JP7045341B2 - Collaborative work system - Google Patents

Description

The present disclosure relates to a collaborative work system that realizes collaborative work by a plurality of combines.

Patent Document 1 discloses a system in which a plurality of combines work in cooperation in one field. Specifically, when the second combine is added to the field while the first combine is working along a predetermined route, the unworked area is distributed by the first and second combines. And it is disclosed to regenerate the pathway for each combine.

The combine has a grain tank for storing the harvested grains, and when the grain tank is full, it is necessary to discharge the grains from the grain tank to a transport vehicle such as a truck. Regarding the discharge work, Patent Document 2 discloses a technique of automatically moving to a predetermined discharge position (near a transport vehicle) in a field when the amount of the grain tank exceeds a predetermined amount during automatic traveling of the combine.

Japanese Unexamined Patent Publication No. 2018-108034 JP-A-2015-170223

Since one transport vehicle such as a truck is generally arranged in the field, there is only one predetermined discharge position. In this case, if the discharge times of a plurality of combines overlap, waiting for a turn occurs, and it cannot be said that the efficiency is good.

The present disclosure has focused on such a problem, and an object thereof is to provide a collaborative work system capable of efficient discharge work when collaborative work is performed by a plurality of combines. ..

The collaborative work system pertaining to this disclosure is
A plurality of work vehicles including an automatic traveling work vehicle that harvests crops and stores them in a storage unit and automatically travels to a predetermined discharge position where the crops are discharged from the storage unit.
A cooperative work instruction unit that instructs the automatic traveling work vehicle to perform cooperative work including harvesting work along a predetermined route and movement to the predetermined discharge position according to the amount of crops in the storage unit.
A discharge period specifying unit that specifies the discharge period including the time when the discharge work is completed from the time when the predetermined discharge position is reached for each work vehicle, and the discharge period specifying unit.
When the discharge periods of the work vehicles overlap or are within a predetermined range, a control signal for generating a control signal regarding the change of the discharge period for the work vehicle whose discharge period is later is a control signal. The generator and
To prepare for.

According to this configuration, when the discharge periods of the work vehicles overlap, a control signal regarding the change of the discharge period is generated, so that the discharge work can be efficiently performed based on the control signal. ..

Side view showing the overall configuration of the combine Block diagram showing the control configuration of the combine Diagram showing the route and predetermined discharge position of each combine that works in cooperation Block diagram showing a collaborative work system Figure showing emission period before and after change of each combine Figure showing emission period before and after change of each combine Figure showing emission period before and after change of each combine

An embodiment in the case where a combine as an example of a work vehicle will be described with reference to FIGS. 1 and 2. FIG. 1 is a side view showing the overall configuration of the combine 1 as a work vehicle. FIG. 2 is a block diagram showing a control configuration of the combine 1. The combine 1 is a combine (autonomous combine) capable of autonomously traveling and working.

Combine 1 is a head-feeding combine. The combine 1 includes a traveling unit 2, a harvesting unit 3, a threshing unit 4, a sorting unit 5, a storage unit 6, a straw disposal unit 7, a power unit 8, and a control unit 9.

While traveling by the traveling unit 2, the combine 1 threshs the grain culms cut by the cutting unit 3 in the threshing unit 4, selects the grains in the sorting unit 5, and stores them in the grain tank 11 of the storage unit 6. The grains stored in the grain tank 11 are discharged by the discharge auger 12. Further, the straw discharged after threshing is processed by the straw waste processing unit 7. Power is supplied from the engine 13 of the power unit 8 to the traveling unit 2, the cutting unit 3, the threshing unit 4, the sorting unit 5, the storage unit 6, and the straw waste processing unit 7. The control unit 9 includes a cabin 16 in which driving operating tools such as a driver's seat 14 and a steering handle 15 are housed.

The combine 1 includes a positioning unit 20 that receives a signal from a positioning satellite and performs positioning. The positioning unit 20 includes a mobile positioning antenna 22 and a data receiving antenna 23. The mobile positioning antenna 22 and the data receiving antenna 23 are arranged in the cabin 16. On the other hand, the fixed positioning antenna 32 and the data communication antenna 33 are arranged at predetermined positions. The combine 1 acquires the position information by using the RTK-positioning method.

The control device 40 of the combine 1 has a processing unit 41 composed of a computer such as a CPU and a storage unit 42 such as a ROM, RAM, a hard disk, and a flash memory. The processing unit 41 can read a program or the like stored in the ROM onto the RAM and then execute the program. The storage unit 42 stores information on each specification of the combine 1, such as the capacity of the grain tank 11 and the width of the cutting unit 3.

The control device 40 controls the operation of various configuration requirements by executing the control program by the processing unit 41. Specifically, it performs transmission / reception of information during communication, various input / output controls, and control of arithmetic processing. Further, the control device 40 has a communication unit 43 for data communication with the outside. The control device 40 can communicate with other work vehicles (combines, trucks for transporting harvested products, etc.), external configurations such as mobile terminals, etc. through the communication unit 43.

The combine 1 has a positioning unit 20, an engine rotation sensor 51 that detects the rotation speed of the engine 13, a traveling speed sensor 52 that detects the traveling speed of the combine 1, and the combine 1 as a configuration on the input side of the control device 40. It is stored in a gyro sensor 53 that detects acceleration in three directions as displacement information of the machine body, an orientation sensor 54 that detects the traveling direction of the combine 1, a steering sensor 55 that detects the rotation angle of the steering handle 15, and a grain tank 11. It has a grain sensor 56 for detecting the amount of grains.

The output side configuration of the control device 40 consists of a traveling unit 2, a cutting unit 3, a threshing unit 4, a sorting unit 5, a storage unit 6, a straw disposal unit 7, a power unit 8, and a control unit 9. And. The control device 40 is based on the input position information from the positioning unit 20 and the operating conditions detected by various sensors (for example, the operating state of the engine 13, the attitude orientation of the machine body, the amount of grains in the grain tank 11 and the like). , The running unit 2, the cutting unit 3, the threshing unit 4, the sorting unit 5, the storage unit 6, the straw disposal unit 7, the power unit 8, and the control unit 9 are controlled as appropriate. In this way, the combine 1 is controlled to autonomously travel and perform work along a predetermined route.

As a premise of the cooperative work, as shown in FIG. 3, the routes P2 and P3 for the cooperative work are preset. As shown in the figure, the field information F that is the work area is stored. The field information F is configured like a map. As the field information F, the position information (map information) of the outer circumference of the field to be the work range and the predetermined discharge position F0 are set in advance. A transport vehicle TR such as a truck is arranged at a position adjacent to the predetermined discharge position F0, and receives the discharge of crops from each combine. The position information P0 on the outer circumference of the field can be stored by actually running the combine 1. In FIG. 3, the field is divided in half by the vertical route P1, the route P2 on the left side is used as the route for the first combine 1, and the route P3 on the right side is used as the route for the second combine 100.

In the present embodiment, the first combine 1 is described as a manned manual traveling work vehicle, and the second combine 100 is an unmanned automatic traveling work vehicle, but the present invention is not limited thereto. Both the first combine 1 and the second combine 100 may be unmanned automatic driving.

FIG. 4 is a block diagram of a collaborative work system. The cooperative work system includes a cooperative work instruction unit 60, a discharge period specifying unit 61, and a control signal generation unit 62. In the present embodiment, each part 60 to 62 is mounted on the first combine 1 of the manned machine, but the present invention is not limited to this. For example, each unit 60 to 62 may be mounted on the second combine 100, or may be mounted on an external server other than the work vehicle.

The cooperative work instruction unit 60 instructs the automatic traveling work vehicle 100 to perform cooperative work including harvesting work along a predetermined route P3 and movement of the storage unit 6 to a predetermined discharge position according to the amount of crops. The cooperative work instruction unit 60 performs harvesting work along a predetermined route P2, moves the storage unit 6 to a predetermined discharge position according to the amount of crops, and from the storage unit 6 for the first manned combine 1. It may be configured to direct guidance for collaborative work, including at least one of the crop discharge tasks. The cooperative work instruction unit 60 instructs the driver to perform harvesting work along a predetermined route P2 for the first combine 1 of the manned machine, and the amount of crops in the storage unit 6 is a predetermined amount. When the above is reached, the movement to the predetermined discharge position F0 is guided, and when the predetermined discharge position F0 is reached, the discharge of the crop from the storage unit 6 is guided. The cooperative work instruction unit 60 instructs the second combine 100 of the unmanned aerial vehicle to work along the predetermined route P3, and when the amount of crops in the storage unit 6 exceeds the predetermined amount. Command the movement to the predetermined discharge position F0. If possible, the cooperative work instruction unit 60 may instruct the discharge of crops from the storage unit 6 when the predetermined discharge position F0 is reached. Conditions may be instructed in advance for the movement to the predetermined discharge position F0 and the discharge of the crop, and the second combine 100 of the unmanned aerial vehicle may act autonomously based on the command instructed in advance.

As shown in FIG. 5, the discharge period specifying unit 61 specifies a discharge period [t1-t2] including a time point t1 at which the predetermined discharge position F0 is reached and a time point t2 at which the discharge work is completed for each of the combine harvesters 1 and 100. do. Specifically, the discharge period specifying unit 61 can acquire the storage status of the storage unit 6 from the grain sensor 56 and the vehicle speed from the traveling speed sensor 52, and can specify the yield per unit distance from these data. be. The discharge period specifying unit 61 can calculate a time point when the storage unit 6 reaches a predetermined amount or more (t0 at the start of movement to the discharge position) based on the storage status and the yield per unit distance. Further, since the discharge period specifying unit 61 can specify the location positions on the predetermined routes P2 and P3 at the movement start time t0, the time and route required to reach the predetermined discharge position F0 can be calculated.

Specifically, as shown in FIG. 3, the predetermined path P2 is composed of a plurality of flow lines (work paths) (L1, L2, L3, L4, L5), and one flow line is a starting point and a starting point. It has an end point. Each flow line has an order relationship. If the combine 1 is on the flow line L3 constituting the predetermined path P2 at the movement start time t0, the time point reaching the end point of the flow line L2 immediately before the movement line L3 is recalculated as the movement start time t0. .. By doing so, the work can be completed in the flow line unit, so that the discharge work start and the return control from the discharge work can be controlled in the flow line unit, and the control becomes easy.

The discharge period specifying unit 61 can specify the time point t1 when each of the combines 1 and 100 reaches the predetermined discharge position F0. The time point t2 at which the discharge work is completed can be specified based on the storage amount of the storage unit 6 and the discharge amount per unit time set in advance. When the GPS is not mounted on the first combine 1 of the manned machine, the discharge period specifying unit 61 may set the discharge period from the time when the storage unit 6 reaches a predetermined amount or more until the predetermined time elapses.

The discharge period specifying unit 61 specifies the discharge period based on the predetermined routes P2 and P3. However, in the case of a manned machine, it is a manual operation, and the discharge work may be started at a predetermined discharge position F0 at a timing desired by the driver without following the guidance. Further, even in the case of an unmanned aerial vehicle, the user may intervene in manual operation. Therefore, the discharge period specifying unit 61 starts to operate the discharge auger 12 when the discharge information (the user operates the discharge clutch to ON in the manned machine) at a time earlier than the discharge period [t1-t2] estimated by the calculation. If it is detected that the discharge icon is touched on the operation device such as a tablet and the start of the discharge operation to the unmanned aerial vehicle is instructed), the discharge period is set based on the obtained discharge information. Reidentify.

When the transport vehicle TR such as a truck is equipped with a positioning antenna and it is detected that the transport vehicle TR does not exist at the predetermined discharge position F0, the discharge period specifying unit 61 sets the discharge period [t1-t2]. , It is preferable to shift to a predetermined time (estimated time until the transport vehicle TR returns) and specify it. On the other hand, when the transport vehicle TR does not have a positioning antenna and the total value of the crop emissions of the first combine 1 and the second combine 100 reaches the container amount of the transport vehicle TR, the discharge period is specified. Similarly, it is preferable that the unit 61 shifts the discharge period [t1-t2] to a predetermined time (estimated time until the transport vehicle TR returns) and specifies it.

In FIG. 5, the discharge period [t1-t2] of the first combine 1 and the discharge period [t1-t2] of the second combine 100 overlap, and the discharge period of the first combine 1 is later. This is an example. In FIG. 6, the discharge period [t1-t2] of the first combine 1 and the discharge period [t1-t2] of the second combine 100 overlap, and the discharge period of the second combine 100 is later. This is an example. In FIG. 7, the discharge period [t1-t2] of the first combine 1 and the discharge period [t1-t2] of the second combine 100 do not overlap, but are within a predetermined range (several seconds, several tens of seconds, etc.). This is an example in which the emission period of the second combine 100 is later.

The control signal generation unit 62 determines when the discharge periods of the respective combine harvesters 1 and 100 overlap as shown in FIGS. 5 and 6, or when the discharge periods of the respective combine harvesters 1 and 100 overlap as shown in FIG. If it is within the range of, a control signal regarding the change of the emission period is generated for the combine whose emission period is later.

Specifically, as shown in FIG. 5, the control signal generation unit 62 is the first combine harvester 1 after the discharge period [t1-t2] when the first combine harvester is manually driven by a manned machine. A notification signal for prompting the combine 1 to change the discharge period of the first combine 1 whose discharge period is later is generated as a control signal. The control signal is input to the first combine 1 and is notified by a display or voice to urge the change of the discharge period. Specifically, guidance for decelerating the vehicle speed (display of the target vehicle speed to be decelerated) in order to notify that there is a possibility of overlapping the emission period of the combine 100 that is cooperating as it is and to eliminate the overlap of the emission periods. Etc.) and output information on the previous emission period. As the notification, it is possible to output information such as when the combine 100, which is collaborating with each other, works for a few minutes (m) to move to the predetermined discharge position F0 and when the discharge work is completed.

In this way, when the driver is notified to decelerate and the driver follows, the discharge period [t1-t2] of the first combine 1 can be changed later, as shown in FIG. It is possible to avoid overlapping with the discharge period of the combine 100 of 2 and to omit unnecessary waiting time. Nevertheless, since the vehicle speed is decelerated, the amount of grains to the sorting unit 5 is reduced, and the accuracy of sorting can be improved.

As another example, as shown in FIGS. 6 and 7, when the second combine 100 having a later discharge period [t1-t2] is the automatic traveling of the unmanned aerial vehicle, the control signal generation unit 62 is used. A deceleration signal for decelerating the vehicle speed is generated as a control signal for the second combine 100. The control signal is input to the second combine 100, and the vehicle speed of the second combine 100 is decelerated by the processing unit 41.

By generating and transmitting the deceleration control signal in this way, as shown in FIGS. 6 and 7, the discharge period [t1-t2] of the second combine 100 can be changed later, and the first It is possible to avoid an overlap with the discharge period of the combine 1 and eliminate unnecessary waiting time. Nevertheless, since the vehicle speed is decelerated, the amount of grains to the sorting unit 5 is reduced, and the accuracy of sorting can be improved.

In the above, basically, the movement start time t0 is specified due to the fact that the storage portion 6 becomes a predetermined amount or more, but the movement start time t0 is not limited to this, and the movement start time t0 is specified as follows. You may. For example, when the load capacity of the container of the transport vehicle TR is 2000 and the load capacity (predetermined amount) of each combine 1 and 100 is 1000, the load capacity of the container is 1500 and the remaining load capacity is 500, and each combine has a load capacity of 500. If the amount of discharge is less than one dose of 1 and 100, the first combine 1 (manual operation of the manned machine) is notified to that effect when the storage amount of the storage unit 6 exceeds 500. It is preferable to promote the movement to the predetermined discharge position F0. For the second combine 100 (automatic traveling of the unmanned aerial vehicle), it is preferable to instruct the movement to the predetermined discharge position F0 when the storage amount of the storage unit 6 exceeds 500.

Further, even when the discharge periods of the first combine 1 and the second combine 100 overlap or are within a predetermined range, there is free capacity in the storage unit 6, and the scheduled routes P2 and P3 When it is possible to harvest to the end along the above, it is preferable not to generate a control signal regarding the change of the discharge period. For example, if it is likely to rain soon, the harvesting work will not be possible if it rains, so it is preferable to finish the harvesting work before it rains even if the discharge periods overlap. be.

The above embodiment presupposes that the manned aircraft manually travels along a predetermined route P2 according to the guidance, but the cooperative work is established even if the manned aircraft does not travel along the predetermined route P2. It is preferable to configure the system. For example, when the combine 1 of the manned machine has a positioning antenna, the discharge period specifying unit 61 assumes that the driver himself / herself heads for the predetermined discharge position F0 when the storage unit 6 exceeds a predetermined amount. , The configuration is such that the discharge period of the manned machine is specified based on the distance to the predetermined discharge position F0, the vehicle speed, and the time required for discharge. On the other hand, when the combine 1 of the manned machine does not have a positioning antenna, the discharge period specifying unit 61 specifies that the discharge time is from the time when the storage unit 6 reaches a predetermined amount or more until the predetermined time elapses. It is possible to configure it as follows. When the discharge period of the unmanned aerial vehicle arrives after the discharge period of the manned machine, the control signal generation unit 62 generates a deceleration signal for decelerating the vehicle speed for the automatic traveling work vehicle 100 as a control signal. When the discharge period of the manned machine arrives after the unmanned discharge period, the control signal generation unit 62 sends a notification signal to notify the combine 1 of the manned machine to change the discharge period. Is to be generated.

By doing so, similarly to the above, it is possible to avoid the overlap between the discharge periods of the first combine 1 and the second combine 100, and to eliminate unnecessary waiting time. Nevertheless, since the vehicle speed is decelerated, the amount of grains to the sorting unit 5 is reduced, and the accuracy of sorting can be improved.

As described above, the collaborative work system of this embodiment is
A plurality of work vehicles 1, 100 including an automatic traveling work vehicle 100 that automatically travels to a predetermined discharge position F0 at which crops are harvested and stored in the storage unit 6 and discharged from the storage unit 6, and
A cooperative work instruction unit 60 that instructs the automatic traveling work vehicle 100 to perform cooperative work including harvesting work along a predetermined route P3 and movement of the storage unit 6 to a predetermined discharge position F0 according to the amount of crops.
The discharge period specifying unit 61 that specifies the discharge period [t1-t2] including the time t1 when the predetermined discharge position F0 is reached for each of the work vehicles 1 and 100 to the time t2 when the discharge work is completed, and the discharge period specifying unit 61.
If the discharge periods [t1-t2] of the work vehicles 1 and 100 overlap or are within a predetermined range, the discharge period [t1-t2] is later than that of the work vehicles 1 and 100. A control signal generation unit 62 that generates a control signal related to a change in the discharge period, and
To prepare for.

According to this configuration, when the discharge periods of the work vehicles 1 and 100 overlap, a control signal regarding the change of the discharge period is generated, so that the discharge work can be efficiently performed based on the control signal. It will be possible.

In the present embodiment, the control signal is a notification signal for prompting a change in the discharge period of the work vehicles 1 and 100 whose discharge period is later.

According to this configuration, when the driver follows the notification signal, the discharge period [t1-t2] can be changed later, avoiding overlap with the discharge period, and eliminating unnecessary waiting time. can do. Nevertheless, since the vehicle speed is decelerated, the amount of grains to the sorting unit 5 is reduced, and the accuracy of sorting can be improved.

In the present embodiment, the control signal is a deceleration signal for decelerating the vehicle speeds of the work vehicles 1 and 100 whose discharge period is later.

According to this configuration, the discharge period [t1-t2] can be changed later by generating a control signal for deceleration, avoiding overlap with the discharge period, and eliminating unnecessary waiting time. Can be done. Nevertheless, since the vehicle speed is decelerated, the amount of grains to the sorting unit 5 is reduced, and the accuracy of sorting can be improved.

The present disclosure is not limited to the above-described embodiment, and various improvements and changes can be made without departing from the spirit of the present disclosure.

1 First combine (working vehicle)
100 Second combine (autonomous driving work vehicle)
6 Reservoir 60 Coordinated work instruction unit 61 Discharge period specification unit 62 Control signal generation unit P2 Predetermined route P3 Predetermined route F0 Predetermined discharge position

Claims (3)

A plurality of work vehicles including an automatic traveling work vehicle that harvests crops and stores them in a storage unit and automatically travels to a predetermined discharge position for discharging crops from the storage unit.
A cooperative work instruction unit that instructs the automatic traveling work vehicle to perform cooperative work including harvesting work along a predetermined route and movement to the predetermined discharge position according to the amount of crops in the storage unit.
For each work vehicle, a discharge period specifying unit that specifies the discharge period from the arrival point at which the predetermined discharge position is reached to the end point at which the discharge work is completed,
If the discharge periods of the work vehicles overlap or are within the specified range,
A control signal generation unit that generates a control signal for changing the discharge period for the work vehicle whose arrival point is later.
A collaborative work system. The cooperative work system according to claim 1, wherein the control signal is a notification signal for prompting a change in the discharge period of the work vehicle whose arrival time is later. The cooperative work system according to claim 1, wherein the control signal is a deceleration signal for decelerating the vehicle speed of the work vehicle whose arrival time is later.

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