WO2022124001A1 - Machine de travail agricole, programme de commande de machine de travail agricole, support d'enregistrement sur lequel le programme de commande de machine de travail agricole est enregistré, et procédé de commande de machine de travail agricole - Google Patents

Machine de travail agricole, programme de commande de machine de travail agricole, support d'enregistrement sur lequel le programme de commande de machine de travail agricole est enregistré, et procédé de commande de machine de travail agricole Download PDF

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Publication number
WO2022124001A1
WO2022124001A1 PCT/JP2021/041605 JP2021041605W WO2022124001A1 WO 2022124001 A1 WO2022124001 A1 WO 2022124001A1 JP 2021041605 W JP2021041605 W JP 2021041605W WO 2022124001 A1 WO2022124001 A1 WO 2022124001A1
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WO
WIPO (PCT)
Prior art keywords
field
unit
outer edge
detection
work machine
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Application number
PCT/JP2021/041605
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English (en)
Japanese (ja)
Inventor
宮下隼輔
江戸俊介
朝田諒
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.)
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Application filed by 株式会社クボタ filed Critical 株式会社クボタ
Priority to CN202180075112.1A priority Critical patent/CN116456820A/zh
Priority to KR1020237013429A priority patent/KR20230115975A/ko
Publication of WO2022124001A1 publication Critical patent/WO2022124001A1/fr

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    • 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
    • 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
    • A01D41/127—Control or measuring arrangements specially adapted for combines

Definitions

  • the present invention relates to an agricultural work machine for traveling in a field.
  • Patent Document 1 As the above-mentioned agricultural work machine, for example, the one described in Patent Document 1 is already known.
  • This agricultural work machine (“combine” in Patent Document 1) is provided with a harvesting section (“cutting section” in Patent Document 1).
  • This harvesting section is configured to be able to move up and down with respect to the aircraft.
  • the outer edge of the field provided so as to surround the field includes ridges, water supply / drainage pumps, and the like. Then, when the harvester changes direction at the corner of the field, the harvesting part advances to a position overlapping the outer edge of the field in a plan view, and then the turning run is performed, so that efficient direction change can be easily performed.
  • the harvesting portion overlaps with the outer edge of the field in a plan view, it is necessary to prevent the harvesting portion from interfering with the portion of the outer edge of the field located in front of the traveling direction of the aircraft.
  • Patent Document 1 does not describe controlling the raising and lowering of the harvesting portion according to the state of the portion of the outer edge of the field located in front of the traveling direction of the machine.
  • An object of the present invention is to provide an agricultural work machine capable of controlling the machine according to the state of a portion of the outer edge of the field located in front of the traveling direction of the machine.
  • the feature of the present invention is a detection unit that detects the state of the outer edge of the field while traveling in the field, with the portion of the outer edge of the field provided surrounding the field as the detection target located in front of the traveling direction of the machine. It is provided with a parameter adjusting unit for adjusting control parameters for determining the state of the machine body based on the detection result by the detecting unit.
  • control parameters are adjusted according to the state of the portion of the outer edge of the field located in front of the traveling direction of the machine.
  • the aircraft is controlled according to the state of the portion of the outer edge of the field located in front of the traveling direction of the aircraft. Therefore, according to the present invention, it is possible to realize an agricultural work machine capable of controlling the machine according to the state of the portion of the outer edge of the field located in front of the traveling direction of the machine.
  • the detection unit includes a detection device that detects the position and height of an object existing in the front region, which is a region located in front of the traveling direction of the aircraft, while traveling in the field. It has an image pickup device that captures an image of the front region, and it is preferable that the detection unit detects the state of the outer edge of the field based on the detection result by the detection device and the image pickup result by the image pickup device. Is.
  • the detection accuracy of the state of the outer edge of the field tends to be good.
  • the present invention comprises an unconfirmed area determination unit for determining an unconfirmed area, which is an area in which the state detection by the detection unit is incomplete, in the field outer edge portion based on the detection result by the detection unit. It is preferable that the parameter adjusting unit adjusts the control parameter based on the unconfirmed region.
  • the traveling speed is controlled to be relatively high when the agricultural work machine is traveling at a position relatively far from the unidentified area, and the traveling speed is relatively high when the agricultural work machine is traveling at a position relatively close to the unidentified area.
  • the agricultural work machine travels at a position relatively far from the unidentified region, as compared with a configuration in which the traveling speed is controlled to be relatively low regardless of whether or not there is an unidentified region. It is easy to improve work efficiency when you are there.
  • the traveling speed is controlled to be relatively high regardless of whether or not the unconfirmed area exists, it is easy to stop immediately when an obstacle or the like exists in the unconfirmed area. As described above, according to the above configuration, it is easy to control the airframe satisfactorily.
  • a map generation unit that generates an outer edge map showing the distribution of the state of the outer edge of the field based on the detection result by the detection unit.
  • the first work run which is the work run performed in the outer peripheral region of the field
  • the second work run which is the work run performed in the work target area inside the outer peripheral region after the first work run. It is configured to be able to execute the work travel in the field by the work travel, and it is preferable to include a route generation unit that generates a target travel route for the second work travel based on the outer edge map.
  • the target travel route for the second work travel is generated based on the outer edge map
  • the efficiency of the second work travel tends to be good. For example, if the target travel route includes a target travel route when the farm work machine changes direction in the vicinity of the outer edge of the field, the travel route is generated based on the outer edge map, so that the direction is changed. Is easy to do efficiently. As a result, the efficiency of the second work run tends to be good.
  • the harvesting unit is provided so as to be able to move up and down and harvest the crops in the field, and the parameter adjusting unit determines the height of the harvesting unit based on the detection result by the detecting unit. It is preferable to adjust the harvest height parameter, which is the control parameter.
  • the parameter adjusting unit adjusts the vehicle speed parameter, which is the control parameter for determining the vehicle speed, based on the detection result by the detecting unit.
  • the parameter adjusting unit adjusts the turning parameter, which is the control parameter for determining the turning state, based on the detection result by the detecting unit.
  • another feature of the present invention is to detect the state of the outer edge of the field while traveling in the field, with the portion of the outer edge of the field provided surrounding the field as the detection target located in front of the traveling direction of the machine. It is an agricultural work machine control program that controls an agricultural work machine provided with a detection unit, and a computer is to realize a parameter adjustment function that adjusts control parameters that determine the state of the machine based on the detection result by the detection unit. be.
  • another feature of the present invention is to detect the state of the outer edge of the field while traveling in the field, targeting the portion of the outer edge of the field provided surrounding the field, which is located in front of the traveling direction of the machine. It is a recording medium that records an agricultural work machine control program that controls an agricultural work machine equipped with a detection unit, and has a parameter adjustment function that adjusts control parameters that determine the state of the machine based on the detection result by the detection unit. It is to record the farm work machine control program to be realized.
  • another feature of the present invention is to detect the state of the outer edge of the field while traveling in the field, with the portion of the outer edge of the field provided surrounding the field as the detection target located in front of the traveling direction of the machine. It is an agricultural work machine control method which controls an agricultural work machine provided with the detection unit, and is provided with a parameter adjustment step which adjusts the control parameter which determines the state of the machine body based on the detection result by the detection unit.
  • the combine harvester 1 includes a harvesting section H, a traveling device 11 having left and right crawlers 11a, an operating section 12, a threshing device 13, a grain tank 14, a transport section 16, and a grain discharge section.
  • the device 18 and the satellite positioning module 80 are provided.
  • the traveling device 11 is provided at the lower part of the combine harvester 1. Further, the traveling device 11 is driven by power from an engine (not shown). The combine can be self-propelled by the traveling device 11.
  • the operation unit 12, the threshing device 13, and the grain tank 14 are provided on the upper side of the traveling device 11.
  • An operator who monitors the work of the combine can be boarded on the driver unit 12. The operator may monitor the work of the combine from outside the combine.
  • the grain discharge device 18 is provided on the upper side of the grain tank 14. Further, the satellite positioning module 80 is attached to the upper surface of the operating unit 12.
  • the harvesting section H is provided at the front portion of the aircraft 1.
  • the transport section 16 is provided on the rear side of the harvest section H. Further, the harvesting unit H includes a cutting device 15 and a reel 17.
  • the reaping device 15 cuts the planted culm in the field 5 (see FIG. 3). Further, the reel 17 is driven to rotate around the reel shaft core 17b along the left-right direction of the machine body to scrape the planted grain culm to be harvested. The cut grain culm cut by the cutting device 15 is sent to the transport unit 16.
  • the harvesting unit H harvests the grain of the field 5 (corresponding to the "crop" according to the present invention). Then, the combine can be reaped by the traveling device 11 while reaping the planted culm in the field 5 by the reaping device 15.
  • the harvested grain culm harvested by the harvesting unit H is transported to the rear of the machine by the transporting unit 16. As a result, the harvested grain culm is transported to the threshing device 13.
  • the harvested grain culm is threshed.
  • the grains obtained by the threshing treatment are stored in the grain tank 14.
  • the grains stored in the grain tank 14 are discharged to the outside of the machine by the grain discharging device 18 as needed.
  • the combine is configured to harvest grains in the field 5 located inside the field outer edge 6.
  • the field outer edge 6 is provided so as to surround the field 5.
  • the field outer edge 6 includes, for example, a ridge 61, a water supply / drainage pump 62 (see FIG. 8), and the like.
  • the combine is configured so that the first work run can be executed.
  • the first work run is a work run performed in the outer peripheral region SA of the field 5.
  • the outer peripheral region SA is a region located on the outer peripheral portion in the field 5.
  • the number of laps in the first work run is one.
  • the present invention is not limited to this, and the number of laps in the first work run may be any number of times of 2 or more.
  • the combine can execute the work run in the field 5 by performing the second work run as shown in FIG. 4 after the first work run.
  • the second work run is a work run performed in the work target area CA inside the outer peripheral area SA after the first work run.
  • the combine is a first work run, which is a work run performed in the outer peripheral region SA of the field 5, and a second work run, which is a work run performed in the work target area CA inside the outer peripheral region SA after the first work run. It is configured to be able to execute the work run in the field 5 by the work run.
  • the "working run” in the present embodiment is specifically a cutting run in which the planted culm is cut and run.
  • the present invention is not limited to this, and as the "working run” according to the present invention, work other than cutting the planted culm may be performed while running.
  • the first work run shown in FIG. 3 is performed by manual run. Further, the second work running shown in FIG. 4 is performed by automatic running. However, the present invention is not limited to this, and the first work running may be performed by automatic running. Further, the second work run may be performed by manual run.
  • the combine includes a control unit 20.
  • the control unit 20 includes a vehicle position calculation unit 21, an area calculation unit 22, a first route generation unit 23, and an automatic driving control unit 24.
  • the automatic traveling control unit 24 controls the automatic traveling of the combine.
  • the automatic travel control unit 24 includes a route selection unit 27 and a travel control unit 29 (corresponding to the “parameter adjustment unit” according to the present invention).
  • the satellite positioning module 80 receives GPS signals from the artificial satellite GS used in GPS (Global Positioning System). Then, as shown in FIG. 5, the satellite positioning module 80 sends the positioning data indicating the own vehicle position of the combine to the own vehicle position calculation unit 21 based on the received GPS signal.
  • GPS Global Positioning System
  • the present invention is not limited to this.
  • the satellite positioning module 80 does not have to use GPS.
  • the satellite positioning module 80 may use GNSS (GLONASS, Galileo, Michibiki, BeiDou, etc.) other than GPS.
  • the vehicle position calculation unit 21 calculates the position coordinates of the combine over time based on the positioning data output by the satellite positioning module 80.
  • the calculated position coordinates of the combine over time are sent to the area calculation unit 22 and the automatic traveling control unit 24.
  • the area calculation unit 22 calculates the outer peripheral area SA and the work target area CA as shown in FIG. 4 based on the temporal position coordinates of the combine received from the vehicle position calculation unit 21.
  • the area calculation unit 22 calculates the travel locus of the combine in the first work operation in the field 5 based on the temporal position coordinates of the combine received from the own vehicle position calculation unit 21. Then, the region calculation unit 22 calculates the region where the combine has performed the first work travel as the outer peripheral region SA based on the calculated travel locus of the combine. Further, the area calculation unit 22 calculates the area surrounded by the calculated outer peripheral area SA as the work target area CA.
  • the travel route of the combine in the first work travel in the field 5 is indicated by an arrow.
  • the field 5 is in the state shown in FIG.
  • the area calculation unit 22 calculates the area where the combine has performed the first work run as the outer peripheral area SA. Further, the area calculation unit 22 calculates the area surrounded by the calculated outer peripheral area SA as the work target area CA.
  • the calculation result by the area calculation unit 22 is sent to the first route generation unit 23.
  • the first route generation unit 23 generates a mowing travel route LI, which is a travel route for mowing travel in the work target area CA, as shown in FIG. 4, based on the calculation result received from the area calculation unit 22.
  • the cutting travel path LI is a plurality of mesh lines extending in the vertical and horizontal directions. Further, the plurality of mesh lines do not have to be straight lines and may be curved.
  • a plurality of cutting travel paths LI generated by the first route generation unit 23 are sent to the automatic travel control unit 24.
  • the route selection unit 27 in the automatic travel control unit 24 determines the combine based on the position coordinates of the combine received from the own vehicle position calculation unit 21 and the plurality of mowing travel route LIs received from the first route generation unit 23. Next, the harvesting route LI to be traveled is selected. Information indicating the cutting travel route LI selected by the route selection unit 27 is sent to the travel control unit 29.
  • the travel control unit 29 is configured to be able to control the travel device 11. Then, the travel control unit 29 controls the automatic travel of the combine based on the position coordinates of the combine received from the own vehicle position calculation unit 21 and the information indicating the harvesting travel route LI selected by the route selection unit 27. do. More specifically, as shown in FIG. 4, the traveling control unit 29 controls the traveling of the combine so that the harvesting traveling is performed by the automatic traveling along the cutting traveling path LI.
  • the traveling control unit 29 performs the combine traveling so that the harvesting traveling along the cutting traveling route LI selected by the route selection unit 27 is performed next to the cutting traveling route LI currently being traveled. To control.
  • the combine includes a cutting cylinder 15A.
  • the control unit 20 has an elevating control unit 40 (corresponding to the “parameter adjusting unit” according to the present invention).
  • the elevating control unit 40 is configured to be able to control the cutting cylinder 15A.
  • the elevating control unit 40 controls the cutting cylinder 15A in the extending direction
  • the transport unit 16 and the harvesting unit H integrally swing in the direction in which the harvesting unit H rises. As a result, the harvesting portion H rises.
  • the elevating control unit 40 controls the cutting cylinder 15A in the contraction direction
  • the transport unit 16 and the harvesting unit H integrally swing in the direction in which the harvesting unit H descends. As a result, the harvesting section H descends.
  • the elevating control unit 40 can control the elevating of the harvesting unit H. Further, the harvesting section H can be raised and lowered.
  • the combine is configured to be able to move up and down and has a harvesting section H for harvesting grains in the field 5.
  • the height of the harvesting portion H in the machine body 1 from the ground is determined according to the length of the cutting cylinder 15A in the expansion / contraction direction. That is, the length of the cutting cylinder 15A in the expansion / contraction direction is a control parameter that determines the state of the machine body 1. More specifically, the length of the cutting cylinder 15A in the expansion / contraction direction is a control parameter that determines the height of the harvesting portion H.
  • the elevating control unit 40 adjusts the control parameters that determine the state of the machine body 1. More specifically, the elevating control unit 40 adjusts the length of the cutting cylinder 15A in the expansion / contraction direction.
  • the length of the cutting cylinder 15A in the expansion / contraction direction corresponds to the "harvest height parameter" according to the present invention.
  • Each element such as the control unit 20 and the own vehicle position calculation unit 21 included in the control unit 20 may be a physical device such as a microcomputer or a functional unit in software. ..
  • the combine of the present embodiment includes a detection unit 30.
  • the detection unit 30 detects the state of the field outer edge portion 6 while the combine is traveling in the field, targeting the portion of the field outer edge portion 6 located in front of the traveling direction of the machine body 1.
  • the combine detects the state of the field outer edge 6 while traveling in the field, with the portion of the field outer edge 6 provided surrounding the field 5 located in front of the traveling direction of the machine 1 as the detection target.
  • the unit 30 is provided.
  • the detection unit 30 has a detection device 31 and an image pickup device 32.
  • the detection device 31 in the present embodiment is a two-dimensional scan LiDAR, which is a measurement device of a ToF (Time of flight) measurement method.
  • the present invention is not limited to this, and the detection device 31 may be a three-dimensional scan LiDAR.
  • the measurement method of the detection device 31 is not limited to the ToF measurement method, and may be a stereo matching measurement method or the like.
  • the "field running” according to the present invention means running in the field 5.
  • traveling on the outermost peripheral portion of the field 5 is a specific example of "field traveling” according to the present invention.
  • traveling inside the outermost peripheral portion of the field 5 is also a specific example of the "field traveling” according to the present invention.
  • the position coordinates of the combine calculated by the own vehicle position calculation unit 21 are sent to the detection unit 30.
  • the detection device 31 determines the position and height of the object existing in the front region FA (see FIG. 1) based on the measurement result of the ToF measurement method and the position coordinates of the combine received from the own vehicle position calculation unit 21.
  • the point cloud data indicating the value is output.
  • the detection device 31 detects the position and height of an object existing in the front region FA, which is a region located in front of the traveling direction of the aircraft 1 while traveling in the field.
  • the image pickup device 32 takes an image of the front region FA while traveling in the field.
  • the image pickup apparatus 32 in the present embodiment is a camera that acquires a photographed image including color information.
  • the detection unit 30 has a detection device 31 that detects the position and height of an object existing in the front region FA, which is a region located in front of the traveling direction of the aircraft 1 while traveling in the field, and a front region while traveling in the field. It has an image pickup device 32 that captures an image of FA.
  • the detection range by the detection device 31 and the image pickup range by the image pickup device 32 both correspond to the front region FA shown in FIGS. 1 and 2.
  • the present invention is not limited to this, and the detection range by the detection device 31 and the image pickup range by the image pickup device 32 do not have to coincide with each other.
  • the detection unit 30 detects the state of the field outer edge portion 6 based on the detection result by the detection device 31 and the image pickup result by the image pickup device 32.
  • the detection unit 30 in the present embodiment adds color information obtained by processing the captured image acquired by the image pickup device 32 to the point cloud data output by the detection device 31. Then, the detection unit 30 determines the boundary between the field 5 and the field outer edge portion 6 based on the point cloud data to which the color information is given. Then, the detection unit 30 detects the three-dimensional shape of the field outer edge portion 6 based on the data corresponding to the field outer edge portion 6 in the point cloud data.
  • the boundary between the field 5 and the field outer edge 6 may be determined by performing image recognition using a machine-learned neural network on the captured image acquired by the image pickup device 32.
  • the detection unit 30 may be configured to detect the presence or absence of an object (for example, a water supply / drainage pump 62, a tree, etc.) other than the ridge 61 on the outer edge portion 6 of the field.
  • an object for example, a water supply / drainage pump 62, a tree, etc.
  • the three-dimensional shape of the field outer edge portion 6 and the presence or absence of an object other than the ridge 61 on the field outer edge portion 6 are both specific examples of the "state of the field outer edge portion" according to the present invention.
  • the detection result by the detection unit 30 is sent to the elevating control unit 40.
  • the elevating control unit 40 controls the elevating of the harvesting unit H so that the harvesting unit H does not interfere with the field outer edge portion 6.
  • the elevating control unit 40 controls the elevating of the harvesting unit H by adjusting the length of the cutting cylinder 15A in the expansion / contraction direction.
  • the elevating control unit 40 adjusts the length of the cutting cylinder 15A in the expansion / contraction direction, which is a control parameter for determining the height of the harvesting unit H, based on the detection result by the detection unit 30.
  • the combine includes an elevating control unit 40 that adjusts control parameters that determine the state of the machine body 1 based on the detection result by the detection unit 30.
  • FIG. 6 shows an example in which the height of the harvesting unit H is controlled based on the detection result by the detecting unit 30.
  • the ridge 61 has a side surface portion 61a and an upper surface portion 61b.
  • the side surface portion 61a is inclined so as to be higher toward the outside (the farther from the field 5). Further, the upper surface portion 61b is horizontal.
  • the combine turns around in the vicinity of the field outer edge 6. Then, in the middle of the direction change, the harvesting portion H temporarily overlaps with the field outer edge portion 6 in a plan view.
  • the elevating control unit 40 has a cutting cylinder so that the separation distance D1 between the harvesting unit H and the field outer edge portion 6 is maintained wider than a predetermined value based on the detection result by the detection unit 30. Adjust the length of 15A in the expansion and contraction direction. It should be noted that this predetermined value can be arbitrarily set.
  • the length of the cutting cylinder 15A in the expansion / contraction direction may be adjusted by the elevating control unit 40 based on the detection result of the detection unit 30 while the combine is manually traveling, or the combine may automatically travel. It may be executed while doing.
  • the detection unit 30 in the present embodiment is configured to be able to detect not only the outer edge portion 6 of the field but also the state of the field 5. More specifically, the detection unit 30 can detect the height and the degree of lodging of the planted culm in the field 5.
  • the detection unit 30 performs detection in real time, and the machine 1 is based on the real-time detection result by the detection unit 30.
  • the control parameters that determine the state of are adjusted.
  • control parameters are adjusted based on the unconfirmed area UA and the outer edge map described later. Then, in the configuration in which the control parameters are adjusted based on the unconfirmed area UA and the outer edge map described later, the control parameters are adjusted based on the real-time detection result by the detection unit 30, so that the control parameters are highly accurate. Can be adjusted.
  • control parameter is adjusted based on the detection result in real time by the detection unit 30, it is possible to appropriately adjust the control parameter without depending on the unconfirmed area UA or the outer edge map. .. That is, if the control parameters are adjusted based on the detection result in real time by the detection unit 30, it is possible to omit the configuration for determining the unconfirmed region UA and the configuration for generating the outer edge map. Is.
  • the control unit 20 includes an unconfirmed area determination unit 26.
  • the detection result by the detection unit 30 is sent to the unconfirmed area determination unit 26.
  • the unconfirmed area determination unit 26 determines an unconfirmed area UA (see FIG. 7), which is an area in which the state detection by the detection unit 30 is incomplete, among the field outer edge portions 6, based on the detection result by the detection unit 30.
  • the combine includes an unconfirmed area determination unit 26 that determines an unconfirmed area UA, which is an area in which the state detection by the detection unit 30 is incomplete, in the field outer edge portion 6 based on the detection result by the detection unit 30. There is.
  • FIG. 7 shows an example in which the unconfirmed area UA is determined by the unconfirmed area determination unit 26.
  • the detection unit 30 in field 5, grains are planted in the immediate vicinity of the ridge 61. Further, as shown in the upper part of FIG. 7, since the detection by the detection unit 30 is blocked by the top of the planted culm, the detection unit 30 is below the lower limit line LL shown in FIG. 7 in the front region FA. It becomes a blind spot of detection by.
  • the unconfirmed area determination unit 26 determines the unconfirmed area UA and the detected area DA based on the detection result by the detection unit 30.
  • the detected region DA is a region of the field 5 and the field outer edge portion 6 where the state is detected by the detection unit 30. More specifically, the detected region DA is a region in which the state is sufficiently detected by the detection unit 30 and the type of an existing object and the position and height of the object are detected.
  • the portion located below the lower limit line LL is incompletely detected by the detection unit 30. More specifically, in the lower part of the side surface portion 61a, the state detection by the detection unit 30 is incomplete. Therefore, as shown in the lower part of FIG. 7, the region corresponding to the lower part in the side surface portion 61a is determined as the unconfirmed region UA by the unconfirmed region determination unit 26.
  • the area where the corresponding point cloud data does not exist is determined as the unconfirmed area UA. Further, the area where the corresponding point cloud data exists is determined as the detected area DA.
  • the detection unit 30 detects the position and height of the planted culm in this region. Therefore, this region is determined as the detected region DA by the unconfirmed region determination unit 26.
  • the state of the region of the front region FA located on the opposite side of the combine to the unconfirmed region UA is sufficiently detected by the detection unit 30. More specifically, the detection unit 30 sufficiently detects the position and the three-dimensional shape of the ridge 61 in this region. Therefore, this region is determined as the detected region DA by the unconfirmed region determination unit 26.
  • the unconfirmed region UA and the detected region DA determined by the unconfirmed region determination unit 26 may be a two-dimensional region (region defined in a plane) or a three-dimensional region (defined in space). Area) may be.
  • the unconfirmed region determination unit 26 determines the unconfirmed region UA and the detected region DA based only on the current detection result by the detection unit 30.
  • the present invention is not limited to this, and the unconfirmed region determination unit 26 may determine the unconfirmed region UA and the detected region DA based on the detection result over time by the detection unit 30.
  • the unconfirmed region determination unit 26 may generate a detection map based on the detection result over time by the detection unit 30.
  • this detection map is a map showing the distribution of the unidentified region UA and the detected region DA.
  • the entire detection map is the unconfirmed area UA before the combine starts the harvesting run in the field 5. Then, as the combine advances the cutting run in the field 5, the area where the state is detected by the detection unit 30 expands. Therefore, as the combine advances the cutting run in the field 5, the detected region DA in the detection map expands and the unconfirmed region UA narrows.
  • the travel control unit 29 determines whether or not the predetermined conditions are satisfied based on the position coordinates of the combine received from the vehicle position calculation unit 21 and the information indicating the unconfirmed area UA and the detected area DA. Is determined.
  • the predetermined condition is that "the combine is traveling in a direction approaching the unconfirmed region UA, and the distance from the current position of the combine to the unconfirmed region UA is a predetermined distance or less".
  • the travel control unit 29 adjusts the rotation speed of the crawler 11a in the travel device 11 so that the vehicle speed decreases. At this time, the traveling control unit 29 reduces the rotation speed of the crawler 11a.
  • this predetermined condition may be changed as appropriate.
  • the vehicle speed is determined according to the rotation speed of the crawler 11a. That is, the rotation speed of the crawler 11a is a control parameter that determines the state of the machine body 1. More specifically, the rotation speed of the crawler 11a is a control parameter that determines the vehicle speed. The rotation speed of the crawler 11a corresponds to the "vehicle speed parameter" according to the present invention.
  • the travel control unit 29 adjusts the rotation speed of the crawler 11a based on the unconfirmed region UA.
  • the unconfirmed region UA determined by the unconfirmed region determination unit 26 is based on the detection result by the detection unit 30. That is, the traveling control unit 29 adjusts the rotation speed of the crawler 11a, which is a control parameter for determining the vehicle speed, based on the detection result by the detection unit 30.
  • the combine includes a traveling control unit 29 that adjusts control parameters that determine the state of the machine body 1 based on the detection result by the detection unit 30.
  • the rotation speed of the crawler 11a may be adjusted by the traveling control unit 29 based on the detection result of the unconfirmed region UA or the detection unit 30 while the combine is manually traveling, or the combine is automatically traveling. It may be executed while driving.
  • control unit 20 has a map generation unit 25.
  • the detection result by the detection unit 30 is sent to the map generation unit 25.
  • the map generation unit 25 generates an outer edge map based on the detection result by the detection unit 30.
  • the outer edge map is a map showing the distribution of the state of the outer edge 6 of the field.
  • the outer edge map in the present embodiment shows the distribution of the three-dimensional shape of the outer edge 6 of the field.
  • the combine includes a map generation unit 25 that generates an outer edge map showing the distribution of the state of the field outer edge 6 based on the detection result by the detection unit 30.
  • FIG. 8 shows an example of the outer edge map generated by the map generation unit 25.
  • the outer edge map shown in FIG. 8 includes the position and three-dimensional shape of the side surface portion 61a of the ridge shore 61, the position and three-dimensional shape of the upper surface portion 61b of the ridge shore 61, and the position and three-dimensional shape of the water supply / drainage pump 62. It has been.
  • the outer edge map shown in FIG. 8 corresponds to the entire circumference of the field outer edge 6. That is, this outer edge map shows the distribution of the state over the entire circumference of the field outer edge 6.
  • the present invention is not limited to this.
  • a map showing the distribution of the state of only that portion may be generated as an outer edge map.
  • the outer edge map may be updated as the combine travels in the field 5 and the region where the state is detected by the detection unit 30 expands. In this case, as the combine advances the cutting run in the field 5, the area shown by the outer edge map will expand.
  • the automatic traveling control unit 24 has a second route generation unit 28 (corresponding to the “route generation unit” according to the present invention).
  • the outer edge map generated by the map generation unit 25 is sent to the second route generation unit 28.
  • the second route generation unit 28 generates a target travel route TL (see FIGS. 6 and 9) for the second work travel.
  • FIG. 6 shows an example in which the combine turns in the vicinity of the outer edge of the field 6.
  • the map generation unit 25 has already generated the outer edge map. Further, in this example, the combine performs the above-mentioned second work traveling by automatic traveling.
  • the combine first goes straight while performing a mowing run in the work target area CA. Then, when the harvesting unit H enters the outer peripheral region SA from the work target region CA, the combine changes direction by an ⁇ turn.
  • the combine turns to the left side of the machine while decelerating under the control of the traveling control unit 29. Then, the combine is temporarily stopped in a state where the harvesting portion H overlaps the field outer edge portion 6 in a plan view.
  • the combine changes the direction of the aircraft 1 while moving backward and forward. This completes the change of direction of the combine.
  • the second route generation unit 28 receives information indicating the cutting travel route LI selected by the route selection unit 27. Then, the second route generation unit 28 generates a target travel route TL, which is a travel route of the combine that is a target at the time of turning, based on this information and the outer edge portion map received from the map generation unit 25. do. At this time, the second route generation unit 28 allows the combine to efficiently change direction according to the distribution of the state of the field outer edge portion 6, and the harvesting portion H becomes the field outer edge portion 6 at the time of the change of direction.
  • the target travel path TL is generated so as not to interfere. In FIG. 6, the cutting travel path LI is not shown.
  • the combine includes a second route generation unit 28 that generates a target travel route TL for the second work travel based on the outer edge map.
  • the travel control unit 29 controls the travel of the combine so that the combine changes direction along the generated target travel route TL. At this time, the travel control unit 29 adjusts the speed difference between the left and right crawlers 11a in the travel device 11 based on the target travel path TL.
  • the turning state of the machine body 1 is determined according to the speed difference between the left and right crawlers 11a. That is, the speed difference between the left and right crawlers 11a is a control parameter that determines the state of the machine body 1. More specifically, the speed difference between the left and right crawlers 11a is a control parameter that determines the turning state. The speed difference between the left and right crawlers 11a corresponds to the "turning parameter" according to the present invention.
  • the target travel route TL generated by the second route generation unit 28 is based on the outer edge portion map.
  • the outer edge map generated by the map generation unit 25 is based on the detection result by the detection unit 30. That is, the traveling control unit 29 adjusts the speed difference between the left and right crawlers 11a, which is a control parameter for determining the turning state, based on the detection result by the detection unit 30.
  • the adjustment of the speed difference between the left and right crawlers 11a by the travel control unit 29 based on the detection result by the detection unit 30 may be executed while the combine is manually traveling, or the combine is automatically traveling. May be executed at times.
  • the second path generation portion 28 is shown in FIG. Instead of the ⁇ -turn target travel path TL as shown, the target travel route TL as shown in FIG. 9 is generated.
  • the predetermined height can be arbitrarily set. Further, in FIG. 9, the illustration of the cutting travel path LI is omitted. Then, the travel control unit 29 controls the travel of the combine so that the combine changes direction along the generated target travel route TL.
  • the combine first goes straight while performing a mowing run in the work target area CA. Then, after the harvesting portion H enters the outer peripheral region SA from the work target region CA, the combine temporarily stops in a state where the harvesting portion H does not overlap the field outer edge portion 6 in a plan view.
  • the combine changes the direction of the aircraft 1 while repeating backward and forward movements. This completes the change of direction of the combine.
  • control parameters are adjusted according to the state of the portion of the outer edge of the field 6 located in front of the traveling direction of the machine 1.
  • the machine body 1 is controlled according to the state of the portion of the field outer edge portion 6 located in front of the machine body 1 in the traveling direction. Therefore, with the configuration described above, it is possible to realize a combine that can control the machine body 1 according to the state of the portion of the field outer edge portion 6 located in front of the traveling direction of the machine body 1.
  • the traveling device 11 may be a wheel type or a semi-crawler type.
  • the rotation speed of the wheel corresponds to the "vehicle speed parameter" according to the present invention.
  • the turning angle of the wheel at the time of turning corresponds to the "turning parameter" according to the present invention.
  • the cutting travel path LI generated by the first route generation unit 23 is a plurality of mesh lines extending in the vertical and horizontal directions.
  • the present invention is not limited to this, and the cutting travel path LI generated by the first path generation unit 23 does not have to be a plurality of mesh lines extending in the vertical and horizontal directions.
  • the cutting travel path LI generated by the first route generation unit 23 may be a spiral travel path.
  • the cutting travel path LI does not have to be orthogonal to another cutting travel route LI.
  • the cutting travel path LI generated by the first path generation unit 23 may be a plurality of parallel lines parallel to each other.
  • a part or all of the traveling control unit 29 and the elevating control unit 40 may be provided outside the combine, for example, in a management facility or a management server provided outside the combine. May be.
  • the combine may be configured so that it cannot run automatically.
  • the elevating control unit 40 raises and lowers the harvesting unit H so that the separation distance D1 between the harvesting unit H and the field outer edge portion 6 is maintained wider than a predetermined value. Control.
  • the present invention is not limited to this, and such a predetermined value may not be set.
  • the outer edge map may show the position and height of the lowest portion of the side surface portion 61a of the ridge shore 61 and the position and height of the highest portion of the side surface portion 61a of the ridge shore 61. ..
  • the area calculation unit 22 calculates the area where the combine has performed the first work run as the outer peripheral area SA.
  • the outer peripheral region SA may be determined before the combine performs the first work run.
  • the first route generation unit 23 may generate a cutting travel route LI based on the outer edge portion map.
  • the first route generation unit 23 corresponds to the "route generation unit” according to the present invention
  • the cutting travel route LI corresponds to the "target travel route” according to the present invention.
  • the elevating control unit 40 may adjust the length of the cutting cylinder 15A in the expansion / contraction direction based on the unconfirmed area UA.
  • the elevating control unit 40 may be configured to extend the cutting cylinder 15A to the maximum design length when the harvesting unit H overlaps the unconfirmed region UA in a plan view. As a result, the harvesting section H rises to the highest design position.
  • the unconfirmed region determination unit 26 determines the region where the state is detected by the detection unit 30 among the field 5 and the field outer edge portion 6 as the detected region DA.
  • the unconfirmed region determination unit 26 may be configured to determine the detected region DA only for the field outer edge portion 6.
  • the traveling control unit 29 adjusts the rotation speed of the crawler 11a based on the unconfirmed region UA.
  • the travel control unit 29 may be configured to adjust the rotation speed of the crawler 11a without being based on the unconfirmed region UA.
  • the traveling control unit 29 may be configured to receive the detection result by the detection unit 30 and adjust the rotation speed of the crawler 11a based on the detection result.
  • the traveling control unit 29 is a crawler when the combine is traveling in a direction approaching the field outer edge portion 6 and the distance from the current position of the combine to the field outer edge portion 6 is not more than a predetermined distance. The rotation speed of 11a may be reduced.
  • the travel control unit 29 adjusts the speed difference between the left and right crawlers 11a based on the target travel route TL.
  • the travel control unit 29 may be configured to adjust the speed difference between the left and right crawlers 11a without being based on the target travel route TL.
  • the traveling control unit 29 may be configured to receive the detection result by the detection unit 30 and adjust the speed difference between the left and right crawlers 11a based on the detection result.
  • the travel control unit 29 is traveling when the combine is traveling in a direction approaching the field outer edge portion 6 and the distance from the current position of the combine to the field outer edge portion 6 is a predetermined distance or less.
  • the speed difference between the left and right crawler 11a may be adjusted so that the traveling direction of the combine is changed in a direction not approaching the outer edge portion 6 of the field.
  • the combine to which the present invention is applied has been described.
  • the present invention is not limited to combine harvesters.
  • the present invention may be applied to a rice transplanter (corresponding to the "agricultural work machine" according to the present invention). That is, the portion of the description of the above embodiment that is applicable to the rice transplanter also applies to the rice transplanter.
  • a seedling planting device having a seedling stand is provided at the rear of the rice transplanter, and the rice transplanter raises and lowers a hydraulic elevating cylinder for raising and lowering the seedling planting device, a detection unit 30, and an elevating unit.
  • the control unit 40 may be provided. Then, the elevating control unit 40 may be configured to be able to control the elevating cylinder.
  • the elevating control unit 40 can control the elevating of the seedling planting device. Further, the length of the elevating cylinder in the expansion / contraction direction and the elevating height of the seedling planting device correspond to the "control parameter" according to the present invention.
  • the elevating control unit 40 is configured to control the elevating of the seedling planting device based on the detection result of the detection unit 30 so that the seedling planting device does not interfere with the field outer edge portion 6. Is also good.
  • the elevating control unit 40 may be configured to control the elevating of the seedling planting device based on the detection result of the detection unit 30 so that the seedling planting device does not interfere with the ridge 61. Further, when an obstacle exists on the outer edge portion 6 of the field, the elevating control unit 40 raises and lowers the seedling planting device based on the detection result by the detection unit 30 so that the seedling planting device does not interfere with the obstacle. May be configured to control.
  • this rice transplanter may be provided with left and right front wheels and left and right rear wheels, as well as a traveling control unit 29.
  • the travel control unit 29 may be configured to adjust the rotation speeds of the left and right front wheels and the left and right rear wheels, which are control parameters for determining the vehicle speed, based on the detection result by the detection unit 30. ..
  • the traveling control unit 29 is a control parameter for determining a turning state based on the detection result by the detection unit 30. It may be configured to adjust the turning angle of a steering wheel.
  • the detection by the detection unit 30 may be performed during forward traveling or during reverse traveling. It should be noted that the rear side of the rice transplanter's body corresponds to the "forward in the traveling direction of the machine" according to the present invention while traveling in reverse. Further, in this rice transplanter, the control parameters may be adjusted by the elevating control unit 40 and the traveling control unit 29 during the forward traveling or the reverse traveling.
  • the present invention is not limited to combine harvesters.
  • the present invention may be applied to a tractor (corresponding to the "agricultural work machine” according to the present invention) or a tractor implant (corresponding to the "agricultural work machine” according to the present invention). That is, the portion of the description of the above embodiment that is applicable to the tractor and the pullment also applies to the tractor and the pullment.
  • a ridge coating machine which is an invention, is attached to the rear of the tractor, and the tractor or the ridge coating machine has an actuator that changes the left-right position and inclination of the ridge coating machine, a detection unit 30, and a detection unit 30.
  • a ridge coating control unit (corresponding to the “parameter adjustment unit” according to the present invention) may be provided. Then, the ridge coating control unit may be configured to be able to control this actuator.
  • the ridge coating control unit can control the left-right position and tilt of the ridge coating machine. Further, the left-right position, tilt, and the like of the ridge coating machine correspond to the "control parameters" according to the present invention.
  • the ridge coating control unit is configured to control the left-right position, inclination, and the like of the ridge coating machine so that a suitable ridge shore 61 is formed based on the detection result by the detection unit 30. Is also good. In this case, the ridge coating control unit adjusts the left-right position, tilt, and the like of the ridge coating machine based on the detection result by the detection unit 30.
  • It may be configured as an agricultural work machine control program that realizes the function of each member in the above embodiment on a computer. Further, it may be configured as a recording medium for recording an agricultural work machine control program that realizes the function of each member in the above embodiment on a computer. Further, it may be configured as an agricultural work machine control method in which what is performed by each member in the above embodiment is performed by one or a plurality of steps.
  • the present invention can be used not only for ordinary combine harvesters but also for various agricultural work machines such as self-contained combine harvesters, tractors, rice transplanters, corn harvesters, potato harvesters, and carrot harvesters.

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  • Life Sciences & Earth Sciences (AREA)
  • Environmental Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Soil Sciences (AREA)
  • Guiding Agricultural Machines (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)

Abstract

Cette machine de travail agricole est pourvue : d'une unité de détection (30) qui reconnaît, à partir d'un bord externe de champ (6) conçu pour entourer un champ (5), une partie située devant un corps de machine (1) dans la direction de déplacement du corps de machine (1) en tant que cible de détection, et qui détecte l'état du bord externe de champ (6) pendant le déplacement du corps de machine (1) ; et d'une unité de réglage de paramètre qui règle un paramètre de commande pour déterminer l'état du corps de machine (1) sur la base du résultat de détection provenant de l'unité de détection (30).
PCT/JP2021/041605 2020-12-10 2021-11-11 Machine de travail agricole, programme de commande de machine de travail agricole, support d'enregistrement sur lequel le programme de commande de machine de travail agricole est enregistré, et procédé de commande de machine de travail agricole WO2022124001A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN202180075112.1A CN116456820A (zh) 2020-12-10 2021-11-11 农作业机、农作业机控制程序、记录有农作业机控制程序的记录介质、农作业机控制方法
KR1020237013429A KR20230115975A (ko) 2020-12-10 2021-11-11 농작업기, 농작업기 제어 프로그램, 농작업기 제어 프로그램을 기록한 기록 매체, 농작업기 제어 방법

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JP2020205187A JP2022092393A (ja) 2020-12-10 2020-12-10 農作業機
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JP3765185B2 (ja) * 1998-06-22 2006-04-12 井関農機株式会社 コンバイン
JP2008182939A (ja) * 2007-01-30 2008-08-14 Iseki & Co Ltd 作業用車輌
JP2011062115A (ja) * 2009-09-16 2011-03-31 Iseki & Co Ltd 作業車両
US20170118915A1 (en) * 2015-11-03 2017-05-04 Claas Selbstfahrende Erntemaschinen Gmbh Surroundings detection device for agricultural work machines
JP2019106983A (ja) * 2017-12-18 2019-07-04 株式会社クボタ 農作業車
JP2019175261A (ja) * 2018-03-29 2019-10-10 ヤンマー株式会社 走行領域形状特定装置
JP2019187352A (ja) * 2018-04-27 2019-10-31 井関農機株式会社 作業車両
JP6704130B2 (ja) * 2015-02-25 2020-06-03 井関農機株式会社 農作業支援システム
JP2020089388A (ja) * 2020-02-17 2020-06-11 井関農機株式会社 作業車両および作業車両の自動直進走行支援システム

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Publication number Priority date Publication date Assignee Title
JP2017035017A (ja) 2015-08-07 2017-02-16 株式会社クボタ コンバイン

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3765185B2 (ja) * 1998-06-22 2006-04-12 井関農機株式会社 コンバイン
JP2008182939A (ja) * 2007-01-30 2008-08-14 Iseki & Co Ltd 作業用車輌
JP2011062115A (ja) * 2009-09-16 2011-03-31 Iseki & Co Ltd 作業車両
JP6704130B2 (ja) * 2015-02-25 2020-06-03 井関農機株式会社 農作業支援システム
US20170118915A1 (en) * 2015-11-03 2017-05-04 Claas Selbstfahrende Erntemaschinen Gmbh Surroundings detection device for agricultural work machines
JP2019106983A (ja) * 2017-12-18 2019-07-04 株式会社クボタ 農作業車
JP2019175261A (ja) * 2018-03-29 2019-10-10 ヤンマー株式会社 走行領域形状特定装置
JP2019187352A (ja) * 2018-04-27 2019-10-31 井関農機株式会社 作業車両
JP2020089388A (ja) * 2020-02-17 2020-06-11 井関農機株式会社 作業車両および作業車両の自動直進走行支援システム

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