WO2022118566A1 - コンバイン及び走行制御方法 - Google Patents
コンバイン及び走行制御方法 Download PDFInfo
- Publication number
- WO2022118566A1 WO2022118566A1 PCT/JP2021/039596 JP2021039596W WO2022118566A1 WO 2022118566 A1 WO2022118566 A1 WO 2022118566A1 JP 2021039596 W JP2021039596 W JP 2021039596W WO 2022118566 A1 WO2022118566 A1 WO 2022118566A1
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- WIPO (PCT)
- Prior art keywords
- unit
- abnormality
- traveling
- combine
- main body
- Prior art date
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- 238000000034 method Methods 0.000 title claims description 22
- 230000005856 abnormality Effects 0.000 claims abstract description 112
- 238000001514 detection method Methods 0.000 claims abstract description 47
- 238000005520 cutting process Methods 0.000 claims description 122
- 238000003306 harvesting Methods 0.000 claims description 32
- 230000008569 process Effects 0.000 claims description 7
- 230000032258 transport Effects 0.000 description 35
- 239000010902 straw Substances 0.000 description 27
- 238000012545 processing Methods 0.000 description 18
- 238000004891 communication Methods 0.000 description 13
- 239000002699 waste material Substances 0.000 description 10
- 238000010586 diagram Methods 0.000 description 9
- 238000010295 mobile communication Methods 0.000 description 7
- 230000001133 acceleration Effects 0.000 description 5
- 230000005540 biological transmission Effects 0.000 description 5
- 230000006870 function Effects 0.000 description 5
- 238000007599 discharging Methods 0.000 description 4
- 238000012546 transfer Methods 0.000 description 4
- 238000012937 correction Methods 0.000 description 3
- 230000003028 elevating effect Effects 0.000 description 3
- 238000005259 measurement Methods 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 239000000725 suspension Substances 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000001174 ascending effect Effects 0.000 description 1
- 238000007664 blowing Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
Images
Classifications
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- 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
- 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
-
- 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
- A01D—HARVESTING; MOWING
- A01D69/00—Driving mechanisms or parts thereof for harvesters or mowers
Definitions
- the present invention relates to a combine for harvesting grain culms and a traveling control method.
- Patent Document 1 the cutting unit is based on preset travel route information, field edge information, position information acquired by using GPS, and tilt angle information detected by a gyro sensor. It has been proposed to change the height position.
- Patent Document 2 the yield of the grains stored in the tank is detected, the yield of the harvested grains per unit mileage is detected, and the tank is filled at any position on the straight traveling path. It has been proposed to predict whether or not the harvest will occur, interrupt the harvesting work at the turning position immediately before the predicted position, and autonomously drive to the dischargeable position.
- Patent Document 3 a traveling course of the combine is generated so that the crops are harvested from the outer peripheral side to the inside in a spiral shape in the work area, and the combine is traveled so as to pass through the generated traveling course to form the combine. It has been proposed to perform actions to harvest crops.
- Patent Documents 1 to 3 do not describe what to do when an abnormality occurs in the combine during the automatic harvesting operation.
- the combine according to the present invention includes a main body portion including a cutting section for cutting grain culms, a traveling section that supports and runs on the main body section, and a detection section that detects an abnormality in the main body section.
- the detection unit detects an abnormality during the execution of the automatic reaping work of causing the reaping unit to mow the grain while autonomously traveling the traveling unit, after interrupting the automatic reaping work, the traveling unit is moved. It is characterized by including a control unit that controls the vehicle to move backward by a first predetermined distance.
- the detection unit detects an abnormality in the main body and a sign of an abnormality in the main body, and the control unit detects a sign of an abnormality during the execution of the automatic cutting operation. After interrupting the automatic cutting operation, the traveling unit may be controlled to move backward by the first predetermined distance.
- the combine includes a field information acquisition unit that acquires field information including the outer shape of the field and the outer shape of the uncut or already cut land in the field, and the control unit is on either the left or right side of the main body.
- the detection unit detects an abnormality or a sign of an abnormality during the execution of the automatic cutting operation
- the said The traveling unit may be controlled so as to move backward by the first predetermined distance and to be laterally separated from the uncut land by a second predetermined distance.
- the control unit causes the traveling unit to move backward by the first predetermined distance and the uncut land. It may be controlled so as to be separated from the second predetermined distance to the side.
- the combine is provided with a transport device for transporting the grain culm cut by the harvester and a threshing section for threshing the grain culm transported by the transport device on the left side of the main body, and the control unit.
- the field information indicates that the left side of the main body is the uncut land and the right side is the already cut land, and the detection unit is an abnormality of the transport device or the threshing unit.
- the traveling unit may be controlled to move backward by the first predetermined distance and to be separated from the uncut land to the right by the second predetermined distance.
- the combine includes an operation unit that accepts operations, and after the traveling unit is moved backward, the abnormality or a sign of an abnormality detected by the detection unit is eliminated, and the automatic cutting operation is restarted.
- the traveling unit and the main body unit are controlled so as to move the automatic harvesting operation to the interrupted position and then restart the automatic harvesting operation. You may.
- the control unit may control the traveling unit so as to move to the interruption position at a speed slower than the set speed in the automatic cutting operation.
- the combine includes an operation unit that accepts an operation, and the control unit interrupts the automatic cutting operation, and then the traveling unit receives an operation that permits the traveling unit to move backward. May be controlled to move backward.
- the traveling control method includes an automatic cutting step of performing an automatic cutting operation in which the cutting unit is made to cut grain culms while autonomously traveling the traveling unit that supports the main body including the cutting unit.
- the traveling unit is moved to the first predetermined distance. It may be controlled to move backward.
- the field information indicates that one of the left and right sides of the main body is the uncut land and the other is the already cut land, and the detection unit is during the execution of the automatic cutting operation.
- the traveling unit may be controlled to move backward by the first predetermined distance and to be laterally separated from the uncut land by a second predetermined distance.
- the traveling portion is moved backward by the first predetermined distance and the uncut portion is used. It may be controlled so as to be separated from the ground to the side by the second predetermined distance.
- the field information indicates that the left side of the main body is the uncut land and the right side is the already cut land, and the detection unit is cut by the cutting unit.
- the traveling unit may be controlled to move backward by the first predetermined distance and to be separated from the uncut land to the right by the second predetermined distance.
- the traveling control method After the traveling unit is moved backward in the reverse control step, the abnormality or the sign of the abnormality detected by the detection unit is eliminated, and the operation of permitting the restart of the automatic cutting operation is operated. It is provided with an automatic cutting resumption process that controls the traveling unit and the main body unit so that the automatic cutting work is restarted after the automatic cutting work is moved to the interrupted position when the unit accepts the automatic cutting work. You may.
- the traveling unit may be controlled so as to move to the interrupted position at a speed slower than the set speed in the automatic cutting operation.
- the traveling unit may be controlled to move backward.
- FIG. 1 is a left side view of the combine 1.
- FIG. 2 is a plan view schematically showing the configuration of the combine 1.
- FIG. 3 is a block diagram showing the electrical configuration of the combine 1.
- FIG. 4 is a block diagram showing a positioning unit 34 and a base station 39.
- U, Lo, L, R, Fr, and Rr indicate top, bottom, left, right, front, and back, respectively.
- the combine 1 has a function of automatic cutting work in which the grain culm is cut while autonomously traveling in the field H to be worked. Further, the combine 1 can also be run by a manual operation of a worker. Further, the combine 1 can manually control the traveling speed while autonomously controlling the steering.
- the combine 1 is steered by a traveling unit 2, a harvesting unit 3, a threshing unit 4, a sorting unit 5, a storage unit 6, a straw waste processing unit 7, a power unit 8, and a steering unit. It has a part 9 and.
- the combine 1 is a so-called self-removing combine, and while traveling by the traveling unit 2, the grain culm (cutting target) cut by the cutting unit 3 is threshed by the threshing unit 4, and the grains are sorted by the sorting unit 5. And store it in the storage unit 6.
- the combine 1 processes the straw after threshing by the straw processing unit 7.
- the combine 1 drives the traveling unit 2, the harvesting unit 3, the threshing unit 4, the sorting unit 5, the storage unit 6, and the straw waste processing unit 7 by the power supplied from the power unit 8.
- the present invention may be applied to a conventional combine.
- the traveling unit 2 is provided below the machine frame 10.
- the cutting section 3 is provided in front of the machine frame 10.
- the threshing unit 4, the sorting unit 5, the storage unit 6, the straw waste processing unit 7, the power unit 8 and the control unit 9 are provided above the machine frame 10.
- the cutting unit 3, the threshing unit 4, the sorting unit 5, the storage unit 6, the straw disposal unit 7, the power unit 8 and the control unit 9 are provided on the machine frame 10.
- the main body 12 includes a machine frame 10, a cutting section 3, a threshing section 4, a sorting section 5, a storage section 6, a straw disposal section 7, a power section 8, and a control section 9, and is supported by the traveling section 2. That is, the combine 1 is configured such that the traveling portion 2 supports the main body portion 12 and travels.
- the traveling unit 2 includes a pair of left and right crawler type traveling devices 11 provided below the machine frame 10.
- the crawler type traveling device 11 is connected to the engine 27 via a transmission (not shown) and is rotated by the power generated by the engine 27. By independently controlling the rotational drive of the left and right crawler type traveling devices 11, forward, backward, and turning are performed.
- the cutting section 3 is provided in front of the traveling section 2.
- the cutting section 3 is provided so as to be able to move up and down between a descending position where the grain culm of the field H can be cut and an ascending position where the grain culm cannot be cut.
- the cutting unit 3 includes a divider 13, a raising device 14, a cutting device 15, and a transport device 16.
- the divider 13 guides the grain culm of the field H to the raising device 14.
- the elevating device 14 causes the grain culm guided by the divider 13.
- the cutting device 15 cuts the culm caused by the raising device 14.
- the transport device 16 is provided above the rear side of the cutting device 15 and on the left side of the main body portion 12, and transports the grain culm cut by the cutting device 15 to the rear.
- the threshing section 4 is provided behind the cutting section 3 and on the left side of the main body section 12.
- the threshing unit 4 includes a feed chain 18 and a handling cylinder 19.
- the feed chain 18 conveys the grain culms conveyed from the transfer device 16 of the cutting unit 3 for threshing, and further conveys the grain culms after threshing, that is, the straw discharged to the straw processing unit 7.
- the handling cylinder 19 threshs the culm carried by the feed chain 18.
- the sorting unit 5 is provided below the threshing unit 4.
- the sorting unit 5 includes a swing sorting device 21, a wind sorting device 22, a grain transporting device (not shown), and a straw waste discharging device (not shown).
- the rocking sorting device 21 sifts the threshed grains that have fallen from the threshing section 4 and sorts them into grains, straw debris, and the like.
- the wind sorting device 22 further sorts the threshed grains sorted by the rocking sorting device 21 into grains, straw debris, and the like by blowing air.
- the grain transporting device transports the grains sorted by the rocking sorting device 21 and the wind sorting device 22 to the storage unit 6.
- the straw waste discharging device discharges the straw waste and the like sorted by the rocking sorting device 21 and the wind sorting device 22 to the outside of the machine.
- the storage section 6 is provided on the right side of the threshing section 4.
- the storage unit 6 includes a grain tank 24 and a discharge device 25.
- the grain tank 24 stores the grains transported from the sorting unit 5.
- the discharging device 25 is composed of an auger or the like, and discharges the grains stored in the grain tank 24 to an arbitrary place.
- the straw waste processing unit 7 is provided behind the threshing unit 4.
- the straw discharge processing unit 7 includes a straw discharge transport device (not shown) and a straw discharge cutting device (not shown).
- the straw-removing transport device conveys the straw-removed straw conveyed from the feed chain 18 of the threshing unit 4 to the straw-removing cutting device.
- the straw-removing cutting device cuts the straw transported by the straw-removing transport device and discharges it to the outside of the machine.
- the power unit 8 is provided above the front side of the traveling unit 2.
- the power unit 8 includes an engine 27 that generates rotational power.
- the power unit 8 transmits the rotational power generated by the engine 27 to the traveling unit 2, the cutting unit 3, the threshing unit 4, the sorting unit 5, the storage unit 6, and the straw waste processing unit 7.
- the control unit 9 is provided above the power unit 8.
- the control unit 9 includes a driver's seat 29, a terminal 30 having a touch panel (see FIG. 3), and a plurality of operating tools (not shown).
- the driver's seat 29 is provided on the right side of the main body 12, for example, and includes a chair or the like on which an operator sits.
- the terminal 30 is provided at a position (for example, right front or left front of the worker) that can be operated by the worker seated in the driver's seat 29.
- the terminal 30 is a display unit that displays images and the like taken by the cameras 32, 43, and 57, which will be described later, and is also an operation unit that accepts operations on the combine 1.
- the plurality of operating tools are operated by an operator seated in the driver's seat 29, and are a steering wheel for operating the steering of the combine 1, an accelerator for adjusting the rotation speed of the engine 27 (running speed of the combine 1), and cutting. It includes an elevating switch and the like for elevating and lowering the unit 3.
- the combine 1 includes an airframe camera 32, a positioning unit 34, and an azimuth measuring unit 33 (see FIGS. 2 and 3).
- the airframe camera 32 is provided, for example, in the upper part of the front side of the control unit 9, and photographs the field H.
- the positioning unit 34 acquires position information indicating the position of the combine 1 by using a satellite positioning system such as GPS (Global Positioning System).
- the positioning unit 34 includes a mobile communication device 35, a mobile GPS antenna 36, and a data receiving antenna 37.
- the mobile communication device 35 receives a signal from a GPS satellite via the mobile GPS antenna 36, and calculates the position of the combine 1 (strictly speaking, the position of the mobile GPS antenna 36) using the received signal. Acquire the position information of 1.
- the mobile communication device 35 acquires position information at predetermined time intervals.
- the mobile GPS antenna 36 is provided, for example, on the left side of the control unit 9 and substantially in the center of the main body unit 12 in the left-right direction.
- the directional measurement unit 33 is, for example, an angular velocity sensor (gyro sensor), a 3-axis acceleration sensor, a geomagnetic sensor, or the like, and by measuring the directional of the combine 1, the directional information indicating the directional of the combine 1 is acquired.
- a base station 39 is installed in the ridges and the like around the field H, which is the work target of the combine 1.
- the base station 39 includes a fixed communication device 40, a fixed GPS antenna 41, a data transmission antenna 42, and a fixed camera 43.
- the fixed communication device 40 acquires the position information of the base station 39 by communicating with the GPS satellite via the fixed GPS antenna 41.
- the fixed communication device 40 transmits correction information based on the position information of the base station 39 to the mobile communication device 35 via the data transmission antenna 42.
- the fixed camera 43 photographs the field H.
- the fixed communication device 40 acquires an image (field image) taken by the fixed camera 43, and transmits the field image to the mobile communication device 35 via the data transmission antenna 42.
- the mobile communication device 35 of the positioning unit 34 receives the correction information and the field image transmitted from the fixed communication device 40 of the base station 39 via the data reception antenna 37.
- the mobile communication device 35 corrects the position information of the combine 1 based on the correction information.
- the base station 39 may not be installed, and the position information may not be corrected by the base station 39.
- the control unit 45 includes an arithmetic processing unit 50, a storage unit 51, and a communication unit 52.
- the various components of the combine 1 described above are connected to the control unit 45 via a communication interface.
- the control unit 45 controls various components of the combine 1 in response to an input operation from the operator via the control unit 9.
- the storage unit 51 is, for example, a ROM (Read Only Memory), a RAM (Random Access Memory), a hard disk drive, a flash memory, or the like, and stores programs and data for controlling various components and functions of the combine 1.
- the arithmetic processing unit 50 is, for example, a CPU (Central Processing Unit), and controls various components and functions of the combine 1 by executing arithmetic processing using the programs and data stored in the storage unit 51. ..
- the control unit 45 may be realized by an integrated circuit that does not use a program, instead of a processor or the like that executes a program or the like.
- the communication unit 52 wirelessly communicates with the mobile terminal 53 owned by the worker.
- the mobile terminal 53 is, for example, a tablet provided with a touch panel and has a function of remotely controlling the combine 1.
- the mobile terminal 53 includes a mobile camera 54 for photographing the field H.
- the communication unit 52 wirelessly communicates with the aerial photography device 56 such as a drone.
- the aerial photography device 56 includes an aerial photography camera 57 for photographing the field H.
- the aerial photography device 56 operates according to the operation instruction transmitted from the communication unit 52.
- the aerial photography device 56 may perform wireless communication with the mobile terminal 53 in place of / in addition to the communication unit 52.
- the mobile terminal 53 and the aerial photography device 56 may be omitted.
- the control unit 45 controls each of the cameras 32, 43, 57 to take a picture of the field H.
- the control unit 45 causes the terminal 30 or the like to display the field image taken by each of the cameras 32, 43, 57.
- the control unit 45 controls the mobile terminal 53 via the communication unit 52 to transfer the field image to the terminal 30 or the like. Display.
- the field image may not be displayed.
- the control unit 45 acquires the position information of the combine 1 from the positioning unit 34 and stores it in the storage unit 51. Further, the control unit 45 acquires field information including the outer shape of the field H (the shape of the outer edge of the field H) and the outer shapes of the uncut land H0 and the cut land H1 in the field H, and stores the field information in the storage unit 51. Store (an example of the field information acquisition unit). Specifically, the outer shape of the field H is represented by the position information acquired by the positioning unit 34 during one round of cutting the circumference of the field H by manual operation. Alternatively, the outer shape of the field H may be acquired by the worker designating the outer shape of the field H on the map displayed on the terminal 30.
- the traveling position information of the combine 1 is updated at predetermined time intervals, and is stored in the storage unit 51 each time it is updated.
- the control unit 45 calculates the outer shape of the cut land H1 from the route traveled by the combine 1 in the field H (history of the position information of the combine 1) and the cutting width of the cutting unit 3, and the outer shape of the field H and the cut.
- the outer shape of the uncut land H0 is calculated from the outer shape of the ground H1.
- the control unit 45 acquires route information representing the planned travel route of the combine 1. Specifically, the control unit 45 acquires a travel route manually input by the operator using the terminal 30 or the like, and stores it in the storage unit 51. Alternatively, the control unit 45 may be configured to set a traveling route according to a predetermined algorithm based on the field information.
- the control unit 45 causes the combine 1 to perform an automatic harvesting operation in which the harvesting unit 3 cuts the grain culm while the traveling unit 2 autonomously travels according to the route information. Further, the control unit 45 controls the threshing unit 4, the sorting unit 5, the storage unit 6 and the straw waste processing unit 7, and threshing the culm after cutting, sorting the grains and straw scraps, storing the grains, and so on. Perform processing such as threshing.
- the combine 1 includes a main body portion 12 including a cutting unit 3 for cutting grain culms, a traveling unit 2 that supports and travels on the main body unit 12, detection units 62 to 68 that detect an abnormality in the main body unit 12, and a traveling unit 2.
- the detection units 62 to 68 detect an abnormality during the execution of the automatic harvesting work in which the harvesting unit 3 is made to mow the grain while autonomously traveling
- the traveling unit 2 is set to the first predetermined position after the automatic cutting operation is interrupted.
- a control unit 45 for controlling the distance D1 to move backward is provided.
- the main body portion 12 and the traveling portion 2 are as described above.
- the configurations of the detection units 62 to 68 and the operation of the combine 1 controlled by the control unit 45 will be described in detail.
- the detection units 62, 63, 64, 65, 66, 67, and 68 detect abnormalities in the traveling unit 2, the cutting unit 3, the threshing unit 4, the sorting unit 5, the storage unit 6, the straw waste processing unit 7, and the power unit 8, respectively. It is a sensor to detect.
- the detection units 62 to 68 are, for example, an acceleration sensor, a torque sensor, an optical sensor, an image sensor, or the like.
- the traveling unit 2, the harvesting unit 3, the threshing unit 4, the sorting unit 5, the storage unit 6, the straw discharging processing unit 7, and the power unit 8 are provided with at least one of these plurality of types of sensors. ..
- the accelerometer is provided on a non-movable portion such as a frame of the transport device 16.
- the transport device 16 vibrates more than usual.
- the control unit 45 determines that the abnormality of the transport device 16 has been detected.
- the torque sensor is provided in a drive unit that drives the transport device 16.
- the transport device 16 is clogged with grain culms
- the transport of the grain culms is stopped, so that the torque of the drive unit increases.
- the control unit 45 determines that the abnormality of the transport device 16 has been detected.
- the light emitting unit and the light receiving unit face each other across the transport path of the transport device 16, and the light receiving unit detects the light generated by the light emitting unit.
- the transport device 16 is clogged with a grain culm
- the grain culm blocks the light so that the light receiving unit does not detect the light.
- the control unit 45 determines that an abnormality has occurred in the transport device 16.
- the image sensor photographs the transport path of the transport device 16.
- the storage unit 51 stores an image of the transport path when the culm is not clogged, and when the captured image shows a pattern different from the image stored in the storage unit 51, the control unit 45 , It is determined that an abnormality has occurred in the transport device 16.
- the detection units 62 to 68 detect signs of abnormality in addition to the abnormality of the main body unit 12 and the traveling unit 2. For example, when a second threshold value smaller than the above threshold value (first threshold value) is set for the acceleration of the transfer device 16 and the amplitude reaches the second threshold value, the control unit 45 of the transfer device 16 It is determined that a sign of abnormality has been detected. Further, the detection of the abnormality and the detection of the sign of the abnormality may be performed by separate sensors. For example, the clogging of the culm may be detected by using an image sensor, and the sign of the clogging of the culm may be detected by using a torque sensor.
- FIG. 5 is a flow chart of control executed by the control unit 45.
- FIG. 6 is a flow chart of reverse control executed by the control unit 45.
- FIG. 7 is a diagram showing a screen G1 during automatic cutting.
- FIG. 8 is a diagram showing a traveling operation of the combine 1.
- FIG. 9 is a diagram showing the screen G2 during the automatic cutting suspension.
- 10 to 13 are diagrams showing the traveling operation of the combine 1.
- FIG. 14 is a diagram showing the screen G3 during the automatic cutting restart standby.
- steps S01 and S02 are examples of the automatic cutting process.
- Steps S03 to S06 are examples of the reverse control process.
- Steps S07 to S09 are examples of the automatic cutting restart step.
- Combine 1 moves to the cutting start position of the field H by autonomous driving or manual driving.
- the control unit 45 confirms the state of each unit of the combine 1 by using the detection units 62 to 68.
- the control of the automatic harvesting work is started according to the flow chart of FIG. The automatic harvesting work can be performed even if the worker is not on the combine 1, but the worker can quickly start the work for resolving the abnormality.
- the control unit 45 determines whether or not there is uncut land H0 with reference to the field information. When there is no uncut land H0 (step S01: NO), the control unit 45 ends the control of the automatic cutting operation. When there is uncut land H0 (step S01: YES), the control unit 45 autonomously travels the traveling unit 2 according to the route information, while the cutting unit 3, the threshing unit 4, the sorting unit 5, the storage unit 6, and the straw are discharged. The processing unit 7 and the power unit 8 are controlled to execute the automatic cutting operation (step S02).
- the example of FIG. 8 is an example of performing reciprocating mowing that alternately repeats traveling in the R1 direction and the opposite direction from right to left. The shaded area is the uncut land H0, and the right side of the uncut land H0 is the uncut land H1.
- the control unit 45 causes the terminal 30 or the like to display the screen G1 shown in FIG. 7. Illustrations of the field H and the combine 1 are displayed in the first region A1 of the screen G1, and the position of the combine 1 and the outer edges of the uncut land H0 and the cut land H1 are updated at predetermined time intervals.
- the "stop" button B1 is displayed in the second area A2 of the screen G1, and the automatic cutting work can be stopped at the discretion of the operator.
- the detection unit 63 to 68 causes an abnormality or a sign of an abnormality in the main body unit 12 (cutting unit 3, threshing unit 4, sorting unit 5, storage unit 6, straw discharge processing unit 7, and power unit 8). Is determined (step S03). If an abnormality or a sign of an abnormality is not detected in any of the parts (step S03: NO), the control unit 45 repeats the processes after step S01. On the other hand, when it is determined that an abnormality or a sign of an abnormality is detected in any part (step S03: YES), the control unit 45 controls the main body unit 12 and the traveling unit 2 to interrupt the automatic cutting operation. (Step S04). For example, if an abnormality is detected at the P1 point shown in FIG. 8, the control unit 45 interrupts the automatic cutting work at the P1 point (interruption position). At this time, the control unit 45 raises the cutting unit 3.
- the control unit 45 determines whether or not the terminal 30 or the like is permitted to move backward (step S05). Specifically, the control unit 45 causes the terminal 30 or the like to display the screen G2 shown in FIG. .. On the screen G2, an illustration indicating that the jam has been detected, an illustration showing the position where the jam has been detected, a question asking the operator whether or not to move backward, and a "yes" button B2 and a "no” button B3 are displayed. .. When the operator operates the "No" button B3, the control unit 45 determines that the reverse movement is not permitted (step S05: NO), changes to manual driving (step S10), and then ends the control of the automatic cutting work. do.
- step S05 determines that the reverse movement is permitted (step S05: YES), and shifts to the reverse movement control (step S06). Since safety is ensured by stopping the reverse movement when an obstacle behind the sensor (not shown) is detected, the processes of steps S05 and S10 may be omitted.
- control unit 45 determines whether or not the left side of the combine 1 is the uncut land H0 and the right side is the already cut land H1 with reference to the field information (step S11). In the example of FIG. 8, the control unit 45 determines that the left side is the uncut land H0 and the right side is the cut land H1 (step S11: YES).
- the control unit 45 determines whether or not an abnormality has been detected in the portion of the combine 1 on the uncut land H0 side (for example, the transport device 16 and the threshing unit 4) (step S12).
- the control unit 45 moves the combine 1 from the P1 point to the right rear P2 point (step S13).
- the control unit 45 causes the traveling unit 2 to move backward by a first predetermined distance D1 (for example, 5 m) and to be separated from the uncut land H0 to the right by a second predetermined distance D2 (for example, 2 m).
- a first predetermined distance D1 for example, 5 m
- D2 for example, 2 m
- the first predetermined distance D1 and the second predetermined distance D2 may be a preset fixed value or a set value set by the user. Further, the control unit 45 sets the first predetermined distance D1 and the second predetermined distance D2 according to the situation around the combine 1 photographed by the cameras 32, 43, 57, the size of the body of the combine 1, and the like. It may be configured to do so. Further, the first predetermined distance D1 and the second predetermined distance D2 may have different values or may be the same value.
- step S12 when an abnormality is detected in the portion of the combine 1 on the side of the cut ground H1 (for example, the storage unit 6 and the power unit 8) (step S12: NO), the control unit 45 moves the combine 1 backward. (Step S14). Specifically, the control unit 45 controls the traveling unit 2 to move backward by the first predetermined distance D1.
- the example of FIG. 10 is an example of performing reciprocating cutting from left to right.
- the control unit 45 determines NO in step S11, in step S21, it is determined whether or not the right side is the uncut land H0 and the left side is the already cut land H1.
- the control unit 45 determines that the uncut land H0 is on the right side and the cut land H1 is on the left side (step S21: YES).
- the control unit 45 determines whether or not an abnormality has been detected in the uncut land H0 side portion of the combine 1 (for example, the storage unit 6 and the power unit 8) (step S22).
- the control unit 45 moves the combine 1 from the P1 point to the left rear P2 point (step S23).
- the control unit 45 controls the traveling unit 2 so as to move backward by the first predetermined distance D1 and to move the traveling unit 2 to the left by the second predetermined distance D2 from the uncut land H0.
- step S22 when an abnormality is detected in the portion of the combine 1 on the side of the harvested land H1 (for example, the transport device 16 and the threshing unit 4) (step S22: NO), the control unit 45 moves the combine 1 backward. (Step S24).
- FIG. 11 shows a state in which there is no cut land H1 on the side of the combine 1 at the start of reciprocating cutting.
- FIG. 12 shows a state in which cutting is started from a position closer to the center of the field H without following the field edge, and in this case as well, there is no cut land H1 on the side of the combine 1.
- the control unit 45 moves the combine 1 to the rear of the first predetermined distance D1 in order to determine NO in steps S11 and S21 (step S31).
- the control unit 45 calculates the distance from the image taken by the aircraft camera 32 to the uncut land H0 in front, and if the calculated distance is equal to or longer than a predetermined distance, the combine 1 is configured not to move backward. May be.
- the operator After moving the combine 1 at least backward by the above-mentioned reverse control, the operator performs work for resolving the abnormality. For example, when the grain culm is clogged in the transport device 16 or the threshing section 4, the operator removes the clogged grain culm and uses the threshing section 4 to perform threshing by hand in a predetermined procedure.
- step S07 determines whether or not an abnormality has been detected in the main body unit 12 (FIG. 5, step S07). If it is determined that an abnormality is detected in any part (step S07: YES), the control unit 45 repeats the process of step S07.
- step S08 determines whether or not the resumption of the automatic cutting work is permitted. Specifically, the control unit 45 causes the terminal 30 or the like to display the screen G3 shown in FIG. On the screen G3, a question to the effect that the clogging has been cleared, a question to select between restarting the automatic cutting work and cutting by manual running, and an "automatic" button B4 and a “manual” button B5 are displayed. When the operator operates the "manual" button B5, the control unit 45 determines that the resumption of the automatic cutting work is not permitted and the cutting by the manual running is selected (step S08: manual), and changes to the manual running.
- Step S10 On the other hand, when the operator operates the "automatic" button B4, the control unit 45 determines that the restart of the automatic harvesting work is permitted (step S08: YES), and moves the combine 1 from the P2 point to the P1 point (interruption position). The harvester is moved, and the harvesting unit 3 is lowered to restart the automatic harvesting operation (step S09). At this time, the control unit 45 may control the traveling unit 2 so as to move to the interrupted position at a speed slower than the set speed in the automatic cutting operation. When an abnormality in the traveling unit 2 is detected, the above control is stopped, the automatic harvesting operation is stopped, and the combine 1 is stopped.
- the control unit 45 causes the harvesting unit 3 to execute the automatic cutting operation of cutting the grain culm while the traveling unit 2 is autonomously traveling, and the automatic cutting operation is being executed.
- the detection units 63 to 68 excluding the detection unit 62 of the traveling unit 2, interrupt the automatic cutting operation, the traveling unit 2 is controlled to move backward by the first predetermined distance D1.
- the control unit 45 interrupts the automatic cutting work and then runs.
- the unit 2 is controlled to move backward by the first predetermined distance D1. According to this configuration, even when a sign of abnormality occurs, a space is provided in front of the combine 1, so that it is possible to facilitate work for preventing the abnormality.
- the field information indicates that one of the left and right sides of the main body portion 12 is the uncut land H0 and the other is the already cut land H1 in the control unit 45.
- the detection units 63 to 68 detect an abnormality or a sign of an abnormality during the execution of the automatic cutting work
- the traveling unit 2 is moved backward by the first predetermined distance D1 and the second predetermined distance from the uncut land H0 to the side. It is controlled so as to be separated from D2. According to this configuration, since a space is provided on the side of the uncut land H0 side in addition to the front, it is possible to facilitate the work for eliminating or preventing the abnormality.
- the control unit 45 detects an abnormality or a sign of an abnormality in the portion of the main body 12 on the uncut land H0 side of the detection unit 63 to the traveling unit 2. Is controlled so as to move backward by the first predetermined distance D1 and to be laterally separated from the uncut land H0 by the second predetermined distance D2. According to this configuration, in addition to the front side, a space is provided on the side of the uncut land H0 and the side where the abnormality is detected, so that the work for eliminating the abnormality can be facilitated.
- the field information indicates that the control unit 45 has the uncut land H0 on the left side and the cut land H1 on the right side of the main body unit 12.
- the detection units 63 to 68 detect an abnormality or a sign of an abnormality in the transport device 16 or the threshing unit 4
- the traveling unit 2 is moved backward by the first predetermined distance D1 and the second predetermined from the uncut land H0 to the right.
- the distance D2 is controlled so as to be separated. According to this configuration, since a space is created on the left side in addition to the front side, it is possible to facilitate the work for eliminating or preventing the abnormality of the transport device 16 and the threshing unit 4.
- the operation unit 45 eliminates the abnormality or the sign of the abnormality and permits the restart of the automatic cutting work at the terminal 30.
- the traveling unit 2 and the main body unit 12 are controlled so as to move the automatic cutting work to the interrupted position and then restart the automatic cutting work. According to this configuration, it is possible to reduce the burden of the operation of restarting the automatic cutting work.
- control unit 45 controls the traveling unit 2 so as to move to the interrupted position at a speed slower than the set speed in the automatic cutting operation. According to this configuration, the combine 1 can be moved to the interrupted position while the user confirms the presence or absence of recurrence of the abnormality.
- the control unit 45 interrupts the automatic cutting work, and then the traveling unit 2 receives an operation of permitting the traveling unit 2 to move backward by the terminal 30 or the like. Is controlled to move backward. According to this configuration, it is possible to leave it to the user's judgment whether or not to move the combine 1 backward. For example, if the user determines that it is not abnormal according to the rule of thumb, the automatic cutting work can be restarted immediately. Alternatively, if an obstacle is found behind, the reverse movement can be stopped.
- a "temporarily back” button is displayed on the terminal 30 during the automatic cutting operation.
- the control unit 45 raises the cutting unit 3 to interrupt the automatic cutting work, moves the combine 1 backward by the first predetermined distance D1, and then advances the combine 1 to the interrupted position at a speed slower than the traveling speed of the automatic cutting work.
- the cutting unit 3 is lowered to restart the automatic cutting work.
- the first predetermined distance D1 is set to such a distance that the boundary between the uncut land H0 and the already cut land H1 in front can be visually recognized. According to this configuration, when the user feels a sign of an abnormality, it is possible to prevent the occurrence of the abnormality.
- step S14 of FIG. 6 an example in which the control unit 45 moves the combine 1 to the rear is shown in step S14 of FIG. 6, but the combine 1 may be configured to move the combine 1 to the right rear in the same step. In this case, steps S12 and S14 may be omitted.
- step S24 of FIG. 6 an example in which the control unit 45 moves the combine 1 to the rear is shown in step S24 of FIG. 6, but the combine 1 may be configured to move to the left rear in the same step. In this case, steps S22 and S24 may be omitted.
- the combine 1 may be configured to move to the left rear only when the worker is on the combine 1. This is because even if an abnormality is not detected on the uncut land H0 side (right side), if there is a space for the worker to get off, the work for eliminating the abnormality can be quickly and safely performed.
- a sensor (not shown) for detecting an operator is provided in the driver's seat 29, and when the operator is detected, the control unit 45 causes the traveling unit 2 to move backward by the first predetermined distance D1 and at the same time. It is controlled so as to be separated from the uncut land H0 to the left by a second predetermined distance D2. Since it is sufficient to secure a space for getting off on the uncut land H0 side, the moving distance to the left is a distance smaller than the second predetermined distance D2 (2 m in the above embodiment) (for example,). 1m) may be used.
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Abstract
Description
コンバイン1は、作業対象となる圃場Hにおいて、自律走行しながら穀稈の刈取作業を行う自動刈取作業の機能を備えている。また、コンバイン1は、作業員の手動操作による走行も可能である。また、コンバイン1は、操向を自律制御しながら、走行速度を手動操作で制御することも可能である。
[機体カメラ]
機体カメラ32は、例えば、操縦部9の前側上部に設けられており、圃場Hを撮影する。
測位部34は、GPS(Global Positioning System)等の衛星測位システムを利用してコンバイン1の位置を示す位置情報を取得する。測位部34(図3参照)は、移動通信機35と、移動GPSアンテナ36と、データ受信アンテナ37と、を備えている。移動通信機35は、移動GPSアンテナ36を介してGPS衛星から信号を受信し、受信した信号を用いてコンバイン1の位置(厳密には、移動GPSアンテナ36の位置)を算出することで、コンバイン1の位置情報を取得する。移動通信機35は、所定の時間間隔で位置情報を取得する。移動GPSアンテナ36は、例えば、操縦部9の左側方、且つ、本体部12の左右方向の略中央に設けられている。
方位計測部33は、例えば、角速度センサ(ジャイロセンサ)、3軸加速度センサ、地磁気センサ等であり、コンバイン1の方位を計測することで、コンバイン1の方位を示す方位情報を取得する。
コンバイン1の作業対象となる圃場Hの周囲の畦等には、基地局39が設置されている。基地局39は、固定通信機40と、固定GPSアンテナ41と、データ送信アンテナ42と、固定カメラ43と、を備えている。固定通信機40は、固定GPSアンテナ41を介してGPS衛星と通信することによって、基地局39の位置情報を取得する。固定通信機40は、基地局39の位置情報に基づく補正情報を、データ送信アンテナ42を介して移動通信機35へ送信する。固定カメラ43は、圃場Hを撮影する。固定通信機40は、固定カメラ43によって撮影された画像(圃場画像)を取得し、データ送信アンテナ42を介して圃場画像を移動通信機35へ送信する。測位部34の移動通信機35は、データ受信アンテナ37を介して基地局39の固定通信機40から送信された補正情報及び圃場画像を受信する。移動通信機35は、補正情報に基づいてコンバイン1の位置情報を補正する。なお、基地局39は設置されなくてもよく、基地局39による位置情報の補正は行われなくてもよい。
制御部45は、演算処理部50と、記憶部51と、通信部52と、を備えている。上記したコンバイン1の各種構成要素は、通信インターフェースを介して制御部45に接続されている。制御部45は、操縦部9を介した作業者からの入力操作に応じてコンバイン1の各種構成要素を制御する。
検知部62、63、64、65、66、67、68は、それぞれ走行部2、刈取部3、脱穀部4、選別部5、貯留部6、排藁処理部7、動力部8の異常を検知するセンサである。検知部62乃至68は、例えば、加速度センサ、トルクセンサ、光センサ、画像センサ等である。走行部2、刈取部3、脱穀部4、選別部5、貯留部6、排藁処理部7及び動力部8には、これらの複数種類のセンサのうち少なくとも1種類のセンサが設けられている。
次に、コンバイン1の動作について説明する。図5は、制御部45が実行する制御の流れ図である。図6は、制御部45が実行する後進制御の流れ図である。図7は、自動刈取実行中の画面G1を示す図である。図8は、コンバイン1の走行動作を示す図である。図9は、自動刈取一時停止中の画面G2を示す図である。図10乃至13は、コンバイン1の走行動作を示す図である。図14は、自動刈取再開スタンバイ中の画面G3を示す図である。図5において、ステップS01、S02は、自動刈取工程の一例である。ステップS03乃至S06は、後進制御工程の一例である。ステップS07乃至S09は、自動刈取再開工程の一例である。
2 走行部
3 刈取部
4 脱穀部
12 本体部
16 搬送装置
30 端末(操作部)
45 制御部
62、63、64、65、66、67、68 検知部
D1 第1所定距離
D2 第2所定距離
Claims (16)
- 穀稈を刈り取る刈取部を含む本体部と、
前記本体部を支持して走行する走行部と、
前記本体部の異常を検知する検知部と、
前記走行部を自律走行させながら前記刈取部に穀稈を刈り取らせる自動刈取作業の実行中に前記検知部が異常を検知した場合に、前記自動刈取作業を中断させた後、前記走行部を第1所定距離後進させるように制御する制御部と、を備えることを特徴とするコンバイン。 - 前記検知部は、前記本体部の異常に加えて、前記本体部の異常の予兆を検知するとともに、
前記制御部は、前記自動刈取作業の実行中に前記検知部が異常の予兆を検知した場合に、前記自動刈取作業を中断させた後、前記走行部を前記第1所定距離後進させるように制御することを特徴とする請求項1に記載のコンバイン。 - 圃場の外形と、前記圃場内の未刈り地又は既刈り地の外形と、を含む圃場情報を取得する圃場情報取得部を備え、
前記制御部は、前記本体部の左右の一方が前記未刈り地であり、他方が前記既刈り地であることを前記圃場情報が示し、且つ、前記自動刈取作業の実行中に前記検知部が異常又は異常の予兆を検知した場合に、前記走行部を、前記第1所定距離後進させるとともに、前記未刈り地から側方へ第2所定距離離間させるように制御することを特徴とする請求項2に記載のコンバイン。 - 前記制御部は、前記検知部が前記本体部の前記未刈り地側の部分に異常又は異常の予兆を検知した場合に、前記走行部を、前記第1所定距離後進させるとともに、前記未刈り地から側方へ前記第2所定距離離間させるように、制御することを特徴とする請求項3に記載のコンバイン。
- 前記刈取部により刈り取られた前記穀稈を搬送する搬送装置と、
前記搬送装置により搬送された前記穀稈を脱穀する脱穀部と、を前記本体部の左側に備え、
前記制御部は、前記本体部の左方が前記未刈り地であり、前記右方が前記既刈り地であることを前記圃場情報が示し、且つ、前記検知部が前記搬送装置又は前記脱穀部の異常又は異常の予兆を検知した場合に、前記走行部を、前記第1所定距離後進させるとともに、前記未刈り地から右方へ前記第2所定距離離間させるように、制御することを特徴とする請求項4に記載のコンバイン。 - 操作を受け付ける操作部を備え、
前記制御部は、前記走行部を後進させた後、前記検知部で検知された異常又は異常の予兆が解消し、且つ、前記自動刈取作業の再開を許可する操作が前記操作部により受け付けられた場合に、前記自動刈取作業を中断した中断位置に移動させた後、前記自動刈取作業を再開させるように、前記走行部及び前記本体部を制御することを特徴とする請求項1乃至5のいずれか1項に記載のコンバイン。 - 前記制御部は、前記自動刈取作業における設定速度よりも遅い速度で前記中断位置に移動させるように前記走行部を制御する請求項6に記載のコンバイン。
- 操作を受け付ける操作部を備え、
前記制御部は、前記自動刈取作業を中断させた後、前記走行部の後進を許可する操作が前記操作部により受け付けられた場合に、前記走行部を後進させるように制御することを特徴とする請求項1乃至7のいずれか1項に記載のコンバイン。 - 刈取部を含む本体部を支持して走行する走行部を自律走行させながら前記刈取部に穀稈を刈り取らせる自動刈取作業を行う自動刈取工程と、
前記自動刈取作業の実行中に検知部が前記本体部の異常を検知した場合に、前記自動刈取作業を中断させた後、前記走行部を第1所定距離後進させるように制御する後進制御工程と、を備えることを特徴とする走行制御方法。 - 前記後進制御工程において、前記自動刈取作業の実行中に前記検知部が前記本体部の異常の予兆を検知した場合に、前記自動刈取作業を中断させた後、前記走行部を前記第1所定距離後進させるように制御することを特徴とする請求項9に記載の走行制御方法。
- 前記後進制御工程において、前記本体部の左右の一方が前記未刈り地であり、他方が前記既刈り地であることを圃場情報が示し、且つ、前記自動刈取作業の実行中に前記検知部が異常又は異常の予兆を検知した場合に、前記走行部を、前記第1所定距離後進させるとともに、前記未刈り地から側方へ第2所定距離離間させるように、制御することを特徴とする請求項10に記載の走行制御方法。
- 前記後進制御工程において、前記検知部が前記本体部の前記未刈り地側の部分に異常又は異常の予兆を検知した場合に、前記走行部を、前記第1所定距離後進させるとともに、前記未刈り地から側方へ前記第2所定距離離間させるように、制御することを特徴とする請求項11に記載の走行制御方法。
- 前記後進制御工程において、前記本体部の左方が前記未刈り地であり、前記右方が前記既刈り地であることを前記圃場情報が示し、且つ、前記検知部が、前記刈取部により刈り取られた前記穀稈を搬送する前記本体部の左側に備えられた搬送装置、又は、前記搬送装置により搬送された前記穀稈を脱穀する前記本体部の左側に備えられた脱穀部の異常又は異常の予兆を検知した場合に、前記走行部を、前記第1所定距離後進させるとともに、前記未刈り地から右方へ前記第2所定距離離間させるように制御することを特徴とする請求項12に記載の走行制御方法。
- 前記後進制御工程において前記走行部を後進させた後、前記検知部で検知された異常又は異常の予兆が解消し、且つ、前記自動刈取作業の再開を許可する操作が操作部により受け付けられた場合に、前記自動刈取作業を中断した中断位置に移動させた後、前記自動刈取作業を再開させるように、前記走行部及び前記本体部を制御する自動刈取再開工程を備えることを特徴とする請求項9乃至13のいずれか1項に記載の走行制御方法。
- 前記自動刈取再開工程において、前記自動刈取作業における設定速度よりも遅い速度で前記中断位置に移動させるように前記走行部を制御する請求項14に記載の走行制御方法。
- 前記後進制御工程において、前記自動刈取作業を中断させた後、前記走行部の後進を許可する操作が前記操作部により受け付けられた場合に、前記走行部を後進させるように制御することを特徴とする請求項9乃至15のいずれか1項に記載の走行制御方法。
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JP2019216744A (ja) | 2019-09-03 | 2019-12-26 | ヤンマー株式会社 | コンバイン |
-
2020
- 2020-12-02 JP JP2020200119A patent/JP2022087957A/ja active Pending
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2021
- 2021-10-27 CN CN202180078015.8A patent/CN116546879A/zh active Pending
- 2021-10-27 US US18/039,713 patent/US20240016087A1/en active Pending
- 2021-10-27 WO PCT/JP2021/039596 patent/WO2022118566A1/ja active Application Filing
- 2021-10-27 KR KR1020237016189A patent/KR20230111191A/ko unknown
- 2021-10-27 EP EP21900321.7A patent/EP4256918A1/en active Pending
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JPS63240707A (ja) * | 1987-03-30 | 1988-10-06 | 株式会社クボタ | 自動走行作業車の走行制御装置 |
JP2000029520A (ja) * | 1998-07-08 | 2000-01-28 | Fuji Heavy Ind Ltd | 自律走行方法及び自律走行車 |
JP2001042936A (ja) * | 1999-08-02 | 2001-02-16 | Iseki & Co Ltd | 作業車の自動走行装置 |
JP2001061322A (ja) * | 1999-08-27 | 2001-03-13 | Iseki & Co Ltd | コンバイン |
JP2018045709A (ja) * | 2014-02-06 | 2018-03-22 | ヤンマー株式会社 | 併走作業システム |
JP2015170223A (ja) | 2014-03-07 | 2015-09-28 | ヤンマー株式会社 | 農作物収穫装置 |
JP2017176008A (ja) | 2016-03-29 | 2017-10-05 | ヤンマー株式会社 | コンバイン |
JP2019216744A (ja) | 2019-09-03 | 2019-12-26 | ヤンマー株式会社 | コンバイン |
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EP4256918A1 (en) | 2023-10-11 |
JP2022087957A (ja) | 2022-06-14 |
KR20230111191A (ko) | 2023-07-25 |
CN116546879A (zh) | 2023-08-04 |
US20240016087A1 (en) | 2024-01-18 |
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