Work vehicle

Abstract

To provide means for properly adjusting detection ability of a detection device that detects an obstacle.SOLUTION: A combine 1 includes: a detection device 40 for detecting an obstacle around a machine body by emitting an inspection wave which is an electromagnetic wave or a sound wave, and by measuring a reflection wave; an information acquisition unit for acquiring at least one of field information and work information; and a change unit for executing an automatic change of at least one of a height of the detection device 40 relative to the machine body and a vertical emission direction RD of the inspection wave based on the information acquired by the information acquisition unit.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a work vehicle. [Background technology]

[0002] A known work vehicle that performs work in farm fields is, for example, that described in Patent Document 1. This work vehicle (referred to as a "combine" in Patent Document 1) is equipped with a scanning beam obstacle sensor (LiDar). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 2021-006011 Summary of the Invention [Problem to be solved by the invention]

[0004] Scanning beam obstacle sensors can suffer from noise caused by multipath reflected waves. Multipath noise can vary depending on the field conditions, such as the type of crop and its growing conditions. If the multipath noise becomes too large, it may interfere with obstacle detection.

[0005] An object of the present invention is to provide a means for optimizing the detection capability of a detection device for detecting an obstacle. [Means for solving the problem]

[0006] As a means for solving the above-mentioned problems, the work vehicle of the present invention is provided with a detection device that detects obstacles around the vehicle by emitting inspection waves, which are electromagnetic waves or sound waves, and measuring the reflected waves, and a field information News and a change unit that automatically changes at least one of the height of the detection device relative to the aircraft and the vertical radiation direction of the inspection wave based on the information acquired by the information acquisition unit. The information acquisition unit acquires a noise level of the reflected wave measured by the detection device as the farm field information, and the change unit executes the change based on the noise level.It is characterized by the following.

[0007] The inventors discovered that multipath noise superimposed on the output of a detection device varies depending on the height of the detection device above ground and the vertical direction of the inspection wave, and thus arrived at the present invention. According to the above-mentioned features, at least one of the height of the detection device relative to the aircraft and the vertical direction of the inspection wave is automatically changed based on the information acquired by the information acquisition unit, making it possible to optimize the detection capability of the detection device.

[0008] For example, if the acquired field information indicates that the measured reflected waves contain a lot of noise (or indicates that the field (or crop) is prone to being noisy), the modification unit increases the height of the detection device (or changes the vertical radiation direction to upward), thereby reducing the noise contained in the reflected waves.

[0009]

[0010]

[0011] According to the above feature, since the farm land information is acquired based on the reflected waves measured by the detection device, the farm land information is based on the current state of the farm land and the state of the reflected waves, which makes the change by the change unit more appropriate and makes it possible to further improve the detection capability of the detection device.

[0012]

[0013] According to the above features, the noise level of the reflected waves measured by the detection device is acquired as field information, and changes are made based on that field information, making the changes more appropriate and enabling the detection capability of the detection device to be made even more appropriate.

[0014] In the present invention, it is preferable that the change unit executes the change so that the vertical radiation direction is as downward as possible within a range in which the noise level is equal to or less than a predetermined threshold.

[0015] Increasing the height of the detection device or shifting the vertical radiation direction upward reduces noise caused by multipath waves. However, these measures may result in a decrease in the detection capability for relatively small obstacles or obstacles in the vicinity of the aircraft. According to the above feature, the vertical radiation direction is directed downward as much as possible within a range in which the noise level is equal to or less than a predetermined threshold, thereby suppressing the decrease in the detection capability for relatively small obstacles or obstacles in the vicinity of the aircraft and improving the detection capability by suppressing noise.

[0016] In the present invention, it is preferable that the device further includes a memory unit that stores a table indicating the height or the up / down radiation direction of the detection device relative to the aircraft, which is predetermined in accordance with the noise level, and the change unit performs the change based on the noise level and the table.

[0017] According to the above feature, since the change is made based on a table prepared in advance and the noise level of the measured reflected wave, there is an advantage that the processing in the change unit is simplified.

[0018]

[0019]

[0020] In the present invention, it is preferable that the vehicle further includes an automatic driving control unit that controls automatic driving based on the detection results from the detection device, and that the information acquisition unit acquires information when traveling around the periphery of the field before the automatic driving begins.

[0021] According to the above feature, since the information is acquired before the autonomous driving is performed, the state of the detection device is appropriately changed before the autonomous driving is performed. Therefore, it is possible to appropriately perform the autonomous driving after the detection capability of the detection device is appropriately set. [Brief explanation of the drawings]

[0022] [Figure 1] FIG. [Figure 2]FIG. 2 is a block diagram showing a configuration related to a control unit. [Figure 3] 10 is a flowchart showing the processing performed in the combine harvester. DETAILED DESCRIPTION OF THE INVENTION

[0023] An embodiment of the present invention will be described with reference to the drawings. In the following description, unless otherwise specified, the direction of arrow F in the drawings will be referred to as "front" and the direction of arrow B as "rear." Furthermore, the direction of arrow U in the drawings will be referred to as "up" and the direction of arrow D as "down."

[0024] [Overall configuration of the combine] As shown in Figure 1, a standard combine harvester 1 (corresponding to the "work vehicle" of the present invention) is equipped with a harvesting section H, a crawler-type traveling device 11, a driving section 12, a threshing device 13, a grain tank 14, a conveying section 16, a grain discharge device 18, and a satellite positioning module 80.

[0025] The traveling device 11 is provided at the bottom of the combine harvester 1. The traveling device 11 is driven by power from an engine (not shown) mounted on the combine harvester 1. The combine harvester 1 can travel by using the traveling device 11.

[0026] The driving section 12, threshing device 13, and grain tank 14 are provided above the traveling device 11. An operator can ride in the driving section 12 to monitor the operation of the combine harvester 1. The operator may also monitor the operation of the combine harvester 1 from outside the combine harvester 1.

[0027] The driver's section 12 has a driver's seat 12a and a cabin 12b. The driver's seat 12a is provided inside the cabin 12b. An operator can sit in the driver's seat 12a.

[0028] A manual operation device 12c (FIG. 2) is provided in the driving section 12. The manual operation device 12c is, for example, a main speed change lever, a steering lever, or a touch panel input device.

[0029] The grain discharge device 18 is provided on the upper side of the grain tank 14. In addition, the satellite positioning module 80 is attached to the upper surface of the driving section 12.

[0030] The harvesting section H is provided at the front of the combine 1. The transport section 16 is provided at the rear of the harvesting section H. The harvesting section H also includes a reaping device 15 and a reel 17.

[0031] The reaping device 15 reaps crop E in the field. Although not particularly limited, the crop E may be, for example, wheat, barley, rice, soybeans, etc. The reel 17 rakes in the crop E to be harvested while rotating around a reel axis 17b that runs along the left-right direction of the machine body. The crop E reaped by the reaping device 15 is sent to the conveying section 16.

[0032] With this configuration, the harvesting section H harvests the crops E in the field. The combine 1 is capable of reaping travel, traveling by the traveling device 11 while reaping the crops E in the field with the reaping device 15.

[0033] The crop E harvested by the harvesting section H is transported to the rear of the machine body by the transport section 16. As a result, the crop E is transported to the threshing device 13.

[0034] The crop E is threshed in the threshing device 13. The harvested product (grains) obtained by the threshing process is stored in a grain tank 14. The harvested product stored in the grain tank 14 is discharged outside the machine by a grain discharge device 18 as needed.

[0035] [Automatic driving of combine harvesters] Here, the combine harvester 1 is configured to be able to travel automatically in a field where a crop E is planted. The automatic travel includes travel while working and travel without working.

[0036] In this embodiment, automatic driving, manual driving, and automatic steering driving are defined as follows: Automatic driving is driving in which both vehicle speed and steering are automatically controlled by a control device. No human operation is required during automatic driving. Manual driving is driving in which vehicle speed and steering are controlled based on human operation. Automatic steering driving is driving in which vehicle speed is controlled based on human operation, and steering is automatically controlled by a control device.

[0037] The combine harvester 1 first travels around the outer periphery of the field while harvesting the crop E, and then travels around the inner periphery of the field to harvest the crop E.

[0038] The outer peripheral region is the region on the outer periphery of the field, and the inner peripheral region is the region surrounded by the outer peripheral region.

[0039] In this embodiment, the circular travel in the outer peripheral area is performed by manual travel. However, the present invention is not limited to this, and some or all of the circular travel may be performed by automatic travel or automatic steering travel. The reaping travel in the inner peripheral area is performed by automatic travel. In other words, the combine harvester 1 is capable of automatic work travel.

[0040] In this embodiment, the number of revolutions in the outer circumferential region is one. However, the present invention is not limited to this, and the number of revolutions in the outer circumferential region may be a number other than one (for example, two or three).

[0041] The combine harvester 1 is equipped with a detection device 40. The detection device 40 detects obstacles around the vehicle by emitting inspection waves, which are electromagnetic waves or sound waves, and measuring the reflected waves. In this embodiment, the detection device 40 is a radar, and the inspection waves and reflected waves are radio waves. The detection device 40 is a measurement device that uses a ToF (Time of Flight) measurement method. The detection device 40 may be a laser scanner (LiDAR). The detection device 40 may be a sonar. In this case, the inspection wave and the reflected wave are acoustic waves.

[0042] In the combine harvester 1 of this embodiment, automatic traveling, manual traveling, and automatic steering traveling are controlled based on the result of obstacle detection by the detection device 40. For example, deceleration, steering, or stopping is performed based on the detection by the detection device 40 of approaching an obstacle (such as a worker).

[0043] The combine harvester 1 is equipped with a satellite positioning module 80. The satellite positioning module 80 receives GPS signals from artificial satellites GS used in the GPS (Global Positioning System). The satellite positioning module 80 then generates positioning data indicating the vehicle position of the combine harvester 1 based on the received GPS signals.

[0044] Note that the satellite positioning module 80 does not have to use GPS. For example, the satellite positioning module 80 may use GNSS (GLONASS, Galileo, Michibiki, BeiDou, etc.) other than GPS.

[0045] [Control configuration] 1 and 2, the combine harvester 1 includes a control unit 20. The control unit 20 and each element included in the control unit 20 (FIG. 2) may be a physical device such as a microcomputer, or may be a functional unit in software.

[0046] The control unit 20 includes a storage unit 21, a vehicle position calculation unit 22, a map generation unit 23, a route generation unit 24, an automatic driving control unit 25, and a driving control unit 26.

[0047] The storage unit 21 stores software for implementing the functional units, temporary data generated by the functional units, and factory data. In particular, the storage unit 21 stores tables, which will be described later. The storage unit 21 is, for example, a hard disk drive (HDD) or a nonvolatile RAM.

[0048] The vehicle position calculation unit 22 calculates the position coordinates of the combine 1 over time based on the positioning data output by the satellite positioning module 80.

[0049] The position coordinates calculated by the vehicle position calculation unit 22 may be the position coordinates of the satellite positioning module 80 of the combine 1, the position coordinates of the detection device 40, or the coordinates of the center position in the left-right direction of the harvesting section H.

[0050] The map generation unit 23 generates a map of the field based on the position coordinates calculated by the vehicle position calculation unit 22. Specifically, the map generation unit 23 generates a map showing the outer shape of the field and a map showing the inner peripheral area where work is to be performed, based on the position information generated during circular travel in the outer peripheral area.

[0051] The route generation unit 24 generates a target driving route for automatic driving in the inner circumferential area indicated by the map generated by the map generation unit 23.

[0052] The automatic traveling control unit 25 controls the automatic traveling of the combine harvester 1 based on the vehicle position calculated by the vehicle position calculation unit 22 and the target traveling route generated by the route generation unit 24. Specifically, the automatic traveling control unit 25 controls the traveling device 11 so that the combine harvester 1 automatically travels along the target traveling route.

[0053] The travel control unit 26 controls the manual travel or automatic steering travel of the combine harvester 1 based on the manual operation received by the manual operation tool 12c.

[0054] [Configuration for controlling the detection device] The control unit 20 includes an information acquisition unit 31 and a change unit 32 .

[0055] The information acquisition unit 31 acquires at least one of farm field information and work information. In this embodiment, the information acquisition unit 31 acquires the farm field information based on the reflected waves measured by the detection device 40. Specifically, the information acquisition unit 31 acquires the noise level of the reflected waves measured by the detection device 40 as the farm field information.

[0056] The noise level is a quantity that indicates the magnitude of noise contained in the reflected wave measured by the detection device 40. The information acquisition unit 31 calculates the noise level by analyzing the output of the detection device 40. For example, the information acquisition unit 31 calculates the standard deviation of the output over a predetermined period or the fluctuation range of the output, and sets it as the noise level.

[0057] In this embodiment, the information acquisition unit 31 acquires information when traveling around the periphery of the field before automatic traveling. Specifically, the information acquisition unit 31 monitors the output of the detection device 40 while traveling around the periphery of the field and calculates the noise level.

[0058] The change unit 32 automatically changes at least one of the height of the detection device 40 relative to the airframe and the up-down radiation direction RD ( FIG. 1 ) of the inspection wave based on the information acquired by the information acquisition unit 31. Specifically, the change unit 32 controls the actuator 40a provided in the detection device 40 to make the change. The change unit 32 activates the actuator 40a to move the detection device 40 up or down, thereby changing the height of the detection device 40 relative to the airframe. The change unit 32 activates the actuator 40a to change the orientation of the detection device 40, thereby changing the up-down radiation direction RD of the inspection wave.

[0059] In this embodiment, the actuator 40a is configured to be able to change the orientation of the detection device 40 by 15° upward and 15° downward. The detection area of ​​the detection device 40 is a range of 20° upward and 20° downward, centered on the vertical radial direction RD.

[0060] The change unit 32 executes the change by activating the actuator 40a based on the noise level acquired by the information acquisition unit 31. Specifically, a table indicating the height or vertical radiation direction RD of the detection device 40 relative to the airframe, which is predetermined in correspondence with the noise level, is stored in the storage unit 21. The change unit 32 executes the change based on the noise level and the table. For example, the change unit 32 reads out from the table the height (or vertical radiation direction RD) of the detection device 40 corresponding to the noise level acquired by the information acquisition unit 31, and activates the actuator 40a in accordance with the read height (or vertical radiation direction RD).

[0061] If the height of the detection device 40 relative to the aircraft body is increased and the vertical radiation direction RD of the inspection wave is shifted upward, fewer reflected waves reach the detection device 40 after multiple reflections, thereby reducing noise due to multipath. On the other hand, if the detection range of the detection device 40 (the range indicated by the dashed line in FIG. 1 ) is shifted upward, it becomes difficult to detect obstacles with a relatively small height above ground or obstacles close to the aircraft body. In this embodiment, the above-mentioned table is set to detect nearby obstacles as much as possible while suppressing the noise level to a level that ensures obstacle detection capability. For example, the table is set to a setting value (height of the detection device 40 relative to the aircraft body or vertical radiation direction RD) that keeps the noise level below a predetermined threshold and enables detection of obstacles at a predetermined distance from the aircraft body. The table may be set based on the results of a test run in a farm field or the results of a simulation. The control unit 20 may be configured to enable updating of the table stored in the memory unit 21.

[0062] The automatic driving control unit 25 controls the automatic driving based on the detection result from the detection device 40. For example, when the detection device 40 detects that the combine harvester 1 is approaching an obstacle (such as a worker), the automatic travel control unit 25 controls the travel device 11 to decelerate, steer, or stop the combine harvester 1.

[0063] The travel control unit 26 controls the automatic travel based on the detection result from the detection device 40. For example, when the detection device 40 detects that the combine harvester 1 is approaching an obstacle (such as a worker), the travel control unit 26 controls the travel device 11 to decelerate, steer, or stop the combine harvester 1.

[0064] [Control Flow] The processing executed by the combine harvester 1 will be described with reference to the flowchart of FIG.

[0065] The table is stored in the storage unit 21 (step S01). The table may be stored in the storage unit 21 before the combine harvester 1 starts traveling, or may be stored when the combine harvester 1 is manufactured.

[0066] The information acquiring unit 31 acquires the farm field information (step S02). In this embodiment, the information acquiring unit 31 acquires the output of the detection device 40, calculates the noise level, and sets it as the farm field information.

[0067] The acquisition of the farm field information is preferably performed when traveling around the periphery of the farm field before the automatic traveling begins.

[0068] The height of the detection device 40 relative to the aircraft body and / or the vertical radiation direction RD of the inspection wave are changed by the change unit 32 (step S03). The change is preferably made before the automatic traveling starts.

[0069] For example, when the combine harvester 1 is started, update data for the table is acquired via the network, and the table is updated (step S01).

[0070] The operator manually drives (or automatically drives) the combine harvester 1 to travel around the outer periphery of the field. During this travel, the information acquisition unit 31 acquires the noise level (field information) via the detection device 40 (step S02).

[0071] When the circumnavigation in the outer circumferential area is completed, the change unit 32 changes the height of the detection device 40 relative to the aircraft body and / or the vertical radiation direction RD of the inspection wave based on the noise level acquired in step S02 (step S03). After the change, the automatic driving control unit 25 executes automatic driving in the inner circumferential area.

[0072] The process of step S02 and the process of step S03 may be repeated. For example, step S02 (obtaining the noise level) and step S03 (changing the noise level by the change unit 32) may be performed once or multiple times during automatic traveling in the inner periphery area.

[0073] Other Embodiments The above-described embodiments and other embodiments described below can be combined with each other or partially modified as long as no contradiction occurs. Furthermore, the embodiments disclosed in this specification are merely examples, and the present invention is not limited to these. Appropriate modifications can be made within the scope of the present invention.

[0074] (1) The change unit 32 may be configured to change the vertical radiation direction RD so that it points as downward as possible within a range in which the noise level is equal to or less than a predetermined threshold. For example, the change unit 32 may be configured to change the orientation of the detection device 40 so that the vertical radiation direction RD points downward while measuring the noise level, and to determine the orientation of the detection device 40 when the noise level is equal to or less than the predetermined threshold.

[0075] (2) In the above-described embodiment, the actuator 40a changes the orientation of the detection device 40 to change the vertical radiation direction RD. The vertical radiation direction RD may be changed without relying on the actuator 40a. For example, the vertical radiation direction RD may be changed by changing the operating state of the detection device 40. For example, if the detection device 40 is a phased array radar, the vertical radiation direction RD can be changed by changing the operating state.

[0076] (3) In the above-described embodiment, the combine harvester 1 is equipped with one detection device 40 that detects obstacles ahead. The detection device 40 may be configured to detect obstacles in other directions. The combine harvester 1 may be equipped with a further detection device that detects obstacles in other directions. The combine harvester 1 may be equipped with multiple detection devices.

[0077] It is preferable that the combine 1 is equipped with a detector 40 for detecting obstacles in front, a detector for detecting obstacles on the right, a detector for detecting obstacles on the left, and a detector for detecting obstacles behind.

[0078] (4) In the above embodiment, the information acquisition unit 31 acquires the noise level as farm field information based on the output of the detection device 40. The farm field information is not limited to the noise level. The source of information acquired by the information acquisition unit 31 is not limited to this.

[0079] Field information (information indicating the condition of the field) may be the type and height of crops or weeds, the type of field (paddy field or field), or the condition of the field (whether watered, tilled, or ridged).

[0080] The information acquisition unit 31 may be configured to acquire farm field information from other sensors (for example, cameras, etc.), manual input from an operator, or a farm field management device or management system.

[0081] (5) The information acquisition unit 31 may be configured to acquire work information, and the change unit 32 may be configured to execute changes based on the work information. Work information is information indicating the content of the work, such as the type of work (plowing, rice planting, sowing, chemical spraying, harvesting, etc.), the presence or absence of a work vehicle or worker working at the same time, etc. The information acquisition unit 31 may be configured to acquire field information from manual input by an operator or from a field management device or management system. If the work vehicle is a tractor or the like, the information acquisition unit 31 may be configured to acquire work information from the type of work equipment connected to it.

[0082] In this case, the storage unit 21 stores a table indicating the height or vertical radiation direction RD of the detection device 40 relative to the machine body, which is predetermined for each work type. The information acquisition unit 31 acquires the work type as work information. The change unit 32 executes the change based on the work type and the table. [Industrial Applicability]

[0083] The present invention can be used not only for combine harvesters, but also for various agricultural work vehicles such as tractors, rice transplanters, cultivators, harvesters, etc. [Explanation of symbols]

[0084] 21: Storage section 25: Automatic driving control unit 31: Information acquisition department 32: Change section 40:Detection device RD: Vertical radial direction

Claims

1. a detection device that detects obstacles around the aircraft by emitting inspection waves, which are electromagnetic waves or sound waves, and measuring reflected waves; an information acquisition unit that acquires farm field information; a change unit that automatically changes at least one of the height of the detection device relative to the aircraft body and the upward and downward radiation direction of the inspection wave based on the information acquired by the information acquisition unit, the information acquisition unit acquires, as the farm field information, a noise level of the reflected wave measured by the detection device; The change unit executes the change based on the noise level.

2. The work vehicle according to claim 1 , wherein the change unit executes the change so that the vertical radiation direction is as downward as possible within a range in which the noise level is equal to or less than a predetermined threshold.

3. a storage unit configured to store a table indicating a height of the detection device relative to the airframe or the vertical radiation direction, the height or the vertical radiation direction being predetermined in accordance with the noise level; The work vehicle according to claim 2 , wherein the change unit executes the change based on the noise level and the table.

4. An automatic driving control unit that controls automatic driving based on the detection result from the detection device, The work vehicle according to claim 1 , wherein the information acquisition unit acquires information when traveling around the periphery of a field before the automatic traveling.

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