Grass harvesting and collection vehicle

Abstract

To provide a work vehicle capable of automatically and efficiently performing grass cutting operation.SOLUTION: A work vehicle includes: a mowing dedicated machine 1 for cutting grass while traveling; and a grass collection dedicated machine 2 collecting cut grass. The mowing dedicated machine 1 and the grass collection dedicated machine 2 are provided with: control parts 100, 200 mutually communicable; and a weight detection sensor 211 detecting a weight of cut grass in a housing part 8 of the grass collection dedicated machine 2. The control part 100 of the mowing dedicated machine 1 is provided with grass cutting situation operating means 111 which operates a grass amount Q to cut according to an average height K of the grass to cut, a cut width S and a cut height Ka of cutting means 5, and a moving distance L. The work vehicle is configured to output an operation travel velocity V to a travel control part 102 of the mowing dedicated machine 1 by comparison between an actual grass density ρr based on a detection weight value Pr by the weight detection sensor 211 due to the grass amount Q and a preset theoretical grass density pt.SELECTED DRAWING: Figure 5

Description

[Technical Field]

[0001] The present invention relates to a work vehicle that travels through a park or the like and has a leading vehicle that mows the grass in the park and a trailing vehicle that collects the grass, and in particular to a control system for the work vehicle. [Background technology]

[0002] A control system for a work vehicle is known in which a leading work vehicle equipped with a grass collection machine that pushes grass clippings scattered on the ground to either the left or right of the direction of travel, and a following vehicle equipped with a packing machine that packs the collected grass clippings into rolls while traveling based on the leading vehicle's traveling trajectory, each traveling automatically (Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 2021-105794 Summary of the Invention [Problem to be solved by the invention]

[0004] According to Patent Document 1, the working speed of the preceding work vehicle was set uniformly, but in order to avoid overload, it was necessary to set a working speed with some leeway, making it difficult to efficiently carry out work that makes the most of the working capacity of the preceding work vehicle.

[0005] An object of the present invention is to provide a control system for a work vehicle that can efficiently perform grass cutting work automatically. [Means for solving the problem]

[0006] In order to solve the above problem, the invention of claim 1 comprises a dedicated mowing machine (1) that mows grass while traveling, and a dedicated grass collector (2) that collects and recovers the grass, the dedicated mowing machine (1) and the dedicated grass collector (2) are provided with control units (100, 200) that can communicate with each other, a weight detection sensor (211) that detects the weight of the grass in the storage unit (8) of the dedicated grass collector (2) is provided, the control unit (100) of the dedicated mowing machine (1) is provided with a grass cutting status calculation means (111) that calculates the amount of grass to be cut (Q) based on the average height (K) of the grass to be cut, the cutting width (S) and cutting height (Ka) of the cutting means (5), and the travel distance (L), and by comparing the actual grass density (ρr) based on the weight value (Pr) of the grass amount (Q) detected by the weight detection sensor (211) with a preset theoretical grass density (ρt), If the actual turfgrass density (ρr) is greater than the theoretical turfgrass density (ρt), The travel control unit (102) of the harvesting machine (1) is set to the work travel speed (V). decrease Output death, This work vehicle is characterized in that if the actual turfgrass density (ρr) is smaller than the theoretical turfgrass density (ρt), an output is given to increase the work traveling speed (V).

[0007] The invention described in claim 2 is The apparatus is provided with a dedicated cutting machine (1) that cuts grass while traveling, and a dedicated grass collector (2) that collects and recovers the grass, and the dedicated cutting machine (1) and the dedicated grass collector (2) are provided with control units (100, 200) that can communicate with each other, and are provided with a weight detection sensor (211) that detects the weight of the grass in the storage section (8) of the dedicated grass collector (2) and an accumulation detection sensor (215) that detects the amount of grass accumulated in the storage section (8), and the grass density (ρr) is calculated from the grass accumulation amount (Qr) detected by the accumulation detection sensor (215) and the weight value (Pr) at that time, and by comparing it with a predetermined theoretical grass density (ρt), If the actual turfgrass density (ρr) is greater than the theoretical turfgrass density (ρt), The travel control unit (102) of the harvesting machine (1) is set to the work travel speed (V). decrease Output death, This work vehicle is characterized in that if the actual turfgrass density (ρr) is smaller than the theoretical turfgrass density (ρt), an output is given to increase the work traveling speed (V).

[0008] The invention as set forth in claim 3 is the invention as set forth in claim 1 or claim 2, wherein the working traveling speed of the grass collecting machine 2 is adjusted based on the working traveling speed of the reaping machine 1. [Effects of the Invention]

[0009] According to the inventions of claims 1 and 2, the travel control unit 102 of the dedicated harvesting machine 1 corrects the working travel speed V by comparing the theoretical turfgrass density ρt with the actual turfgrass density ρr, so when it is determined that the actual turfgrass density ρr is greater than the theoretical turfgrass density ρt, the travel control unit 102 of the harvesting machine 1 is prompted to reduce the speed, thereby preventing overload on the dedicated harvesting machine 1. On the other hand, when it is determined that the actual turfgrass density ρr is less than the theoretical turfgrass density ρt, the travel control unit 102 of the harvesting machine 1 is prompted to increase the speed, which contributes to improving the working efficiency of the dedicated harvesting machine 1 and, in turn, the working efficiency of the grass collection machine 2.

[0010] According to the invention of claim 3, in addition to the effects of claims 1 and 2, when mowing work involves grass collection, the entire work is completed when the grass collection is completed, so if the working speed of the dedicated mowing machine increases, the working speed of the dedicated grass collection machine can also be increased, thereby increasing the efficiency of the entire work and allowing the work to be completed quickly. When the working speed of the dedicated mowing machine decreases, the working speed of the dedicated mowing machine can also be reduced, thereby reducing the occurrence of waste due to contact between working machines and work stoppages. [Brief explanation of the drawings]

[0011] [Figure 1] 1 is a plan view showing an overview of a dedicated mower and a dedicated grass collector of a work vehicle according to an embodiment of the present invention. [Figure 2] FIG. 2 is a side view showing an overview of the dedicated reaping machine and dedicated grass collection machine of the work vehicle. [Figure 3] FIG. 2 is a control block diagram of the work vehicle. [Figure 4] 10 is a flowchart of the work vehicle. [Figure 5] 10 is a flowchart of the work vehicle. [Figure 6] 10 is a side view showing an overview of a dedicated reaping machine and a dedicated grass collecting machine of another example of the work vehicle. FIG. [Figure 7] 10 is a flowchart of the work vehicle. [Figure 8] FIG. 2 is a plan view showing an overview of the grass collection machine and disposal position of the work vehicle. [Figure 9] 1A and 1B are side views of the grass collection container and grass collection machine of the same work vehicle. [Figure 10] FIG. 2 is a plan view of the grass collection container and grass collection machine of the work vehicle. DETAILED DESCRIPTION OF THE INVENTION

[0012] As shown in Figure 1, the work vehicle consists of a leading dedicated harvester 1 and a trailing dedicated grass collector 2. The dedicated harvester 1 is equipped with a cutting means 5 using a cutting blade inside a vehicle body 4 supported by front, rear, left and right running wheels 3. The cutting means 5 is of a known type and is configured to cut grass and the like to a predetermined mowing height.

[0013] The grass collection machine 2 is equipped with a vehicle body 7 supported by front, rear, left and right running wheels 6, and at the front of the vehicle body 7 is equipped with grass collection means 9 consisting of a rotary sweeping device and a blower device that collects grass G scattered on the ground or in a field and sends it to a storage section 8 on top of the vehicle body 7. The storage section 8 is attached to the vehicle body 7 via a dumping means 10, and the grass that is sent to the storage section 8 is sequentially discharged by turning the storage section 8 over at a disposal location.

[0014] Both the dedicated harvesting machine 1 and the dedicated grass collecting machine 2 are equipped with an electric motor or engine as a travel drive means and a working unit drive means, and are configured so that the travel unit and the working unit can be driven independently.

[0015] Next, the configurations and functions of the control unit 100 of the dedicated reaping machine 1 and the control unit 200 of the dedicated grass collection machine 2 will be described.

[0016] The control units 100 and 200 are provided with position information processing means 101 and 201, respectively, that can receive positioning signals from a positioning satellite system and recognize the current position. In addition, the control units 100 and 200 are configured to be able to communicate with each other via communication means 300, and are configured to be able to transmit and receive information from each other.

[0017] The control unit 100 of the dedicated harvester 1 is equipped with a travel control unit 102 that performs steering by varying the rotational speed of the traveling wheels 3 and the number of left and right rotations, and is configured to be capable of autonomous travel based on pre-entered work area information and round-trip route information. The dedicated harvester 1 is also configured to be able to travel for work while correcting its travel route while detecting the presence or absence of obstacles based on signals transmitted from the operator and detection signals from sensors and the like provided on the body 3 of the dedicated harvester 1. When the travel in the work area is completed, the drive power is turned off, and vehicle speed control is performed during work based on various information.

[0018] The control unit 100 of the dedicated harvester 1 is equipped with a work control unit 110. The work control unit 110 has a grass cutting status calculation means 111 that calculates the cutting work based on input conditions such as the installation conditions of the cutting means 5, the planting state of the turfgrass, and the traveling state (speed) of the dedicated harvester 1. Specifically, the work control unit 110 calculates the average height K of the grass to be cut based on the image captured by the imaging camera 112 mounted in front of the vehicle body 4, and calculates the travel speed V and travel distance L based on information from the position information processing means 101. The amount (volume) Q of cut grass is then calculated using the cutting width S and cutting height Ka that are preset and specific to the cutting means 5. In other words, Q is expressed as Q = S × (K - Ka) × L.

[0019] The turfgrass cutting status calculation means 111 can further calculate the weight of the cut turfgrass Pt by multiplying the turfgrass weight per unit volume, i.e., the turfgrass density ρt. That is, Pt = ρt × Q. Here, ρt is a theoretical value stored in advance, and the turfgrass weight Pt is also a predicted theoretical value. The calculation result of the turfgrass cutting status calculation means 111 is sent to the control unit 200 of the subsequent dedicated grass collection machine 2.

[0020] The control unit 200 of the grass collection machine 2 is equipped with a travel control unit 202 that controls the rotation speed and steering of the traveling wheels 6. For example, the travel control unit 102 of the leading dedicated harvesting machine 1 calculates the travel trajectory R of the dedicated harvesting machine 1 and sends it to the control unit 200 of the dedicated grass collection machine 2. The travel control unit 202 of the control unit 200 then controls the rotation of the traveling wheels 6 of the following dedicated grass collection machine 2 so that it follows the travel trajectory R. The grass collection machine 2 is also equipped with a discharge movement control means 214 that moves the grass to a disposal location when it becomes full, based on the determination result of a fullness determination means described below.

[0021] The control unit 200 of the grass collection machine 2 is equipped with an operation control unit 210. This operation control unit 210 receives a detection signal from a detection sensor 211 that detects the weight of the grass in the storage unit 8. It also includes grass collection operation calculation means 212 that appropriately sets the rotation speed of the turning and feeding device and the rotation speed of the blower device of the grass collection means 9, and fullness determination means 213 that determines whether the grass in the storage unit 8 has reached a predetermined weight.

[0022] Here, we will explain the relationship between the grass weight Pt communicated as the calculation result of the grass cutting status calculation means 111 and the weight Pr detected by the weight detection means 211, and the processing. The flowchart in Figure 4 shows general control for determining grass discharge by the dedicated grass collector 2. The dedicated grass collector 2 collects grass by following the travel path of the preceding dedicated harvester 1 (S101, S102). At a predetermined timing, the grass amount, i.e., volume Q, is calculated based on the cutting width S, grass height K, etc. (S103). It is then determined whether this grass amount Q is equal to Qmax, an amount that corresponds to the full capacity of the storage unit 8 of the dedicated grass collector 2 (S104). Note that Qmax can be calculated using the formula Qmax = Pmax / ρt. However, since the value of Qmax that corresponds to the capacity of the storage unit 8 can be set in advance, S104 can be replaced by determining whether the value of the weight detection sensor 211 has reached a full weight value (hereinafter referred to as the discharge weight value) Pmax. If it is determined in S104 that Qmax has been reached, the grass collection machine 2 is stopped, grass collection is interrupted, and the machine starts traveling toward a preset grass disposal position (S105, S106). When the machine reaches the disposal position and discharges the grass from the storage section 8, the machine travels toward a grass collection interruption position and resumes grass collection at this interruption position (S107-S111).

[0023] Then, calculation of the grass amount Q is resumed (S112), and the fullness determination means 213 determines whether or not Qmax has been reached (S113).

[0024] The fullness determination calculation control, which enables accurate determination by the detection of the grass weight detection sensor 211 in the storage unit 8, will be described with reference to the flowchart in Figure 5. The control unit 200 of the dedicated grass collection machine 2 receives the grass density ρt, predicted weight Pt, etc. through communication with the control unit 100 of the dedicated harvesting machine 1 (S201). A discharge weight value Pmax, which is the weight of the grass when full, is calculated from the grass density ρt, predicted weight Pt, and a preset amount Qmax corresponding to the storage unit 8 being full (S202). In other words, the discharge weight value Pmax is a predicted value calculated as follows: Pmax = ρt × Qmax

[0025] Meanwhile, the value Pr of the weight detection sensor 211 is read at a predetermined timing, and this measured weight Pr is compared with the predicted weight Pt communicated from the control unit 100 of the dedicated harvester 1 (S203, S204). If the measured weight Pr is greater than the predicted weight Pt, it can be determined that the turfgrass density ρr during that harvesting and collecting work is greater than the communicated turfgrass density ρt (S205, S206), and Qmax can be replaced with Qmax plus α (S207). If it is determined in S207 that the actual turfgrass density ρr is greater than the theoretical turfgrass density ρt, a signal is sent to the travel control unit 102 of the harvester 1 to command a speed reduction (S208), thereby preventing overload on the dedicated harvester 1. On the other hand, if the actual weight Pr is less than the predicted weight Pt in S205, it can be determined that the turfgrass density ρr in that cutting and grass collection operation is less than the communicated turfgrass density ρt (S209), and Qmax can be replaced with Qmax minus β (S210). When it is determined in S209 that the actual turfgrass density ρr is less than the theoretical turfgrass density ρt, information is sent to the travel control unit 102 of the cutting machine 1 to issue a command signal to increase speed (S211), which contributes to improving the work efficiency of the dedicated cutting machine 1 and, in turn, the work efficiency of the grass collection machine 2. It can be determined that the turfgrass is full based on the full amount Qmax' after replacement by the processes of S207 and S210 (S212). That is, when the weight measured by the weight sensor 211 becomes the discharge weight value Pmax = ρt × Qmax', it is determined that the turfgrass is full.

[0026] Therefore, even if the turfgrass density ρ varies depending on the climate, the time of cutting work, and the turfgrass planting area, the amount of turfgrass supplied into the storage section 8 can be adjusted, thereby improving work efficiency.

[0027] Next, with reference to Figure 7, we will explain the determination control configuration of the fullness determination means 213, which further improves the accuracy of grass collection. An accumulation detection sensor 215 is provided inside the storage unit 8 of the grass collection machine 2. The accumulation detection sensor 215 comprises multiple detectors 215a, 215b, and 215c arranged vertically. Each detector is activated by the pressure of the accumulated grass, and is configured to detect the gradually increasing amount of grass and output the result to the control unit 200. When the top detector 215c detects fullness, this means that the storage unit 8 is detected as full, i.e., the amount of grass in this case is Qmax. The flowchart in Figure 7 relates to the correction calculation control that corrects the turfgrass density ρt based on the accumulation detection sensor 212 and the weight detection sensor 211.

[0028] In Figure 7, when the grass collection machine 2 starts traveling and begins grass collection (S301), the control unit 200 of the grass collection machine 2 receives the grass density ρt, predicted weight Pt, etc. through communication with the control unit 100 of the dedicated harvesting machine 1 (S302). Detection is performed by the accumulation detection sensor 215, and the sensor value Qr is read sequentially. When the highest detection unit 215c reaches Qmax, at which point grass is detected, the sensor value (discharge weight value) Pmax of the weight detection sensor 211 is read (S303-S305). The grass density ρ is then calculated. ρ = Pmax / Qmax, and this is stored as the initial grass density ρ1 (S306). The grass collection operation is temporarily interrupted, and the machine moves to an appropriate disposal location to perform the grass discharge process (S307). Thereafter, the operation returns to the interrupted position within the planned grass cutting and collection area and resumes, and S303 to S307 are repeated, with the turfgrass densities ρ2, ρ3, ... being calculated and stored for each Qmax.

[0029] Then, when grass collection work for the planned area is completed (S309), the average turfgrass density ρ of the turfgrass densities ρ1, ρ2...ρn obtained during the grass collection work is calculated and stored (S310) before work is stopped. The average ρ can be calculated as (ρ1+ρ2+...+ρn) / n, but this is not limited to a simple average and any other calculation method, such as a weighted average, is also possible. The calculated average ρ is sent to the control unit 100 of the dedicated harvester 1 and stored as a new theoretical turfgrass density ρt along with various conditions such as location information and the date and time of grass collection and cutting.

[0030] The actual turfgrass densities ρ1, ρ2... (collectively referred to as ρr) calculated in S306 are compared with the theoretical turfgrass density ρt received in S302. In other words, turfgrass density ρr is calculated from the amount of turfgrass accumulation Qr detected by the accumulation detection sensor 215 and the weight value Pr at that time, and a comparison with the predetermined theoretical turfgrass density ρt is output to the travel control unit 102 of the dedicated harvesting machine 1 to correct the working travel speed V. If ρr is smaller than ρt, it is determined that the work load on the preceding harvesting machine 1 is low. Therefore, work efficiency can be improved by transmitting information to the travel control unit 102 of the preceding harvesting machine 1 to appropriately increase the working speed. Conversely, if ρr is greater than ρt, information is transmitted to reduce the working speed to prevent overload.

[0031] The travel control units 102, 202 of the dedicated grass collectors 1, 2 are connected so that the working speed of the dedicated grass collector 2 is adjusted based on the working speed of the dedicated harvester 1. In other words, the working speed of the dedicated grass collector 2 is adjusted to increase or decrease according to the working speed of the leading dedicated harvester 1, and when the leading dedicated harvester 1 stops, the trailing dedicated grass collector 2 is stopped a predetermined interval later. With this configuration, since the entire harvesting work involving grass collection is completed when the grass collection is completed, if the working speed of the dedicated harvester increases, the working speed of the dedicated grass collector also increases, improving the efficiency of the entire work and allowing the work to be completed more quickly. If the working speed of the dedicated harvester decreases, the working speed of the dedicated harvester is also reduced, thereby reducing the waste caused by contact between the harvesters and work stoppages.

[0032] When traveling to the disposal position in S106 of Figure 4, the grass collection machine 2 body needs to move along a route to the disposal position that avoids uncut areas. Therefore, rather than following the shortest route, the route taken to the disposal position is memorized and this route is retraced to return to the interruption position, thereby preventing the machine from entering an uncut area.

[0033] FIG. 8 shows an example of grass clippings being discharged at the disposal position. By shifting the discharge position in sequence, it is possible to avoid the tendency for grass clippings to pile up in the same place.

[0034] 9 and 10 show a collection container 20 set up at the disposal position. When the grass collection machine 2 approaches this storage container 20 and extends the dump cylinder 21 to dump the storage section 8, the grass falls into the collection container 20 and is collected. An ultrasonic detection sensor is provided on the rear of the grass collection machine 2, and by sending and receiving irradiation signals T1, T2, etc., it is possible to recognize information such as the presence or absence of the collection container 20 and the distance from the collection container 20. This allows the width of the collection container 20 to be recognized and used to determine the appropriate discharge position for the detected width. Unforeseen situations such as the grass being dropped and discharged into a location where there is no collection container 20 can also be avoided. [Explanation of symbols]

[0035] 1. Dedicated harvesting machine 2 Grass collection machine 5 Reaping means 8 Storage section 100 control section 102 Driving control unit 111 Grass cutting status calculation means 200 control section 211 Weight detection sensor 215 Accumulation detection sensor K average height Ka Mowing height L Travel distance Pr Detected weight value Pt theoretical weight value Q Turf grass amount S cutting width V Working driving speed ρt Theoretical grass density ρr Actual turfgrass density

Claims

1. The apparatus is provided with a dedicated reaping machine (1) that mows grass while traveling, and a dedicated grass collection machine (2) that collects and recovers grass, and the dedicated reaping machine (1) and the dedicated grass collection machine (2) are provided with control units (100, 200) that can communicate with each other, and a weight detection sensor (211) that detects the weight of the grass in the storage unit (8) of the dedicated grass collection machine (2) is provided, and the control unit (100) of the dedicated reaping machine (1) controls the average height (K) of the grass to be mowed, the mowing width (S) and mowing height (Ka) of the mowing means (5), the movement a lawngrass cutting status calculation means (111) for calculating the amount of lawngrass (Q) to be cut based on the moving distance (L), and when an actual lawngrass density (ρr) based on the weight value (Pr) of the lawngrass amount (Q) detected by the weight detection sensor (211) is compared with a predetermined theoretical lawngrass density (ρt), and the actual lawngrass density (ρr) is found to be greater than the theoretical lawngrass density (ρt), an output is sent to the travel control unit (102) of the dedicated harvester (1) to reduce the working travel speed (V); A work vehicle characterized in that, if the actual turfgrass density (ρr) is smaller than the theoretical turfgrass density (ρt), an output is provided to increase the work traveling speed (V).

2. The apparatus comprises a dedicated harvesting machine (1) that harvests turfgrass while traveling, and a dedicated grass collection machine (2) that collects and recovers turfgrass, the dedicated harvesting machine (1) and the dedicated grass collection machine (2) are provided with control units (100, 200) that can communicate with each other, a weight detection sensor (211) that detects the weight of turfgrass in a storage section (8) of the dedicated grass collection machine (2) and an accumulation detection sensor (215) that detects the amount of turfgrass accumulated in the storage section (8) are provided, a turfgrass density (ρr) is calculated from the amount of turfgrass accumulated (Qr) detected by the accumulation detection sensor (215) and the weight value (Pr) at that time, and when the actual turfgrass density (ρr) is compared with a predetermined theoretical turfgrass density (ρt) and the theoretical turfgrass density (ρt) is found to be greater than the theoretical turfgrass density (ρt), an output is given to a travel control unit (102) of the dedicated harvesting machine (1) to reduce the work travel speed (V); A work vehicle characterized in that, if the actual turfgrass density (ρr) is smaller than the theoretical turfgrass density (ρt), an output is provided to increase the work traveling speed (V).

3. 3. The work vehicle according to claim 1, wherein the working travel speed of the grass collection machine (2) is adjusted based on the working travel speed of the harvesting machine (1).

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