z2.
  • a satellite positioning module 80 is provided on the ceiling of the boarding section 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 position of the own vehicle.
  • GNSS Global Navigation Satellite System
  • an inertial navigation unit incorporating a gyro acceleration sensor and a magnetic orientation sensor is incorporated in the satellite positioning module 80.
  • the inertial navigation unit may be arranged at a place different from the satellite positioning module 80 in the combine.
  • the control unit 3 shown in FIG. 3 is a core element of the control system of the combine, and is shown as an aggregate of a plurality of ECUs.
  • the control unit 3 As the functional unit related to the height detection of the planted crop, the control unit 3 is provided with a feature data generation unit 30, a crop actual height calculation unit 31, a reference height acquisition unit 32, and a ratio calculation unit 33.
  • the control unit 3 is provided with a control parameter adjusting unit 34, a traveling control unit 35, a work control unit 36, and a vehicle position calculation unit 37 as functional units related to the traveling and work of the combine.
  • the image data output from the first camera 22A and the second camera 22B, the point group data output from the first object detector 21A and the second object detector 21B, and the positioning data output from the satellite positioning module 80 are. , Is input to the control unit 3.
  • Harvest height data output from the harvest height detection unit 23 reel height data output from the reel height detection unit 24a, reel front / rear position data output from the reel front / rear position detection unit 24b, auger height detection unit.
  • the auger height data output from 25 is also input to the control unit 3.
  • the harvesting section 15 and the transport device 16 are configured to swing up and down, and the harvest height detecting section 23 is provided at the swing axis core portion of the transport device 16.
  • the harvest height detecting unit 23 is configured to be able to detect the ground height CH (see FIGS. 5 and 6) at the lower end portion of the harvesting unit 15 by detecting the swing angle of the transport device 16.
  • the reel height detection unit 24a can detect the height position RH (see FIGS. 5 and 6) of the suction reel 15B with respect to the harvest header 15A by detecting the swing angle of the reel support arm 15K with respect to the harvest header 15A. It is configured in.
  • the reel front-rear position detection unit 24b is configured to be able to detect the front-rear position RL (see FIGS. 5 and 6) of the suction reel 15B by detecting the front-rear slide position of the suction reel 15B with respect to the reel support arm 15K. ing.
  • the auger height detection unit 25 can detect the height position OH (see FIGS. 5 and 6) of the lateral auger 15C by detecting the vertical position of an actuator (not shown) that raises and lowers the lateral auger 15C up and down. It is configured in.
  • the feature data generation unit 30 uses techniques such as image recognition including a neural network from image data including color information sent from the camera unit 22 to produce unharvested planted crops and harvested planted crops in the field. Generate characteristic data such as area division and lodging direction of fallen planted crops.
  • the crop height detection unit 21 is provided with a first object detector 21A and a crop actual height calculation unit 31. Using the point cloud data from the first object detector 21A, the actual height of the pre-harvest planted crop to be planted in front of the traveling direction of the machine body 1 can be obtained.
  • the second object detector 21B is included in the crop height detection unit 21, the pre-harvest planted crop to be planted behind the traveling direction of the aircraft 1 using the point group data from the second object detector 21B. The actual height of can be calculated. Further, the actual height of the pre-harvest planted crop behind the aircraft 1 obtained based on the point group data from the second object detector 21B was obtained by using the first object detector 21A before harvesting.
  • the crop actual height calculation unit 31 can also use the feature data generated by the feature data generation unit 30, for example, color information. By analyzing the point-like data to which the color information is given, the height of the tip (tip, etc.) of the planted crop can be obtained more accurately.
  • the point cloud data from the first object detector 21A and the second object detector 21B can also be used for obstacle detection.
  • the standard height acquisition unit 32 acquires the standard height of the planted crop that is the target of harvesting in the field.
  • a predetermined value can be set as the reference height by default, but an arbitrary value can be set by the observer.
  • a reference height suitable for the varieties of the field and the planted crop may be downloaded from the server 2 at a remote location through the communication unit 38 and set in the reference height acquisition unit 32.
  • statistical values such as an average value and an intermediate value of the actual height calculated over time by the crop actual height calculation unit 31 during the harvesting work may be adopted as the reference height.
  • the ratio calculation unit 33 calculates and outputs the ratio of the actual height output by the crop actual height calculation unit 31 to the reference height read from the reference height acquisition unit 32.
  • the control parameter adjusting unit 34 adjusts the control parameters that determine the working state of the machine 1 based on the ratio output from the ratio calculation unit 33.
  • the control parameters are used to determine the working state of equipment such as the traveling device 11 and the harvesting section 15.
  • the control parameter adjusting unit 34 includes a classification unit 34a and a class / parameter table 34b.
  • the classification unit 34a classifies the input ratio into a plurality of ratio ranges.
  • the class / parameter table 34b includes a table in which the classes (ratio range) classified by the classification unit 34a and the control parameters are associated with each other. That is, the class / parameter table 34b has a function corresponding to a look-up table that outputs control parameters based on the input class.
  • the control parameter adjusting section 34 can adjust the control parameters with reference to this feature data as well. That is, the class / parameter table 34b has a plurality of modes determined by the lodging direction.
  • FIG. 4 schematically illustrates the data flow in the process in which control parameters are derived based on the detected actual height and feature data.
  • the ratio of the actual height to the reference height is obtained from the actual height and the reference height.
  • the ratio is classified into one of class 1, class 2, class 3, and class 4. If the cause of the decrease in actual height is the lodging of planted crops, class 1 is "upright”, class 2 is “slightly lodging”, class 3 is “falling”, and class 4 is "sticky (tip)”. Is in a state of lying down so as to be in contact with the field scene) ”.
  • the class / parameter table 34b has a reel height parameter (abbreviated as reel height in FIG. 4) and a reel front / rear position parameter (abbreviated as reel front / rear in FIG. 4) as control parameters for each of the four classes.
  • the parameter values of the harvest height parameter (abbreviated as the harvest height in FIG. 4) and the vehicle speed parameter (abbreviated as the vehicle speed in FIG. 4) are related.
  • the control parameter group for each of the four classes is set for each of three modes (mode A, mode B, mode C), for example. In this embodiment, one of three modes is selected depending on the lodging direction.
  • control parameter value is not specified in FIG. 4, the relationship with the ratio (class) is as follows. (1) When the ratio is low, the control parameter value (reel height parameter value) is such that the suction reel 15B is lowered. On the contrary, when the ratio becomes high, the control parameter value becomes such that the suction reel 15B rises. (2) When the ratio is low, the control parameter value (front-back position parameter value) is such that the suction reel 15B moves forward. On the contrary, when the ratio becomes high, the control parameter value becomes such that the suction reel 15B moves backward. (3) When the ratio is low, the control parameter value (harvest height parameter) is such that the harvest height of the harvesting unit 15 is reduced.
  • the control parameter value becomes such that the harvest height of the harvesting unit 15 increases.
  • the control parameter value vehicle speed parameter value
  • the control parameter value becomes such that the vehicle speed increases.
  • the travel control unit 35 has a vehicle speed control unit 35A and a vehicle height control unit 35B.
  • the control parameters of the current traveling control unit 35 are adjusted based on the control parameters output from the control parameter adjustment unit 34. If the control parameter output from the control parameter adjusting unit 34 is a vehicle speed parameter, the vehicle speed control unit 35A adjusts the vehicle speed.
  • the travel control unit 35 has an engine control function, a steering control function, a vehicle speed control function, a vehicle height control function, and the like, and gives a travel control signal to the travel device 11 based on control parameters. In the case of manual steering, the travel control unit 35 generates a control signal and controls the travel device 11 based on the operation by the passenger.
  • the own vehicle position calculation unit 37 calculates the own vehicle position based on the positioning data from the satellite positioning module 80.
  • the travel control unit 35 steers based on the target travel route given by the automatic travel control module (not shown) of the control unit 3 and the vehicle position calculated by the vehicle position calculation unit 37. And the vehicle speed are controlled for the traveling device 11.
  • the work control unit 36 has a header control unit 36A, a reel control unit 36B, and an auger control unit 36C.
  • the control parameters of the current work control unit 36 are adjusted based on the control parameters output from the control parameter adjustment unit 34.
  • the control unit 3 can communicate with the server 2 at a remote location via the communication unit 38. For example, crop height information, lodging information, work condition information, etc. in a small section of a field are transmitted to a field server 2 via a wireless communication network and recorded in field map information managed by the server 2. Ru. As a result, the farm manager can utilize the crop height information, lodging information, work condition information, etc. for the next year's agricultural plan.
  • the working state of the harvesting unit 15 mainly depends on the ground height CH of the harvest header 15A, which is the harvest height, the height position RH of the scraping reel 15B, and the front-rear position RL of the scraping reel 15B.
  • the ground height CH of the harvest header 15A can be adjusted by the harvest height parameter.
  • the height position RH of the scraping reel 15B can be adjusted by the reel height parameter.
  • the front-rear position RL of the suction reel 15B can be adjusted by the reel front-rear position parameter.
  • the height position RH of the scraping reel 15B is too high, it becomes difficult for the scraping reel 15B to scrape the crop. Further, if the height position RH of the scraping reel 15B is too low, the crop is likely to be entangled with the scraping reel 15B. As shown in FIGS. 5 and 6, when the crop in the field is harvested by the harvesting unit 15, the rotation locus of the tine 15T so that the tine 15T of the scraping reel 15B scrapes the tip from the front upper part to the rear. Should overlap with the tip area of the crop.
  • the work control unit 36 uses each parameter adjusted by the control parameter adjustment unit 34 based on the ratio calculated by the ratio calculation unit 33, and the work control unit 36 sets the target ground height CH and height position. A control signal for realizing RH and front-back position RL is generated.
  • the working condition in harvesting can be changed depending on the vehicle speed. Therefore, using the vehicle speed parameter, the travel control unit 35 generates a control signal for achieving the target vehicle speed.
  • the factors that affect the working condition of the harvesting unit 15 are the rotation speed of the scraping reel 15B, the rotation locus of the tine 15T, and the height of the lateral feed auger 15C. (Indicated by OH in FIGS. 5 and 6) and the like. A configuration may be adopted in which at least one of these factors is adjusted by the ratio of the actual height to the reference height.
  • the working state of the threshing device 13 may be changed depending on the ratio of the actual height of the planted crop to the reference height.
  • the working state of the threshing device 13 can be changed by adjusting the rotation speed of the wall insert 13C and the leakage opening degree of the chaff sheave in the sorting processing unit 13B.
  • the control parameters include the wall insert velocity parameter and the leak opening degree parameter.
  • FIG. 7 shows an example of zigzag cutting.
  • the target traveling line that is the traveling target of the machine body 1 is indicated by the symbol BL
  • the harvest width (cutting width) by the harvesting unit 15 is indicated by the reference numeral W
  • the overlap values set at both ends of the harvest width is indicated by the reference numeral W.
  • the steering amount is set so that the maximum deviation amount does not exceed the overlap value in order to avoid leftovers (leftovers) in the harvesting work in zigzag running.
  • this steering amount in the control parameters, automatic zigzag running based on the ratio and feature data becomes possible.
  • the machine body 1 resulting in the harvesting section 15
  • the maximum deviation amount dL on the left side and the maximum deviation amount dR on the right side may be the same, or may be different depending on the lodging state.
  • the crop actual height calculation unit 31 uses not only the point cloud data but also the color information as the feature data from the feature data generation unit 30 in order to calculate the crop height.
  • the crop height may be calculated only from the point cloud data.
  • each functional part of the functional block diagram of FIG. 3 is divided mainly for the purpose of explanation, and in reality, any functional part can be freely integrated or separated.
  • the crop actual height calculation unit 31 and the feature data generation unit 30 may be configured as an external unit of the control unit 3.
  • it may be composed of a feature data generation unit 30, a crop actual height calculation unit 31, a ratio calculation unit 33, and one integrated unit.
  • the traveling device 11 is configured as a crawler type, but the traveling device 11 may be configured as a wheel type.
  • the class / parameter table 34b has a plurality of modes determined by the lodging direction, but different modes may be prepared depending on the cultivar of the planted crop and the field. At that time, the mode to be used is determined by the intention of the observer or the like.
  • the class / parameter table 34b may be configured to derive the control parameter only by the ratio, or may be configured to derive the control parameter directly from the ratio without classifying the ratio.
  • the crop height detection unit 21, the reference height acquisition unit 32, the control unit 3, and the like are provided in the harvester, but the harvester is not limited to this embodiment.
  • the crop height detection unit 21 may be provided in a work machine or an air vehicle other than the harvester, or a terminal (one or one) in which the reference height acquisition unit 32 and the control unit 3 are not mounted on the harvester. It may be configured to be provided for either stationary or mobile with a plurality of terminals).
  • each of the terminal and the harvester may be provided with a separate control unit 3, and each control unit 3 may be configured to enable data communication (for example, wired / wireless Internet communication) with each other.
  • control unit 3 on the terminal side is provided with a feature data generation unit 30, a crop actual height calculation unit 31, a reference height acquisition unit 32, a ratio calculation unit 33, and a control parameter adjustment unit 34, and is a harvester.
  • the control unit 3 on the side may be provided with a travel control unit 35, a work control unit 36, and a vehicle position calculation unit 37.
  • the crop height detection unit 21, the reference height acquisition unit 32, the control unit 3 on the terminal side, and the control unit 3 on the harvester side each communicate data with each other (for example, wired / wireless Internet).
  • a control system capable of communication may be configured.
  • the present invention is applicable not only to ordinary combine harvesters but also to general harvesters for harvesting crops such as head-feeding combine harvesters (for example, corn harvesters and carrot harvesters). Further, the technical features of the harvester of the present invention can also be applied to a control system. Therefore, the above-described embodiment can be configured as a control system. In addition, the technical features of the harvester of the present invention are also applicable to control methods. Therefore, the above-described embodiment can be configured as a control method. In addition, the technical features of the harvester of the present invention are also applicable to control programs. Therefore, the above-described embodiment can be configured as a control program. Further, a recording medium in which a control program having this technical feature is recorded is also included in the present invention.
  • Aircraft 3 Control unit 30: Feature data generation unit 31: Crop actual height calculation unit 32: Reference height acquisition unit 33: Ratio calculation unit 34: Control parameter adjustment unit 34a: Classification unit 34b: Class / parameter table 11: Traveling device 15: Harvesting section 15A: Harvesting header 15B: Scraping reel 21: Crop height detection unit 21A: First object detector (object position measuring instrument) 21B: Second object detector (object position measuring instrument) 22: Camera unit 22A: 1st camera 22B: 2nd camera 23: Harvest height detection unit 24a: Reel height detection unit 24b: Reel front / rear position detection unit 25: Ogre height detection unit

Landscapes

  • Life Sciences & Earth Sciences (AREA)
  • Environmental Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Soil Sciences (AREA)
  • Outside Dividers And Delivering Mechanisms For Harvesters (AREA)
  • Combines (AREA)
  • Guiding Agricultural Machines (AREA)
  • Harvester Elements (AREA)

Abstract

Moissonneuse pourvue : d'une partie de récolte (15) permettant de récolter les cultures plantées dans un champ ; d'une unité de détection de hauteur de culture (21) permettant de détecter la hauteur réelle d'une culture non récoltée plantée au-delà du corps de machine de la moissonneuse dans le sens de déplacement ; d'une partie d'acquisition de la hauteur de référence (32) permettant d'acquérir une hauteur de référence d'une culture plantée dans le champ ; et d'une unité de commande (3) permettant d'ajuster un paramètre de commande afin de déterminer un état de travail du corps de machine sur la base du rapport de la hauteur réelle à la hauteur de référence.
PCT/JP2021/035800 2020-09-30 2021-09-29 Moissonneuse WO2022071373A1 (fr)

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JP2020165526A JP2022057328A (ja) 2020-09-30 2020-09-30 収穫機

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Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS537442A (en) * 1976-07-10 1978-01-23 Iseki Agricult Mach Cutting height control device for combine
JP2000060275A (ja) * 1998-08-27 2000-02-29 Kubota Corp 刈取収穫機
EP2517549A1 (fr) * 2011-04-27 2012-10-31 Deere & Company Agencement et procédé de détection de la quantité de plantes sur un champ
US20170082442A1 (en) * 2015-09-17 2017-03-23 Deere & Company Mission and path planning using images of crop wind damage
US20190021226A1 (en) * 2017-07-20 2019-01-24 Deere & Company System for optimizing platform settings based on crop state classification
CN110262287A (zh) * 2019-07-14 2019-09-20 南京林业大学 用于收获机械割台高度自动控制的冠层高度在线探测方法

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JP3713889B2 (ja) 1997-05-08 2005-11-09 井関農機株式会社 コンバイン等の倒伏判定装置
JPH11155340A (ja) 1997-11-25 1999-06-15 Yanmar Agricult Equip Co Ltd 汎用コンバイン

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Publication number Priority date Publication date Assignee Title
JPS537442A (en) * 1976-07-10 1978-01-23 Iseki Agricult Mach Cutting height control device for combine
JP2000060275A (ja) * 1998-08-27 2000-02-29 Kubota Corp 刈取収穫機
EP2517549A1 (fr) * 2011-04-27 2012-10-31 Deere & Company Agencement et procédé de détection de la quantité de plantes sur un champ
US20170082442A1 (en) * 2015-09-17 2017-03-23 Deere & Company Mission and path planning using images of crop wind damage
US20190021226A1 (en) * 2017-07-20 2019-01-24 Deere & Company System for optimizing platform settings based on crop state classification
CN110262287A (zh) * 2019-07-14 2019-09-20 南京林业大学 用于收获机械割台高度自动控制的冠层高度在线探测方法

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HIRAI YASUMARU, HAMAGAMI KUNIHIKO, MORI KEN: "Investigation of a Laser Scanner for Measurement of Lodging Posture of a Wheat Bunch", JOURNAL OF THE FACULTY OF AGRICULTURE KYUSHU UNIVERSITY, KYUSHU DAIGAKU NOGAKUBU, FUKUOKA, JP, vol. 53, no. 1, 28 February 2008 (2008-02-28), JP , pages 89 - 93, XP055920127, ISSN: 0023-6152, DOI: 10.5109/10076 *

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