JP2019187333A - Autonomously traveling combine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To embody an autonomous traveling combine that travels straight through a field with relatively inexpensive automatic control to assist the operation of a vehicle body operator. SOLUTION: Strain position recognition means 7 for recognizing the position of a grain culm plant K vegetated in a field in front of the machine is provided, and at least two left and right plant strain positions are detected so that the left and right two plant strains appear at the same timing. An autonomous traveling combine characterized by automatically controlling the traveling direction of the machine body to travel straight. [Selection diagram] Figure 1

Description

  The present invention relates to an autonomous traveling combine that autonomously travels and performs a harvesting operation.

  A combine in which an operator travels autonomously without performing a steering operation is described in the following patent documents (see patent documents 1 and 2).

  These autonomous traveling combiners are provided with an electronic camera that reflects the front of the aircraft, and the harvesting operation is performed by harvesting cereals with the reaping device while automatically controlling the traveling device by analyzing the projected field image.

JP 2002-211133 A Japanese Patent Laying-Open No. 2006-10372

  The autonomous traveling combine is automatically maneuvering while avoiding obstacles by analyzing the field image in front of the aircraft projected by the electronic camera attached to the aircraft, but automatic control by analyzing the image projected by the electronic camera is advanced. There is a problem that the manufacturing cost becomes expensive due to control.

  In view of the above-described conventional problems, an object of the present invention is to embody an autonomous traveling combine that travels straight through a field with relatively inexpensive automatic control and assists the operator of the aircraft.

  The problem of the conventional autonomous traveling combine is solved by the following technical means.

  The invention of claim 1 is provided with stock position recognizing means 7 for recognizing the position of the cereal stock K vegetated in the field in front of the machine body, detecting the stock positions of at least two left and right streaks, and the right and left streak appearing times coincide. Thus, the autonomous traveling combine is characterized in that the traveling direction of the aircraft is automatically controlled to travel straight ahead.

  The invention of claim 2 is characterized in that the stock position recognizing means 7 is an ultrasonic transmitter 7A for irradiating a farm scene and an ultrasonic receiver 7B for detecting reflected ultrasonic waves. The autonomous traveling combine.

  According to a third aspect of the present invention, the stock position recognizing means 7 is a reflected light detector 7C for detecting the reflected light reflected by the cereal strain by sunlight or illumination light. A traveling combine.

  The invention according to claim 4 is the autonomous traveling combine according to claim 1, wherein the stock position recognition means 7 is provided in the reaping device 6 that moves up and down at the front of the machine body.

  In the invention of claim 1, since the stock position recognizing means 7 detects the presence of the cereal stock K, the stock position recognizing means 7 is not a precise device such as an electronic camera that captures the field but is inexpensive. 7, the position of the left and right cereal cultivars K is detected and the traveling direction is made to run along the vegetation ridges of the cereal cultivars K, so that the control system can be simplified and the manufacturing cost of the autonomous traveling combine can be reduced.

  In the invention of claim 2, in addition to the effect of claim 1, the strain position recognizing means 7 reliably detects the cereal stock K by the ultrasonic transmitter 7 </ b> A and the ultrasonic receiver 7 </ b> B using ultrasonic waves.

  In the invention of claim 3, in addition to the effect of claim 1, the stock position recognizing means 7 uses light such as sunlight and headlights that do not require a special device. The manufacturing cost can be reduced.

  In the invention of claim 4, in addition to the effect of claim 1, since the stock position recognition means 7 is provided in the reaping device 6 that moves up and down according to the height of the cereal stock K, the distance from the cereal stock K Becomes constant, and the detection of the cereal stock K is ensured.

It is a side view explaining the harvesting harvesting work of an autonomous traveling combine. It is a detection pattern figure of a right-and-left stock sensor. It is a top view which shows the front agricultural field of a combine. It is an action side view of a stock sensor. It is a side view which shows another Example of a stock position recognition means. It is a control block diagram. It is a 1st Example figure of the capacity | capacitance measurement of a Glen tank. It is a 2nd Example figure of the capacity | capacitance measurement of a Glen tank. It is a cooperation figure of a control apparatus and a tablet.

  Hereinafter, embodiments of the autonomous traveling combine of the present invention will be described with reference to the examples shown in the drawings.

  FIG. 1 is a diagram showing a state of harvesting and harvesting using an autonomous traveling combine 1. The combine 1 travels with a crawler traveling device 5, and an operator who has boarded the cabin 2 uses the cutting blade of the harvesting device 6 at the front of the aircraft as a grain. While raising and lowering so as to follow the vine stock, the cereal stock K is cut and threshed and sorted by the threshing machine 4 and stored in the glen tank 3.

  In the reaping device 6, a sensor arm 8 provided with a stock position recognition means 7 at the tip is extended on the cereal stock K. As shown in FIG. 4, the strain position recognizing means 7 is an ultrasonic transmitter 7A and an ultrasonic receiver 7B, and the ultrasonic wave transmitted by the ultrasonic transmitter 7A is reflected by the cereal stock K and is transmitted to the ultrasonic receiver 7B. As shown in FIG. 2, the position of the cereal stock K is detected as a pulse.

  The ultrasonic transmitter 7A and the ultrasonic receiver 7B are provided on the left and right sides of the cutting width of the reaping device 6, and detect the cereal stock K of the left cereal ridge ZL and the right cereal ridge ZR as shown in FIG. Since the seedlings are planted at the same pitch by the rice transplanter in the left and right grain ridges ZL and ZR, and the grain stake K is growing, when the combine 1 travels along the grain ridges, the left and right ultrasonic receivers 7B Since the pulse is received synchronously, when the crawler traveling device 5 is controlled so that the pulse is synchronized, the machine body travels along the ridges.

  In addition, as shown in FIG. 5, you may make it detect a pulse as the optical receiver 7C which detects the reflected light which sunlight and illumination light reflect in the cereal stock K as the stock position recognition means 7, and a stock position. The sensor arm 8 to which the recognition means 7 is attached may be provided so as to extend forward from the threshing machine 4 side instead of the reaping device 6. When the grain tank 3 is provided in the reaping device 6, there is an advantage that the interval between the cereal stock K and the stock position recognition means 7 is kept constant, and the strength of the cereal detection pulse is stabilized, and the sensor arm 8 is arranged on the threshing machine 4 side If it is provided, the distance between the farm scene and the stock position recognizing means 7 will not fluctuate due to the lifting and lowering of the cutting device 6.

  FIG. 5 is a block diagram of automatic control. A reception signal of the ultrasonic receiver 7 </ b> B and a vehicle speed signal of the vehicle speed sensor 11 of the crawler traveling device 5 are input to the control device 10, and a traveling control signal is output to the crawler traveling device 5. Thus, the vehicle is controlled so as to travel along the left and right grain ridges ZL and ZR.

  Also, the handling depth can be automatically adjusted by calculating the optimum handling depth by calculating the stock interval from the detection timing and running speed of the cereal stock K.

  FIG. 7 shows a configuration in which an ultrasonic transmitting element 13A is provided on the front inner side surface in the Glen tank 3, and ultrasonic receiving elements 13B and 13C are provided on the left and right inner side surfaces and the rear side surface. We measure and try to calculate the yield back. Even if the fuselage of the combine 1 shakes, an accurate yield can be measured.

  In FIG. 8, the sound wave receiving elements 14B, 14C, and 14D are provided on the wall surface in the Glen tank 3, and the free capacity is measured from the sound echo pattern from the engine 15 and the yield is calculated backward.

  Although illustration is omitted, when the harvesting operation is performed with the combine 1 while moving the farm field dispersed in a wide area using the combine 1 having a communication function, the position information of the vehicle traveling on the road around the farm field Wirelessly obtains the operation status of the wiper, reads the rainfall status of the field to be harvested in real time, creates a patrol work route to harvest while avoiding the rainy field, and determines the rainfall for each region from the operating intensity of the wiper Thus, it becomes possible to make an efficient harvesting plan by making future rainfall field predictions.

  FIG. 9 shows the cooperation between the control device 10 of the combine 1 and the tablet 24 held by the operator. The control device 10 receives inputs from the cutting lever position sensor 20 and the engine fan HST position sensor 21, The HST forward relay 22 and the fan HST reverse relay 23 are controlled so that the cutting lever is inserted and the air cooling fan of the radiator is periodically forward / reversely operated to prevent the radiator from being clogged.

  In addition, the road position, the shore position, and the field position are registered in the position information by the GPS function of the tablet 24, and the position of the tablet 24 held by the operator, that is, the body position is sequentially sent to the control device 10.

  And when it detects that the combine 1 exists in a road position and a bank position, even if a cutting lever is turned on, even if a cutting lever is turned on, it does not reversely rotate an air cooling fan, but it controls so that it may rotate at low speed, and sow dust and dust on a road Make sure that the noise is low and not scattered.

  If the tablet 24 and the control device 10 cannot communicate with each other, the air cooling fan is controlled to rotate at a low speed without rotating backward, so that dust and dust are not scattered outside the machine body and become low noise.

K cereals strain 1 combine 6 harvester 7 stock position recognition means 7A ultrasonic transmitter 7B acoustic wave receiver 7C reflected light detector

Claims (4)

  Stock position recognition means (7) is provided for recognizing the position of the cereal strain (K) to be vegetated in the field in front of the machine body so that at least the left and right stock positions are detected and the right and left double stock appearance timings coincide. An autonomous traveling combine characterized by traveling straight ahead by automatically controlling the traveling direction of the aircraft.   The said stock position recognition means (7) is an ultrasonic transmitter (7A) and an ultrasonic receiver (7B) for detecting reflected ultrasonic waves for irradiating a farm scene. Autonomous driving combine.   The autonomous running according to claim 1, wherein the stock position recognizing means (7) is a reflected light detector (7C) that detects reflected light of sunlight or illumination light reflected by the cereal stock. Combine. The autonomous traveling combine according to claim 1, wherein the stock position recognizing means (7) is provided in a reaping device (6) that moves up and down at a front portion of the airframe.

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