KR20230115976A - Work vehicle, crop state detection system, crop state detection method, crop state detection program, and recording medium on which the crop state detection program is recorded - Google Patents

Abstract

The work vehicle 1 sets the front region FR ahead of the moving direction of the body 2 on the pavement as a detection target, and while performing work travel, the position and height of objects present in the front region FR are detected. The 1st detection device 21 which detects, the 2nd detection device 22 which images the front area FR, and the 1st detection device ( Based on the detection result of 21) and the detection result of the 2nd detection apparatus 22, the judgment part which judges the state of the crop of the front area|region FR is provided.

Description

Work vehicle, crop state detection system, crop state detection method, crop state detection program, and recording medium on which the crop state detection program is recorded

The present invention relates to a technology related to a work vehicle that performs work travel on a field.

BACKGROUND ART Conventionally, a work vehicle that performs work while running on a field has been used. Some of these work vehicles perform harvest work in the field. Some of the crops to be harvested grow standing up against the pavement surface of the field, and it is important to know the height of these crops and the growth condition of the crops in carrying out harvesting work in a work vehicle. Therefore, a technique for knowing the state of such a crop (the height or growth condition of the crop) has been used (for example, Patent Literature 1).

The general-purpose combine described in Patent Literature 1 is equipped with a grain culm sensor that detects the planting state of the front grain culm. This culm sensor includes a transmitter that scans the culm in front with a beam of ultrasonic waves or laser light, and a receiver that receives a reflected wave from the culm, and determines whether the culm is upright or inverted according to the state of the reflected wave from the culm. It is configured to determine. Furthermore, the grain stem sensor is provided with a television camera that photographs the grain stem in front of the reaping unit, and an image processing device, and the image processing device includes an image from the television camera and an image showing the planting state of various grain stems stored in advance. It is configured so that the planting state of the grain stem can be detected by comparing the .

Japanese Unexamined Patent Publication No. 11-155340

Since the technique disclosed in Patent Literature 1 detects the planting condition of the grain stem by comparing the image from the television camera with the image indicating the planting condition of the grain stem stored in advance, in order to detect the planting condition of the grain stem with high accuracy, It is necessary to store in advance many images showing the state of implantation. For this reason, a large-capacity storage device is required, which becomes a factor of cost increase.

Therefore, a technology related to a working vehicle capable of detecting the state of a crop with high accuracy with an inexpensive configuration is required.

A characteristic configuration of the work vehicle according to the present invention is to detect the position and height of an object existing in the front area while performing work travel with the front area in front of the moving direction of the body on the field as a detection target. First A detection device, a second detection device that takes an image of the front area while performing the work travel with the front area as an imaging target, and a detection result of the first detection device and a detection result of the second detection device Based on this, there is a point provided with a judging unit that judges the state of the crops in the front area.

With this characteristic configuration, since the state of the crop is determined based on the captured image captured by the second detection device as well as the position and height of the object detected by the first detection device, detecting the state of the crop with high precision is It becomes possible. In addition, since there is no need to use a large-capacity storage device or a high-performance arithmetic processing device, this can be realized without cost increase. Therefore, it is possible to realize a working vehicle capable of detecting the state of crops with high accuracy with an inexpensive configuration.

It is preferable that the determination unit determines the height of the crop as the condition of the crop based on the detection result of the first detection device and the detection result of the second detection device.

With such a configuration, by using the determined height-related information for, for example, working vehicles, work can be performed appropriately, leading to improvement in work efficiency.

It is preferable that the determination unit determines the lodging state of the crop as the state of the crop based on the detection result of the first detection device and the detection result of the second detection device.

With this configuration, it is possible to appropriately work by using the determined information about the state of the crops in the work, for example, in the work of the work vehicle, and it becomes possible to lead to improvement in work efficiency.

It is preferable that the judgment unit makes a judgment using color information obtained from the detection result of the second detection device as the detection result of the second detection device.

With this configuration, since color information consisting of different colors according to the state of the crop obtained from the captured image captured by the second detection device is given to the position and height of the object detected by the first detection device, color Depending on the difference in , it becomes possible to determine the height of the crop or the condition of the crop with higher accuracy.

It is also preferable to create a crop height map indicating the crop height of the field based on the information indicating the state of the crop obtained from the detection result of the first detection device and the detection result of the second detection device.

With such a structure, it becomes possible to work efficiently by using, for example, when working in a field next time.

It is also preferable to set the parameters of the aircraft used for the work run based on the state of the crop.

With such a configuration, it is possible to perform the work more appropriately without taking the trouble of adjusting the parameters of the base body, and to further improve the work efficiency.

Further, it is preferable that the first detection device transmits electromagnetic waves having at least a shorter wavelength than radio waves forward in the traveling direction, and detects the position and height of the object based on a reflected wave reflected by the electromagnetic waves from the object. .

With this configuration, since high-frequency electromagnetic waves are used, it becomes possible to detect the position and height of an object with higher precision.

In addition, a characteristic configuration of the crop condition detection system according to the present invention is a crop condition detection system that detects the condition of a crop, which is a work target of the work vehicle, in the field where the work vehicle works, and the progress of the work vehicle in the field. A first detection device that detects the position and height of an object existing in the forward region while performing work travel with a front area in front of the direction as a detection target, and the work travel with the front area as an image pickup target. a second detection device that captures an image of the front region while performing imaging, and a determination unit that determines the state of crops in the front region based on a detection result of the first detection device and a detection result of the second detection device. there is a point

With such a crop state detection system, it is possible to detect the state of crops, which are work objects of the work vehicle, in the field where the work vehicle works.

In addition, the crop state detection method according to the present invention is a crop state detection method for detecting the state of a crop, which is a work target of the work vehicle, in a field on which a work vehicle works, and forward of the moving direction of the work vehicle in the field. A first detection step of taking the front area as a detection target and detecting the position and height of an object existing in the front area with a first detection device while performing work travel; A second detection step of capturing an image of the front region with a second detection device while traveling, and a state of crops in the front region based on the detection result of the first detection device and the detection result of the second detection device It is provided with a judgment step for determining.

With this method of detecting the state of crops, it is possible to detect the state of crops, which are the work objects of the work vehicle, in the field where the work vehicle works.

In addition, the crop state detection program according to the present invention is a crop state detection program for detecting the state of a crop, which is a work target of the work vehicle, in the field where the work vehicle works, and the forward direction of the work vehicle in the field A first detection function for detecting the position and height of an object existing in the front region with a first detection device while performing work travel with the front region as a detection target; A second detection function for capturing an image of the front region by a second detection device while traveling, and a state of crops in the front region based on a detection result of the first detection device and a detection result of the second detection device A judgment function for judging is executed in the computer.

By executing such a crop state detection program on an installed computer, it is possible to detect the state of crops.

In addition, the recording medium on which the crop condition detection program according to the present invention is recorded is a recording medium on which a crop condition detection program for detecting the condition of crops, which is a work target of the work vehicle, is recorded in the field where the work vehicle works, A first detection function of detecting a position and height of an object existing in the front area with a first detection device while performing work travel with a front area in front of the traveling direction of the work vehicle on the pavement as a detection target; and , A second detection function of taking an image of the front region with a second detection device while performing the work travel with the front region as an image pickup target, and a detection result of the first detection device and detection of the second detection device A crop condition detection program for causing a computer to execute a judgment function for determining the condition of the crop in the front area based on the result is recorded.

It is possible to detect the state of crops by installing a crop state detection program into a computer through such a recording medium and realizing it in the computer.

1 is an overall left side view of a combine.
2 is an overall plan view of the combine.
Fig. 3 is a block diagram showing a control system of a combine.
4 is an example of detection results of the first detection device and the second detection device, and data used for determination.
5 is a diagram showing work examples according to work parameters.
6 is a diagram showing work examples according to work parameters.

The working vehicle according to the present invention is configured to be able to detect the falling state of the grain stem with high accuracy. Hereinafter, the work vehicle of the present embodiment will be described. In addition, below, as a work vehicle, the combine 1 is taken as an example and demonstrated.

1 is an overall left side view of the combine 1 according to this embodiment. 2 is an overall plan view of the combine 1 according to this embodiment. 3 : is a block diagram which shows the structure of the control system provided in the combine 1. As shown in FIG. In addition, below, about the combine 1 of this embodiment, the combine which throws in the threshing apparatus the whole harvested crops, a so-called normal combine, is demonstrated as an example. Of course, the combine 1 may be a cutting type combine. In addition, in this embodiment, although a crawler type combine is taken as an example and demonstrated, a wheel type combine may be sufficient.

Here, for ease of understanding, in the present embodiment, unless otherwise specified, "front" (the direction of the arrow F shown in Figs. 1 and 2) means forward in the forward and backward direction (traveling direction) "Rear" (in the direction of the arrow B shown in Figs. 1 and 2) shall mean rearward in the front-back direction (running direction) of the aircraft. In addition, the left-right direction or the lateral direction shall mean the machine transverse direction (body width direction) orthogonal to the machine front-back direction. In addition, “upper” (direction of arrow U shown in FIG. 1) and “lower” (direction of arrow D shown in FIG. to represent the relationship in In addition, "left" (direction of arrow L in FIG. 2) indicates the left side of the machine, and "right" (direction of arrow R in FIG. 2) indicates the right side of the machine.

As shown in FIG. 1 and FIG. 2, the combine 1 is provided with the base body 2 and a pair of left and right crawler-type traveling devices 11. The body 2 is provided with a boarding unit 12, a threshing device 13, a grain tank 14, a harvesting unit 15, a conveying device 16, and a grain discharging device 18, there is.

The travel device 11 is provided in the lower part of the combine 1. The travel device 11 has a pair of left and right crawler travel mechanisms, and the combine 1 can travel on the field by the travel device 11 . The boarding unit 12, the threshing device 13, and the grain tank 14 are provided above the traveling device 11. In the boarding unit 12, the occupant of the combine 1 or a supervisor who monitors the operation of the combine 1 can board. A drive engine (not shown) is provided below the boarding unit 12 . The grain discharge device 18 is connected to the rear lower part of the grain tank 14.

The harvesting unit 15 harvests planted crops in the field. Planted crops are, for example, planted grain stems such as rice and barley, but may also be soybeans or corn. The combine 1 is capable of working travel in which it travels by the traveling device 11 while harvesting planted crops in the field by the harvesting unit 15 . The conveying device 16 is provided adjacent to the rear side of the harvesting unit 15 . The harvesting unit 15 and the conveying device 16 are supported on the front portion of the body 2 so as to be able to move up and down. The harvester 15 and the conveying device 16 are moved up and down integrally by being operated up and down by the actuator 15H for headers capable of extending and retracting.

The harvesting unit 15 is provided with a harvesting frame 15A, a scraping reel 15B, a horizontal transfer auger 15C, and a cutting blade 15D shaped like a barricade.

The scraping reel 15B is located above the harvesting frame 15A. A reel support arm 15K is swingably supported by the reaping frame 15A, and the reel support arm 15K is swing-operated by a first reel actuator 15J capable of telescopic operation. The axial center portion of the scraping reel 15B is supported by the free end region of the reel support arm 15K. Thus, the scraping-up reel 15B is configured to be capable of vertical rocking by the expansion and contraction operation of the first reel actuator 15J.

The scraping reel 15B is configured to be rotatable around an axis of horizontal orientation of the aircraft in a state supported by a reel support arm 15K. Further, the rotation axis of the scraping reel 15B is configured to be slidable along the front-rear direction by the second reel actuator 15L in the free end area of the reel support arm 15K. That is, the scraping reel 15B is configured to be able to change the position of the front and rear with respect to the harvesting frame 15A while being configured to be able to grow vertically with respect to the harvesting frame 15A.

A plurality of tines 15T are provided on the scraping reel 15B, and the tines 15T work to scrape the planted crop. The raking reel 15B, when harvesting planted crops from the field, rakes the planted crops toward the rear with tines 15T.

The cutting blade 15D cuts off the bottom portion of the planted crop rearwardly scraped by the raking reel 15B. The transverse transfer auger 15C is driven to rotate along the axis of the transverse direction of the machine, transversely transfers the harvested crops after being cut by the cutting blade 15D to the middle side in the left-right direction, collects them, and sends them toward the conveying device 16 at the rear.

The harvesting unit 15 harvests the harvested crops (for example, harvested grain stems) and conveys them to the threshing device 13 by the conveying device 16 . The whole grains of the harvested crops are put into the threshing device 13 and subjected to threshing treatment. The threshing device 13 has a threshing part 13A, a sorting processing part 13B, and tuyere 13C. In addition, although threshing part 13A is shown as a barrel in FIG. 1, the water network threshing part 13A which is located around the lower area|region of the feeding chamber which houses this barrel, the feeding valve arrange|positioned in the upper part of the said feeding chamber, and the barrel ) are included in The feeding valve guides the processed crop sent to the feeding chamber backward in accordance with the rotation of the barrel. 13 A of threshing parts threshing-process the processed crops which are the process target of the crops sent to the class room by the conveying apparatus 16, ie, the threshing apparatus 13. While provided below the threshing part 13A, the sorting process part 13B accepts the treated crops threshed by the threshing part 13A, and sorts the treated crops into a harvested product and a non-harvested product, swinging and conveying it backward. .

The sorting processing unit 13B is equipped with a chaff sieve (not shown), and the chaff sieve has a plurality of chaff ribs. Each chaff lip is configured to extend in the transverse direction of the aircraft. A plurality of chaff ribs are arranged along the conveying direction (front-rear direction) in which treated crops are conveyed, and each of the plurality of chaff ribs is arranged in an inclined attitude toward the rear end side at an angle upward. The lower opening of each chaff lip is configured to be changeable. Being able to change the lower opening degree means that the inclination posture of the chaff rib is changed. Specifically, as the posture of the chaff lip approaches parallel with respect to the front-rear direction, the downward opening decreases, and as the posture of the chaff lip approaches parallel with respect to the vertical direction, the downward opening increases. Grains as a harvested product are dropped downward from the gap between a plurality of chaff ribs while the processed crops are swinging and conveyed backward on the chaff ribs. The tuyere 13C supplies the sorting air to the sorting processing unit 13B.

The grain obtained by the threshing process is stored in the grain tank 14. The grain stored in the grain tank 14 is discharged to the outside of the machine by the grain discharge device 18 as needed. The grain discharge device 18 is configured to be capable of swinging around the center of the longitudinal axis of the rear portion of the body. That is, the discharging state in which the tip of the grain discharging device 18 protrudes outward beyond the base 2 and the crop can be discharged, and the tip of the grain discharging device 18 is within the range of the base lateral width of the base 2. The grain discharge device 18 is configured so that it can be switched to the storage state located in the set home position.

In the front upper portion of the boarding unit 12, the front area FR in front of the moving direction of the aircraft 2 on the pavement is set as a detection target, and the position of the object present in the front area FR while performing work travel and a first detection device 21 that detects the height. Fielding is a work area on which the combine 1 performs harvesting work. In the present embodiment, the front region FR on the front side of the forward direction of the body 2 corresponds to the region on the forward side of the forward direction of the harvester 15, and the region indicated by the dotted line in FIGS. 1 and 2 is considerable Performing work travel means carrying out harvesting work. The first detection device 21 is an object position measuring instrument that measures the spatial position of an object. As the measurement method of the first detection device 21, an ultrasonic measurement method, a stereo matching measurement method, a time of flight (ToF) measurement method, and the like are used.

In this embodiment, the first detection device 21 sends out electromagnetic waves having at least a shorter wavelength than the radio waves toward the forward direction, and detects the position and height of the object based on the reflected waves reflected from the object by the electromagnetic waves. . "Sending electromagnetic waves with at least a shorter wavelength than radio waves in the forward direction" means transmitting electromagnetic waves with a frequency of 3 million megahertz or less so that an object existing in the forward region FR can be detected. say The first detection device 21 determines the position and height of the object based on the direction in which these electromagnetic waves are sent and the time from sending out the electromagnetic waves to receiving the reflected wave reflected from the object by the sending electromagnetic waves. detect The first detection device 21 uses a two-dimensional scan LiDAR, which is a ToF measurement method. Of course, a three-dimensional scan LiDAR may be used instead of a two-dimensional scan LiDAR. By calculating the point cloud data based on the detection result of the first detection device 21, the planted grain stem height (spatial position) at the rear of the body is obtained.

Further, a front upper portion of the boarding unit 12 is provided with a second detection device 22 that captures an image of the front region FR while performing work travel with the front region FR as an imaging target. The second detection device 22 photographs an area forward in the traveling direction of the body 2 including at least the front area FR, which is the detection target range of the first detection device 21, in the packaging, and contains color information. A camera that acquires a captured image is considerable.

1 and 2 show examples of planted crops detected by the first detection device 21 . In the examples of FIGS. 1 and 2 , a standard planting crop group having a standard height in the field is indicated by the symbol Z0, and a short crop group having a height lower than the standard planting crop group is indicated by the symbol Z1. Crop groups are indicated by the symbol Z2.

A satellite positioning module 80 is provided on the ceiling of the boarding unit 12 . The satellite positioning module 80 receives a GNSS (Global Navigation Satellite System) signal (including a GPS signal) from the artificial satellite GS, and acquires the position of the host vehicle. In addition, in order to supplement satellite navigation by the satellite positioning module 80, an inertial navigation unit including a gyroacceleration sensor or magnetic orientation sensor is built into the satellite positioning module 80. Of course, the inertial navigation unit may be disposed in a location different from the satellite positioning module 80 in the combine 1.

3 : is a block diagram which shows the control system of the combine 1. As shown in FIG. In FIG. 3, the control unit 3 is a core element of the control system of the combine 1, and is represented as an assembly of a plurality of ECUs. As a function unit related to the state determination of planted crops, the control unit 3 is provided with a feature data generation unit 30 and a determination unit 31, and as a function unit related to the travel and operation of the combine 1, The control unit 3 includes a control parameter setting unit 34, a driving control unit 35, an operation control unit 36, and a vehicle position calculation unit 37.

The control unit 3 includes point cloud data according to the detection result of the first detection device 21, image data of a captured image captured by the second detection device 22, and positioning data output from the satellite positioning module 80 is delivered In addition, the harvest height data output from the harvest height detection unit 23, the reel height data output from the reel height detection unit 24a, and the reel front and rear position data output from the reel front and rear position detection unit 24b are also stored in the control unit 3. It is passed on.

As described above, the harvesting unit 15 and the conveying device 16 (see FIG. 1 and the like) are configured to be capable of vertical rocking, and the harvesting height detection unit 23 is provided at the center of the swing axis of the conveying device 16. The harvesting height detection unit 23 is configured to be capable of detecting the land height: CH (see FIGS. 5 and 6 ) at the lower end of the harvesting unit 15 by detecting the rocking angle of the conveying device 16 . The reel height detection unit 24a detects the rocking angle of the reel support arm 15K relative to the harvesting frame 15A, thereby determining the height position RH of the scraping reel 15B with respect to the harvesting frame 15A (FIG. 5 And see FIG. 6) is configured to be detectable. The front-rear position detection unit 24b detects the sliding position of the scraping reel 15B relative to the reel support arm 15K in the front-rear direction, so that the front-rear position of the scraping reel 15B: RL (see Figs. 5 and 6). ) is configured to be detectable.

The feature data generation unit 30 uses a technique such as image recognition including a neural network from image data including color information sent from the second detection device 22, such as unharvested planted crops in the field, Characteristic data such as area division of harvested planted crops and lofting direction of planted crops that have been harvested are created. Specifically, the characteristic data generation unit 30 generates characteristic data of planted crops from the image data of the captured image acquired by the second detection device 22 . Since the captured image acquired by the second detection device 22 includes color information according to the condition of the planted crop, by using an image recognition technology for recognizing the planted crop, the characteristic data of the planted crop (e.g., crop color, posture, etc.) can be created. Accordingly, the characteristic data generation unit 30 generates characteristic data of planted crops from image data of a captured image that is acquired by the second detection device 22 and includes color information according to the state of the crop.

The judgment part 31 determines the state of the crop of the front area|region FR based on the detection result of the 1st detection device 21 and the detection result of the 2nd detection device 22. In this embodiment, point cloud data corresponds to the detection result of the first detection device 21, and the feature data created by the feature data generation unit 30 corresponds to the detection result of the second detection device 22. . The determination unit 31 uses the point cloud data from the first detection device 21 to obtain the actual height of planted crops before harvest to be planted in the forward direction of the body 2 . In addition, by using the characteristic data generated by the determination unit 31 and the characteristic data generation unit 30, for example, color information, point cloud data to which color information has been assigned is analyzed to determine the tip (ear tip, etc.) of planted crops. Find the height of the more accurately.

In this embodiment, based on the detection result of the 1st detection device 21 and the detection result of the 2nd detection device 22, the determination part 31 determines the height of a crop and the falling state of a crop as a state of a crop. to judge In addition, as described above, since the feature data generated by the feature data generation unit 30 is generated using color information, in other words, the determination unit 31 determines the detection result of the second detection device 22. As, it can be said that the determination is made using the color information obtained from the detection result of the second detection device 22. In addition, the determining unit 31 can also determine the direction (orientation) of the crop on the basis of the picked-up image.

4(A) shows a detection result of the second detection device 22, that is, an example of a captured image. The right part of the captured image in FIG. 4(A) includes an area 61 in which an upright stem grows, and an area 62 in which a prostrate grain stem grows in other parts of the captured image. do. Further, at the boundary between the region 61 and the region 62, the side of the culm (upright culm) of the region 62, which is revealed by the culm of the region 62 being overturned, and the upright culm in the region 61. and a grain culm having a height between the grain culm that is inverted in the area 62 is stamped. In FIG. 4(A), reference numeral 63 is assigned to a region where such a side portion or grain stem in a captured image is captured.

FIG. 4(B) shows the detection result of the first detection device 21 in which the imaging range of the captured image in FIG. 4(A) is set as the detection target. Fig. 4(B) is point cloud data representing an object (the top or side of a grain stem) detected by the two-dimensional scanning LiDAR. In the point cloud data obtained by the two-dimensional scanning LiDAR, an exposed portion of the detection target is detected. For this reason, based on the point cloud data 71 obtained from the pavement surface corresponding to the area 61 on the pavement and the point cloud data 72 obtained from the pavement surface corresponding to the area 62 on the pavement, respectively The height information representing the height of the object being played is different. Similarly, height information indicating the height of an object based on the point cloud data 73 obtained from the pavement surface corresponding to the area 63 on the pavement is also the height of the object based on the point cloud data 71 and the point cloud data 72. It is different from the height information representing .

The color information extracted from the captured image shown in FIG. 4(A) is added to the point cloud data shown in FIG. 4(B), and the point cloud data to which the color information is added is shown in FIG. 4(C) . In the example of FIG. 4(C), among the point cloud data in FIG. The region where the grain stem grows (region with low height) is colored in a blue tone (blue tone) color. In addition, the area in which a grain stem having a height between the height of an upright grain stem and the height of an overturned grain stem is growing, and an area where the side of an upright grain stem is visible (intermediate zone area) are a green tone (green tone) color colored with Such coloring may be performed with a color corresponding to each, even when the detection result includes a headland or a case where a region after harvesting a grain stem is included. Furthermore, in addition to the "upright state" and the "girdled state", you may color each state showing a "slightly kimono" or "full kimono (a state in which the tip of the ear is uniformed to the extent that it touches the pavement surface)" described later. The height of the region may be set as an absolute value or as a relative value in height information according to point cloud data. The determination unit 31 makes a determination based on the point cloud data to which such color information has been assigned, so that it is possible to appropriately determine the growing state of the grain culm in the field.

Returning to FIG. 3 , the control parameter setting unit 34 sets the control parameters of the body 2 used for work travel based on the determination result by the determination unit 31, that is, the state of the crop. In this embodiment, the control parameter setting unit 34 includes a class dividing unit 34a and a class/parameter table 34b. The class division unit 34a classifies the state of the crop determined by the determination unit 31, specifically, the degree of the uniform into a plurality of divisions. The class/parameter table 34b includes the class (division) divided into classes by the class dividing unit 34a and the control parameters that determine the operating conditions of the devices constituting the traveling device 11 or the harvesting unit 15. It has a relational table. For example, it is possible to set the class as “upright”, “slightly uniform”, “uniform”, “full uniform”, and the like.

In the case where the lodging direction of the planted crop that has fallen over from the characteristic data generation unit 30 is output as characteristic data, the control parameter setting unit 34 can adjust the control parameter with reference to this characteristic data as well. That is, the class/parameter table 34b has a plurality of modes determined according to the direction of the uniform.

The class/parameter table 34b is suitable if the parameter values of the reel height parameter, the front/rear position parameter of the reel, the harvest height parameter, and the vehicle speed parameter are related as control parameters for each class divided by the class dividing section 34a. In addition, control parameters are set for each of these classes.

For example, control parameters can be set as follows.

(1) The lower the height of the crop (the greater the degree of lodging), the lowering control parameter (reel height parameter) of the scraping reel 15B becomes, and the higher the height of the crop (the smaller the degree of lodging), The collection reel 15B becomes a parameter that rises.

(2) The lower the height of the crop (the greater the degree of lodging), the control parameter (front and rear position parameter) for the scraping reel 15B to move forward, the higher the height of the crop (the smaller the degree of lodging) , becomes a control parameter for the rearward movement of the scraping reel 15B.

(3) The lower the height of the crop (the greater the degree of lodging), the lower the harvest height of the harvester 15 becomes a control parameter (harvest height parameter), the higher the height of the crop (the smaller the degree of lodging) , the harvesting height of the harvesting unit 15 becomes a control parameter to increase.

(4) The lower the height of the crop (the greater the degree of lodging), the lower the vehicle speed (vehicle speed parameter), and the higher the height of the crop (the smaller the degree of lodging), the higher the control parameter for the vehicle speed do.

The control parameter setting unit 34 sets a control parameter using at least one of the above (1) to (4) according to the height (degree of lodging) of the crop.

The driving control unit 35 includes a vehicle speed control unit 35A and a vehicle height control unit 35B. Based on the control parameters output from the control parameter setting unit 34, the control parameters of the traveling control unit 35 of the current situation are adjusted. If the control parameter output from the control parameter setting unit 34 is a vehicle speed parameter, the vehicle speed controller 35A adjusts the vehicle speed.

The travel controller 35 has an engine control function, a steering control function, a vehicle speed control function, a vehicle height control function, and the like, and gives a travel control signal to the travel device 11 based on control parameters. In the case of manual steering, the travel controller 35 generates a control signal and controls the travel device 11 based on an operation by a passenger.

The combine 1 is also capable of automatic steering. In this case, the own vehicle position calculation unit 37 calculates the own vehicle position based on positioning data from the satellite positioning module 80 . In the case of automatic steering, based on the target travel path given by the automatic travel control module (not shown) of the control unit 3 and the vehicle position calculated by the vehicle location calculator 37, the travel control unit 35 ) performs control related to steering and vehicle speed with respect to the traveling device 11 .

The operation control unit 36 includes a header control unit 36A, a reel control unit 36B, and an auger control unit 36C. Based on the control parameters output from the control parameter setting section 34, the control parameters of the operation control section 36 of the development are adjusted.

Examples of working conditions based on the control parameters set by the control parameter setting unit 34 are shown in FIG. 5 (when the grain stem is the standard crop group Z0) and FIG. 6 (when the grain stem is the crop group Z2) is shown in The working state of the harvesting unit 15 is mainly the height of the land of the harvesting frame 15A, which is the harvesting height: CH, the height position of the raking reel 15B: RH, the front and rear position of the raking reel 15B: RL depend on The land height of the harvesting frame 15A: CH is adjustable by the harvesting height parameter, and the height position of the scraping reel 15B: RH is adjustable by the reel height parameter, and the scraping reel 15B is Front and rear position: RL can be adjusted by the front and rear position parameters of the reel.

Height position of the raking reel 15B relative to the height of the crop: If RH is too high, it becomes difficult for the raking reel 15B to scrape the crop. Further, if the height position: RH of the raking reel 15B relative to the height of the crop is too low, the crop tends to stick to the raking reel 15B. Then, as shown in FIG. 5 and FIG. 6, what is necessary is just to adjust the height of the tines 15T according to the height of a crop, when harvesting crops in the field by the harvesting part 15.

In the combine 1 of the present embodiment, based on the determination result of the determination unit 31, using each parameter set by the control parameter setting unit 34, the work control unit 36 determines the target site height: CH , height position: RH, front and rear position: generate control signals for realizing RL.

In addition, the working condition in harvesting can also be changed depending on the vehicle speed. Therefore, using the vehicle speed parameter, the driving control unit 35 generates a control signal for realizing the target vehicle speed.

Site height: CH, height position: RH, front and rear position: RL, as factors affecting the working state of the harvester 15, the rotational speed of the scraping reel 15B, the rotational trajectory of the tines 15T, etc. there is. It is also possible to make it a structure which adjusts at least one of these factors according to the height of a crop.

Furthermore, the working state of the threshing device 13 may be changed according to the height of planted crops. The working state of the threshing device 13 can be changed by adjusting the rotational speed of the tuyere 13C and the drooping opening of the chaff sieve in the sorting processing unit 13B. In that case, the control parameter includes a tuyere speed parameter and a leakage opening parameter.

Returning to FIG. 3 , the map creation unit 39 determines the crop height of the field based on the information indicating the state of the crop obtained from the detection result of the first detection device 21 and the detection result of the second detection device 22. Create a crop height map representing It is suitable if the crop height map includes, for example, height information of crops in a small section of the field, uniform information, work state information, and the like. The control unit 3 transmits the crop height map created by the map creation unit 39 to the remote server 4 via the communication unit 38, and the server 4 sends the map information of the field being managed. Record. This makes it possible for the manager of the field to utilize crop height information, uniform information, work state information, and the like for the next year's agricultural plan.

[Other Embodiments]

In the above embodiment, the first detection device 21 has been described as using a two-dimensional scanning LiDAR, but a device different from the two-dimensional scanning LiDAR may be used. It may also be a device that detects the position and height of an object using electromagnetic waves having a longer wavelength than radio waves.

In the above embodiment, the determination unit 31 sets the height of the crop and the falling state of the crop as the state of the crop based on the detection result of the first detection device 21 and the detection result of the second detection device 22. Although it has been described as determining, it is also possible for the determination unit 31 to determine, for example, the spreading of the crop in the surface direction in the field as a state of the crop.

In the above embodiment, the determination unit 31 has been described as making a determination using the color information obtained from the detection result of the second detection apparatus 22 as the detection result of the second detection apparatus 22, but the determination unit ( 31) can also be configured so that it makes a determination using the detection result itself of the 2nd detection device 22 and the detection result of the 1st detection device 21.

In the above embodiment, based on the information indicating the state of crops obtained from the detection result of the first detection device 21 and the detection result of the second detection device 22, the map creation unit 39 determines the crop height of the field. Although it has been described as creating a crop height map to be shown, it is also possible to configure without providing the map creating unit 39, and also to configure so that the map creating unit 39 is provided in the server 4 connected via the network. possible.

In the above embodiment, it has been described as setting the parameters of the machine 2 used for work travel based on the state of the crop, but it is also possible to configure so that recommended setting values of the parameters of the machine 2 are presented to the user. .

In the above embodiment, the determination unit 31 sets the height of the crop and the falling state of the crop as the state of the crop based on the detection result of the first detection device 21 and the detection result of the second detection device 22. has been described as determining, the determining unit 31 can also be configured to determine at least either one of the height of the crop and the falling state of the crop as the crop condition.

In the above embodiment, the harvest height data output from the harvest height detection unit 23, the reel height data output from the reel height detection unit 24a, and the reel height data output from the reel height detection unit 24a are transmitted to the control unit 3. Although the positional data has been described as being transmitted, it is also possible to configure so that the auger height data output from the auger height detection unit 25 is transmitted. In this case, the auger height detection unit 25 detects the vertical position of an actuator (not shown) that moves the horizontally conveying auger 15C up and down, thereby determining the height position of the horizontally conveying auger 15C: OH (Fig. 5 and Fig. 5). 6) is configured to be detectable. Thereby, it is possible to adjust the height of the horizontal transfer auger 15C according to the height of crops.

In the above embodiment, the work truck has been described, but it is also possible to configure it as a crop condition detection system equipped with each functional unit in the above embodiment. In this case, in the field where the work vehicle works, the crop condition detection system for detecting the state of the crop, which is the work target of the work vehicle, sets the front area in front of the moving direction of the work vehicle in the field as a detection target, A first detection device for detecting the position and height of an object present in the front region while traveling, and a second detection device for imaging the front region while performing the work travel with the front region as an imaging target device, and a determination unit that determines the state of the crop in the front region based on the detection result of the first detection device and the detection result of the second detection device.

It is also possible to configure processing performed by each functional unit in the above embodiment as a crop state detection method for detecting the state of crops. In this case, in the field where the work vehicle works, the crop state detection method for detecting the state of the crop, which is the work target of the work vehicle, sets the front area in front of the moving direction of the work vehicle in the field as a detection target, A first detection step of detecting the position and height of an object present in the front region with a first detection device while traveling, and a second detection device while performing the work travel with the front region as an image pickup target A second detection step for capturing an image of the front region and a determination step for determining the state of crops in the front region based on the detection result of the first detection device and the detection result of the second detection device. .

It is also possible to configure each functional unit in the above embodiment as a crop state detection program for detecting the state of crops. In this case, in the field where the work vehicle works, the crop state detection program for detecting the state of the crop, which is the work target of the work vehicle, sets the front area in front of the moving direction of the work vehicle in the field as a detection target, A first detection function for detecting, with a first detection device, the position and height of an object present in the front region while traveling, and a second detection device while performing the work travel with the front region as an image pickup target a second detection function for capturing an image of the front region, and a determination function for determining the state of crops in the front region based on the detection result of the first detection device and the detection result of the second detection device. You can do it.

In addition, in the field where the work vehicle works, it is also possible to configure a crop state detection program for detecting the state of the crop, which is the work target of the work vehicle, to be recorded on a recording medium.

INDUSTRIAL APPLICABILITY The present invention can be used for a work vehicle that performs work travel in pavement.

1: combine (work vehicle)
2: gas
21: first detection device
22: second detection device
31: Judgment
FR: anterior region

Claims (11)

A first detection device for detecting a position and height of an object present in the forward region while performing work travel with a front region in front of the moving direction of the aircraft on the pavement as a detection target;
a second detection device for capturing an image of the front region while performing the work travel with the front region as an imaging target;
A judging section for determining the state of crops in the front area based on the detection result of the first detection device and the detection result of the second detection device.
Equipped with a work vehicle. The work vehicle according to claim 1, wherein the determination unit determines, as the condition of the crop, the height of the crop based on a detection result of the first detection device and a detection result of the second detection device. The method according to claim 1 or 2, wherein the determining unit determines, as the state of the crop, a lodging state of the crop based on a detection result of the first detection device and a detection result of the second detection device. work car. The work vehicle according to any one of claims 1 to 3, wherein the judgment unit makes a judgment using color information obtained from a detection result of the second detection device as a detection result of the second detection device. The method according to any one of claims 1 to 4, wherein the crop height of the field is determined based on information indicating the state of the crop obtained from the detection result of the first detection device and the detection result of the second detection device. A work vehicle that creates a crop height map that represents it. The work vehicle according to any one of claims 1 to 5, wherein parameters of a machine used for the work travel are set based on a state of the crop. The method according to any one of claims 1 to 6, wherein the first detection device transmits electromagnetic waves having at least a shorter wavelength than radio waves toward the forward direction in the traveling direction, and the electromagnetic waves are based on reflected waves reflected from the object. to detect the position and height of the object. A crop condition detection system for detecting the condition of a crop, which is a work target of the work vehicle, in the field where the work vehicle works,
a first detection device for detecting a position and height of an object existing in the front area while performing work travel with a front area in front of the traveling direction of the work vehicle on the pavement as a detection target;
a second detection device for capturing an image of the front region while performing the work travel with the front region as an imaging target;
A judging section for determining the state of crops in the front area based on the detection result of the first detection device and the detection result of the second detection device.
Equipped with a crop condition detection system. A crop state detection method for detecting the state of a crop, which is a work target of the work vehicle, in the field where the work vehicle works,
A first detection step of detecting the position and height of an object existing in the front area with a first detection device while performing work travel with a front area in front of the traveling direction of the work vehicle on the pavement as a detection target; and ,
a second detection step of taking an image of the front region with a second detection device while performing the work travel with the front region as an imaging target;
a determination step of determining the state of crops in the front region based on the detection result of the first detection device and the detection result of the second detection device;
A crop condition detection method comprising: A crop state detection program for detecting the state of crops, which are work objects of the work vehicle, in the field where the work vehicle works,
A first detection function of detecting a position and height of an object existing in the front area with a first detection device while performing work travel with a front area in front of the traveling direction of the work vehicle on the pavement as a detection target; and ,
a second detection function of taking an image of the front region with a second detection device while performing the work travel with the front region as an imaging target;
a judgment function for determining the condition of the crop in the front area based on the detection result of the first detection device and the detection result of the second detection device;
A crop condition detection program that runs on a computer. A recording medium on which a crop state detection program for detecting the state of a crop, which is a work target of the work vehicle, is recorded in the field where the work vehicle works,
A first detection function of detecting a position and height of an object existing in the front area with a first detection device while performing work travel with a front area in front of the traveling direction of the work vehicle on the pavement as a detection target; and ,
a second detection function of taking an image of the front region with a second detection device while performing the work travel with the front region as an imaging target;
a judgment function for determining the condition of the crop in the front area based on the detection result of the first detection device and the detection result of the second detection device;
A recording medium on which a crop condition detection program executed by a computer is recorded.

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