JP7726802B2 - reaper - Google Patents

Description

The present invention relates to a harvester for cutting weeds and other plants.

Weeds are periodically cut on slopes of expressways, levees, fallow fields, etc. Walk-behind mowers (Patent Document 1) are sometimes used, but because slopes and other sloping areas are dangerous, autonomous (unmanned) mowers (Patent Document 2) and remote-controlled mowers (Patent Document 3) are also sometimes used.
Figure 1 is an aerial photograph of government-owned land on the Arakawa riverbed (taken from the Geospatial Information Authority of Japan's "Map and Aerial Photo Viewing Service").

Patent No. 6699021 JP 2015-15922 A JP 2011-142900 A

Work areas where weeds grow are diverse, and the types and densities of weeds vary. Even within the same work area, weeds often grow in different ways and at different rates. Some weeds are difficult to cut. For example, the invasive species giant ragweed can grow to a height of 3-4m and a trunk length of over 4cm. It also tends to grow in clusters, making cutting it a heavy burden. Kudzu is a species endemic to Japan, but it often grows profusely as vines. Furthermore, because the vines contain strong fibers, they easily become tangled in the rotating blades, making it necessary to interrupt the cutting operation and remove the tangled vines from the cutting section each time. Plants such as bamboo grass and thin bamboo are difficult to cut because they are hard and flexible.

Furthermore, areas with high weed density can hinder mowing operations. High density areas place a significant strain on the mower, making it necessary to slow down the working speed, etc.

As shown in Figure 1, there are areas with tall weeds, areas with significant overgrowth, and areas with short weeds. Depending on the model of reaper, some models are not good at cutting tall weeds. Furthermore, regardless of the model, in areas with significant overgrowth of weeds, the load will exceed the reaper's capacity and it will not be able to cut properly, so adjustments such as slowing down will be necessary.
Furthermore, as explained in the prior art, the vines of creeping plants such as kudzu contain strong fibers that easily become tangled around the rotating blades, and unless the harvesting work is done carefully, the vines may become tangled around the blades, forcing the worker to perform tasks such as removing the vines, which can significantly reduce work efficiency.

In the case of walk-behind or ride-on type harvesters operated by an operator, the operator must adjust the speed or height of the harvester to avoid excessive load, based on the state of weed growth, engine noise, and noise from the harvester. In order to avoid trouble and shorten the work time during harvesting, the operator must rely on the experience and intuition of the operator, which makes it difficult to use.
With autonomous mowing machines such as grass-cutting robots and remote-controlled mowing machines, it is difficult for the operator (worker) to distinguish between the engine noise and the sounds coming from the mowing unit from a distance, and they must always operate at a reduced speed to avoid any problems, which can reduce work efficiency.
An object of the present invention is to improve the ease of use of a reaper.

The present invention provides a reaper including a memory unit, a control unit, a traveling unit, a reaping unit, and a GNSS positioning device, wherein the memory unit stores work map data,
The work map data is associated with map information of the work site and includes at least the degree of impact of the mowing work derived from factors that affect the mowing work, and the control unit, based on the positioning information obtained by the GNSS positioning device and the work map data, (1) controls the traveling unit or the mowing unit depending on the degree of impact of the mowing work, or (2) issues an alert when approaching an area where the impact of the mowing work is significant, and the problem is solved by providing a weed mower characterized in that the factors that affect the mowing work include at least the state of overgrowth of vines.

This invention improves work efficiency and ease of use.

This is an aerial photograph 1 of national land on the Arakawa riverbed. (Quoted from the Geospatial Information Authority of Japan's "Map and Aerial Photo Service"). FIG. 1 is a perspective view of a reaper according to an embodiment. FIG. 10 is an explanatory diagram showing a part of the analysis results. 10A and 10B are explanatory diagrams of various analytical data 2 obtained by dividing map information of a harvesting work area into meshes. (A) Analytical data 2 of grass height. (B) Analytical data 2 of density. (C) Analytical data 2 of a region overgrown with tubular plants. FIG. 10 is a conceptual diagram illustrating the creation of work map data 3 showing the degree of impact 31 of the mowing work.

Embodiments of the present invention will be described below with reference to the drawings. In the following description, the same reference numerals in different drawings indicate parts with the same function, and duplicate descriptions in each drawing will be omitted as appropriate.

[Example]
(reaper)
Although the present invention is not limited to weeds as a cutting target, the embodiment relates to a reaper 4 that cuts weeds.
2 is a perspective view of the reaper 4 of the embodiment. The present invention can be used for various types of reapers 4, such as riding types, walk-behind types, remote-controlled types, and autonomous types. The reaper 4 of the embodiment is an autonomous type and is therefore not equipped with a control unit or the like.
The reaper 4 has a reaping unit 42 at the front in the traveling direction, and the reaping height is controlled by a lifting cylinder 41 that raises and lowers the reaping unit 42. Because it is an autonomous traveling type, the control unit 5 controls the traveling unit 43 to travel along a predetermined route.
In this embodiment, the control unit 5 is located at the rear of the reaper 4, and the memory unit 51 is also provided at the same location.
In this embodiment, the notification unit 44 is a patrol lamp that is activated when an abnormality occurs or when a warning is given. The notification unit 44 is not limited to a light notification, and the present invention also includes a sound notification or a text notification on a display or the like.

(GNSS positioning device)
The reaper 4 is equipped with a GNSS (Global Navigation Satellite System) positioning device 45. The GNSS positioning device 45 is composed of a GNSS antenna and a GNSS receiving device. GPS is a typical example of the GNSS, but to improve positioning accuracy, a GNSS positioning device 45 that can receive QZSS (nicknamed "Michibiki") and other signals in addition to GPS may also be employed.
The positioning information (latitude and longitude) of the reaper 4 is measured by the GNSS positioning device 45 , and the positioning information is sent to the control unit 5 .

(Factor extraction)
Figure 1 is taken from an aerial photograph 1 of national land on the Arakawa riverbed (Geospatial Information Authority of Japan, "Map and Aerial Photo Viewing Service").
The work map data 3 of the present invention is created by analyzing aerial photographs 1 taken from a satellite, drone, or aircraft. Figure 1 shows a single color aerial photograph 1, but multiple types of aerial photographs 1 may be taken for one location, such as aerial photographs 1 taken with filters of various wavelengths or aerial photographs 1 showing the height of weeds. Needless to say, these aerial photographs 1 must be taken immediately before the harvesting work.

FIG. 3 is an explanatory diagram showing some of the analysis results. In this embodiment, factors (parameters) affecting mowing operations are analyzed from aerial photographs 1. Grass height affects traveling speed. In particular, with a hammer-knife type mower 4, the higher the grass height, the greater the load on the mower as it crushes the mowed weeds. The grass height is shown divided into a low grass height region 21, a high grass height region 22, and a medium grass height region 23. To precisely measure the height, multiple aerial photographs 1 can be taken at different shooting positions and the height can be measured. Factors (parameters) affecting mowing operations are not limited to information about plants. For example, in areas with steep slopes where there is a risk of tipping, careful driving is required, so this information can be added to the factors and quantified.
The weed density is displayed as a high weed density area 24 and a low weed density area 25. The higher the weed density, the greater the load on the reaper 4.
Areas where plants with thick stems, such as giant ragweed, and plants with hard stems, such as bamboo and thin bamboo, grow thick are displayed as areas 26 where plants with thick or hard stems grow thick. Thick and hard-stemmed weeds are very difficult to cut, and therefore have a significant impact on cutting work.
Furthermore, vines grow thickly and entangle other plants in a net-like pattern, which, together with the density and height of the weeds, has a significant impact on the mowing work. Aerial photograph 1 is analyzed and displayed as a vine-overgrown area 27.
In addition to this, various factors that affect the harvesting work obtained from the aerial photograph 1 are analyzed and accumulated as analysis data 2.

The analysis may be performed automatically, such as by an image analysis device, or by an operator.

In the embodiment, the classification is divided into two or three levels, such as areas with high weed density 24 and areas with low weed density 25, but more detailed classification may be made if necessary.

3, trees 281 and marshes 282 (puddles) are displayed as obstacles 28 that affect the cutting. Furthermore, reference information such as roads 29 may be classified.
If the information obtained from one aerial photograph 1 is limited, it is possible to extract a variety of information by using aerial photographs 1 resolved into various wavelengths or by utilizing data from the previous year.

(Factor organization)
As described above, each factor analyzed from the aerial photograph 1 is associated (linked) with map information (longitude and latitude). FIG. 4 is an explanatory diagram of various analysis data 2 in which map information of the harvesting work area is divided into meshes. Any map information may be used as long as it identifies longitude and latitude. The size of the mesh may be determined taking into account the harvesting width of the harvester 4, etc. If the mesh is too large, the control accuracy will decrease.
If the aerial photograph 1 is an orthoimage that can be linked to longitude and latitude, the analysis data 2 may be overlaid on the aerial photograph 1. (An "orthoimage" is an image that has been converted into geospatial information that can be used by overlaying the aerial photograph 1 with map information (longitude and latitude), etc.)

(Working map data)
FIG. 5 is a conceptual diagram illustrating the generation of work map data 3 showing the degree of impact 31 of the mowing work. Each factor is added together or weighted and added together. This allows the degree of impact 31 of the mowing work to be predicted. The weighting is preferably determined taking into consideration the performance of the reaper 4. In the embodiment of FIG. 5, the degree of impact 31 of the mowing work obtained by combining (adding) each factor is classified into levels 1 to 4, with "1" representing a small degree of impact 31 of the mowing work and "4" representing a large degree of impact. The degree of impact 31 of the mowing work includes information related to the degree (possibility) of occurrence of problems that affect work efficiency, such as incomplete mowing, the mower 4 tipping over, or grass clogging the mowing unit 42.

If the impact level 31 of the mowing operation is high, the control unit 5 sends a control signal to the traveling unit 43 to slow down the speed or to change direction to prevent tipping over, in order to prevent problems from occurring. The control unit 5 also performs control such as changing the mowing height of the mowing unit 42.

Conversely, if the degree of impact 31 of the mowing work is small, the control unit 5 can improve the efficiency of the mowing work by increasing the traveling speed and controlling the mowing unit 42 to mow neatly.

Furthermore, in areas where careful driving is required, such as on steep slopes, there are factors for which the degree of impact 31 on the mowing work should be prioritized, regardless of other factors that may affect the mowing work. This is because if the mower 4 tips over, it will take a significant amount of time to resolve the problem. Furthermore, the degree of impact 31 on the mowing work can be divided into factors that can be resolved by changing the travel speed or direction of travel of the travel unit 43 and factors that can be resolved by changing the mowing height of the mowing unit 42, etc.

In addition, vines grow like a net, entangling themselves around existing plants and covering their tops. Because vines have a large impact on the impact level 31 of harvesting work, it is preferable to give them a large weight in the total calculation.

The work map data 3 may also include information (data) unrelated to factors that affect the harvesting work. A typical example is the route that the harvester 4 will travel in the work area. Such information (data) is overlaid on the work map data 3. By looking at the route, the worker can also know how much time has passed since the start of work before reaching a location where trouble is likely to occur.

(Correction of work map data)
By overlaying the work map data 3 on the ortho-converted aerial photograph 1, the worker can compare the work site with the work map data 3. In an embodiment, the worker may view the site and revise the work map data 3. Information that cannot be determined from the aerial photograph 1 alone can be incorporated into the work map data 3. For example, if the plants growing densely in the high weed density area 24 are soft grass weeds, the load is small and the degree of impact can be adjusted to a smaller value. Furthermore, if the undergrowth condition is unknown in the high grass area 22, and hard-stemmed plants such as bamboo are growing densely as undergrowth, the degree of impact can be adjusted to a larger value.

(Control unit)
First, the control unit 5 receives positioning data of the reaper 4 from the GNSS positioning device 45. Furthermore, the work map data 3 is stored in the memory unit 51 and sent to the control unit 5. The control unit 5 compares the positioning information obtained from the GNSS positioning device 45 with the work map data 3, controls the traveling unit 43, and performs controls such as changing the traveling speed depending on the magnitude of the impact degree 31 of the mowing work. The load on the mowing unit 42 can be reduced by reducing the traveling speed, thereby preventing weeds from being left uncut. Furthermore, reducing the traveling speed prevents weeds that exceed the processing capacity from being taken into the mowing unit 42, and also prevents problems such as weeds clogging the mowing unit 42. Conversely, if the impact degree 31 of the mowing work is small, the traveling speed can be increased to perform the work.

The control unit 5 also compares the positioning data with the work map data 3, controls the reaping unit 42, and operates the lifting cylinder 41 of the reaping unit 42 depending on the magnitude of the impact level 31 of the reaping work, thereby controlling the reaping height, etc. The reaper 4 can also perform other controls, such as mowing twice in areas where the reaping height is increased.
The control of the lifting cylinder 41 and the control of the travel speed may be performed simultaneously, or only one of them may be controlled.

Even in reapers 4 that are intended to be operated by an operator, such as walk-behind, ride-on, or remote-controlled types, the control unit 5 may be responsible for the driving speed and cutting height control described above. The operator need only operate the reaper 4 by turning it or moving it straight, improving work efficiency. The control unit 5 may also prompt the operator to operate the reaper in accordance with the work map data 3 by displaying instructions such as "slow down the driving speed" or "lower the cutting height" on the display based on the work map data 3.

In the embodiment, the control unit 5 and memory unit 51 are provided in the reaper 4, but they can also be provided outside the reaper 4, such as by being controlled via a network. Furthermore, the control unit 5 may be a program area or may be distributed, and does not necessarily have to exist as a single physical entity. The memory unit 51 is similar to the control unit 5.

(Notification)
The degree of impact 31 of the mowing work, which is derived by combining the factors (parameters) that affect each mowing work, is expected to cause trouble in areas where the value is large, even though control is being exercised by the work map data 3.
In the embodiment, based on the positioning information obtained from the GNSS positioning device 45 and the work map data 3, when the mower 4 approaches an area with a high degree of impact 31 of the mowing work, an alarm is issued by the alarm unit 44 (patrol lamp).
Based on the positioning information obtained from the GNSS positioning device 45 and the work map data 3, a warning may be issued when the mower approaches an area with a low degree of impact 31 of the mowing work. At this time, the worker can know that he is traveling in an area with few problems and can take action such as increasing the traveling speed.
In addition, the notification unit 44 (patrol lamp) may be configured to notify in a different manner (for example, by flashing) than the notification made in the area where the impact level 31 of the mowing work is large.

Taking sloping land as an example, mowing operations are generally performed along contour lines on sloping land, such as mountain slopes. Traveling along contour lines poses a risk of the reaper 4 overturning. This risk increases particularly when the slope is uneven, as the degree of inclination changes rapidly. In this embodiment, the autonomously traveling reaper 4 is set to travel along preset contour lines. If a problem such as a rollover occurs on a slope, the operator is required to perform recovery work on the slope. Recovery work on a slope takes more time and is more dangerous than on flat land. Therefore, as described above, in areas with very steep slopes, the impact degree 31 of the mowing operation is prioritized over other factors and is increased to the highest level. The alarm unit 44 issues an alarm when the reaper 4 approaches an area where the impact degree 31 of the mowing operation is high. This prompts the operator to carefully perform the mowing operation or, in the case of an autonomously traveling reaper, to monitor the area. If an operator determines that there are signs of trouble, they can halt autonomous driving and take manual control.
Furthermore, if control is left to the control unit 5, an alarm will be issued and the control unit 5 will interrupt contour line travel where there is a risk of tipping over, and control the travel unit 43 to mow in a direction that crosses the contour lines only in that area to make it less likely to tip over.

In a remotely controlled harvester 4, a notification unit 44 can also be attached to the control device.

In addition, in the case of a reaper 4 that is operated by an operator, such as a walk-behind or ride-on type, the notification unit 44 will issue a notification when the reaper approaches an area where the impact level 31 of the reaping work is high. This notification will encourage the operator to operate the reaper with caution.

(Notification by display)
In a walking or riding type reaper 4, the control unit may be provided with a display-based notification unit 44. In an autonomous or remotely controlled reaper 4, the notification unit 44 may be provided on a display attached to a remote control device. Since the display can convey text information, the information to be conveyed can be diversified.
The display may be configured to simultaneously display an image of an ortho-converted aerial photograph 1 with work map data 3 overlaid on it, the planned course of travel, the load on the reaping unit 42, engine speed, tilt angle, etc.
Furthermore, the numerical value representing the degree of impact 31 of the mowing work in the work map data 3 may be displayed in color.

(Harvesting work)
The reaper 4 is controlled based on the positioning information obtained from the GNSS positioning device 45 and the degree of impact of the reaping work contained in the work map data 3, so that the traveling speed can be increased in areas where the degree of impact of the reaping work 31 is small, thereby significantly improving work efficiency. Also, in areas where the degree of impact of the reaping work 31 is large, problems can be avoided and poor reaping can be prevented, significantly improving work efficiency.

Immediately after starting mowing work, the worker can find out whether the actual mowing work impact degree 31 deviates from the work map data 3. If the worker actually performs mowing work and finds that the mowing work impact degree 31 is lower than that in the work map data 3, the worker can lower the overall value of the mowing work impact degree 31 included in the work map data 3. Conversely, if the worker actually performs mowing work and finds that the mowing work impact degree 31 is higher than that in the work map data 3, the worker can raise the overall value of the mowing work impact degree included in the work map data 3. Of course, factors that could cause serious problems with the mower 4, such as the slope of the work land, may be set not to be changed.
By making it possible to change the degree of influence 31 of the mowing work included in the work map data 3 all at once during the actual mowing work, it is possible to improve the work efficiency.

(SDGs)
As described above, the present invention can improve the work efficiency of the reaper 4. Since it can save fuel and improve energy efficiency, it can contribute to the seventh goal of the SDGs (Sustainable Development Goals), "Affordable and clean energy."

The above describes in detail embodiments of the present invention with reference to the drawings, but the specific structure and control are not limited to these embodiments, and the present invention also includes design changes that do not deviate from the gist of the present invention.

Furthermore, the above-mentioned embodiments can be combined by utilizing each other's technologies, as long as there are no particular contradictions or problems in their purpose, configuration, etc.

1 Aerial photograph 2 Analysis data 21 Area with low grass height 22 Area with high grass height 23 Area with medium grass height 24 Area with high weed density 25 Area with low weed density 26 Area with thick/hard stem plants growing 27 Area with vines growing 28 Obstacles (trees, swamps [puddles], stones, etc.)
281 Tree 282 Swamp 29 Road 3 Work map data 31 Degree of impact of harvesting work 4 Harvester 41 Lifting cylinder 42 Harvester unit 43 Travel unit 44 Notification unit 5 Control unit 51 Memory unit

Claims (2)

A reaper including a memory unit, a control unit, a traveling unit, a reaping unit, and a GNSS positioning device,
the storage unit stores task map data,
The operation map data is
The information is associated with map information of the work area and includes at least an impact degree of the harvesting work derived from factors that affect the harvesting work;
The control unit, based on the positioning information obtained by the GNSS positioning device and the work map data,
(1) Controlling the traveling unit or the reaping unit depending on the degree of influence of the reaping work, or
(2) A weed cutter that issues an alarm when approaching an area that will be significantly affected by the cutting work , and in which the factors that affect the cutting work include at least the state of growth of vines .
The weed cutter according to claim 1 , wherein the factors include one of grass height and plant density.