JP2019004771A - Combine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To obtain a combine capable of avoiding a decrease in threshing performance of a planted culm as much as possible even in a field where weeds grow locally. A combine calculates a handling depth adjusting mechanism, a handling depth control unit 620 that performs handling depth adjustment control based on the length of a cut grain culm using a handling depth adjusting mechanism, and an aircraft position. The aircraft position calculation unit 66, the image recognition module 5 that estimates the weed growth region in the captured image acquired by the imaging unit 70 and outputs the recognition output data indicating the estimated weed growth region, and the captured image were acquired. The weed position information generation unit 51 that generates weed position information indicating the position of the weed growth area on the map from the aircraft position at the time point and the recognition output data, and the timing at which the weed passes through the handling depth adjustment mechanism are calculated, and the weeds It is provided with a work running control unit that executes weed entry control while passing through the handling depth adjustment mechanism. [Selection diagram] Fig. 6

Description

  The present invention relates to a combine that harvests planted cereal grains while traveling in a field.

  As shown in Patent Document 1, a conventional combine is provided with a handling depth detection sensor that detects the tip position of the transported culm that is sent from the cutting unit to the threshing apparatus, and based on detection information of the handling depth detection sensor. Thus, the handling depth adjusting means for adjusting the handling depth in the threshing apparatus is controlled to thresh the conveyed cereal at the target handling depth.

Japanese Patent Laid-Open No. 08-172867

  The technology of threshing at an appropriate handling depth by adjusting the handling depth using a handling depth detection sensor when conveying the harvested cereal husks harvested by the harvesting unit contributes to the improvement of the threshing performance. . However, depending on the field, there are cases where weeds that extend longer than the planted cereal are mixed around the planted cereal, and this weed is cut by the harvesting unit and detected by the treatment depth detection sensor. As a result, the treatment depth adjusting means adjusts the treatment depth in the threshing device by the length of the weeds, and there arises a problem that the threshing performance of the original harvested cereal is reduced.

  In view of such a situation, there is a demand for a combine that can avoid a decrease in the threshing performance of the planted cereal as much as possible even in a field where weeds grow locally.

  A feature of the present invention is a combine harvester that harvests planted cereal while traveling in a field, and a harvesting unit that harvests the planted cereal from the field, and a harvested cereal from the harvesting unit toward the threshing device. Handling cereal conveying device, handling depth adjusting mechanism provided in the cereal conveying device, and handling depth adjustment control based on the length of the harvested cereal using the handling depth adjusting mechanism A depth control unit; a body position calculation unit that calculates a body position that is a map coordinate of the body based on positioning data from a satellite positioning module; and a photographing unit that is provided in the body and photographs the field during harvesting work. The image data of the photographed image sequentially acquired by the photographing unit sequentially is input, the weed growth area in the photographed image is estimated, and the recognition output data indicating the estimated weed growth area is output. A recognition module; A weed position information generating unit that generates weed position information indicating the position of the weed growing area on the map from the aircraft position at the time when the photographed image was acquired and the recognition output data; A timing at which the weeds pass through the handling depth adjustment mechanism is determined, and a work travel control unit that performs weed approach control while the weeds pass through the handling depth adjustment mechanism is provided. .

  In the present invention, when weeds exist in the captured image, the weed growth area is estimated by the image recognition module from the image data that is the captured image. Furthermore, since the aircraft position indicated by the map coordinates at the time when the captured image was acquired is calculated by the aircraft position calculation unit, the weed growth area is calculated from the aircraft position and the recognition output data indicating the weed growth area. Weed position information indicating the position on the map is generated. The aircraft position, which is the map coordinates of the aircraft, is calculated by the aircraft position calculator, so weeding the weed cutting position in the aircraft and the weed transport time from the cutting position to the depth adjustment mechanism, The timing at which weeds pass through the depth control mechanism is determined. Based on this determined timing, special weed approach control is performed while weeds pass through the depth adjustment mechanism, so that weeds are mixed even in fields where weeds grow locally. Decrease in threshing performance against standing cereals can be suppressed.

  A feature of the present invention is a combine harvester that harvests planted cereal while traveling in a field, and a cutting unit that harvests the planted cereal from the field, and a cutting cereal from the harvesting unit toward the threshing device Handling cereal conveying device, handling depth adjusting mechanism provided in the cereal conveying device, and handling depth adjustment control based on the length of the harvested cereal using the handling depth adjusting mechanism A depth control unit; a body position calculation unit that calculates a body position that is a map coordinate of the body based on positioning data from a satellite positioning module; and a photographing unit that is provided in the body and photographs the field during harvesting work. The image data of the photographed image sequentially acquired by the photographing unit sequentially is input, the weed growth area in the photographed image is estimated, and the recognition output data indicating the estimated weed growth area is output. A recognition module; A weed position information generating unit that generates weed position information indicating a position on the map of the weed growing area from the aircraft position at the time when the captured image was acquired and the recognition output data; and the cutting unit includes the weed growing It is a point provided with the work travel control part which performs weed approach control while passing through a field.

  In the present invention, weed approach control is executed while the cutting unit passes through the weed growing area. This configuration has an advantage that control is simple because it is not necessary to consider the time for carrying weeds.

  The timing at which the cutting part passes through the weed growing area is determined based on the position of the aircraft on the map calculated based on the positioning data from the satellite positioning module, the distance between the aircraft position and the cutting part, and the weed position information. Can be accurately obtained from the position on the map of the weed growth area included in the. Accordingly, in one of the preferred embodiments of the present invention, the timing at which the mowing unit passes through the weed growing area is based on the weed position information and the aircraft position calculated by the aircraft position calculation unit. It is configured to be determined.

  When weeds that are taller than planted cereals enter the depth adjustment mechanism, the depth adjustment mechanism considers the weeds as harvested cereals, so the depth control unit sets the treatment depth to the weed length. It will be controlled together. As a result, the adjusted handling depth is not suitable for the original harvested cereal. Since the length of the mowing cereals does not change so rapidly, when a situation occurs in which weeds enter the depth control mechanism, the depth control based on the depth adjustment machine is temporarily suspended. It is preferable not to change the handling depth. Therefore, in one of the preferred embodiments of the present invention, the handling depth adjustment control is interrupted by the execution of the weed approach control.

  In addition, since weeds grow together with planted cereals, when the weeding operation is performed on this weed growing area, the amount of processing including weeds and the harvested cereals increases, The load on the working device such as the cereal conveying device and the threshing device increases. In order to avoid such an overload, it is preferable to reduce the vehicle speed. Therefore, in one of the preferred embodiments of the present invention, the vehicle speed is reduced by executing the weed approach control.

It is a whole side view of a combine. It is a side view of a cutting part. It is explanatory drawing of handling depth control. It is a functional block diagram which shows the function of the control system of a combine. It is explanatory drawing which shows typically the flow of the production | generation of the recognition output data by an image recognition module. It is a flowchart which shows the flow of control which calculates a weed position from the captured image containing a weed growth area | region, and a body position, and interrupts depth control. It is a schematic diagram which shows the weed map obtained by mapping weed position information.

  Hereinafter, an embodiment of a combine as an example of a harvester according to the present invention will be described with reference to the drawings. In this embodiment, when the front-rear direction of the airframe 1 is defined, it is defined along the airframe traveling direction in the working state. The direction indicated by reference numeral (F) in FIG. 1 is the front side of the aircraft, and the direction indicated by reference numeral (B) in FIG. 1 is the rear side of the aircraft. When defining the left-right direction of the airframe 1, the left-right direction is defined in a state viewed in the airframe traveling direction.

  As shown in FIG. 1, in the combine, a cutting unit 2 is connected to a front part of an airframe 1 including a pair of left and right crawler travel devices 10 so as to be movable up and down around a horizontal axis X. At the rear of the machine body 1, a threshing device 11 and a grain tank 12 for storing grains are provided in a state of being arranged in the machine body width direction. A cabin 14 that covers the boarding operation part is provided at the right side of the front part of the airframe 1, and an engine 15 for driving is provided below the cabin 14.

  As shown in FIG. 1, the threshing device 11 receives the harvested cereal that has been harvested by the reaping unit 2 and conveyed backward, and the threshing stock of the cereal by the threshing feed chain 111 and the sandwiching rail 112. Threshing processing is performed on the tip side by the handling cylinder 113 while nipping and conveying. And the grain selection process with respect to a threshing processed material is performed in the selection part with which the lower part of the handling cylinder 113 was equipped, and the grain selected there is conveyed to the grain tank 12, and is stored. Although not described in detail, a grain discharging device 13 for discharging the grains stored in the grain tank 12 to the outside is provided.

  The mowing unit 2 is provided with a plurality of triggering devices 21 that cause a fallen planted culm, a hair clipper-type cutting device 22 that cuts the stock of the raised planted culm, a culm transporting device 23, and the like. Yes. The grain feeder 23 is directed toward the start end of the threshing feed chain 111 of the threshing apparatus 11 located on the rear side of the machine body while gradually changing the vertical harvested grain cereal from which the stock has been cut into a laterally falling attitude. Transport.

  The cereal conveying device 23 sandwiches the stock of the collected harvested cereals while holding the gathering and conveying unit 231 that conveys a plurality of harvested cereals harvested by the cutting device 22 in the middle of the cutting width direction. The stock holding and conveying device 232 that conveys to the head, the tip locking and conveying device 233 that latches and conveys the tip of the harvested cereal rice bran, and the stock source of the harvested rice straw to the threshing feed chain 111 from the terminal end of the stock holding and conveying device 232 A supply conveyance device 234 and the like are provided for guidance.

  As shown in FIG. 2, the stock holding and conveying device 232 is supported on the support frame of the cutting unit 2 so as to be swingable around the horizontal axis. The stock holding and conveying device 232 is vertically swung by the drive operation mechanism 235, and the conveying terminal portion is provided so that the position of the conveying terminal portion is changed in the cocoon length direction with respect to the supply and conveying device 234 in accordance with the rocking operation. ing. The drive operation mechanism 235 includes a handle depth adjusting electric motor 236 (hereinafter referred to as a handle depth motor) as a drive source. The drive operation mechanism 235 includes an operation rod 237 that is pushed and pulled by a handling depth motor 236. A lower end portion of the operation rod 237 is pivotally connected to an intermediate portion of the stock holding and conveying device 232.

  When the conveyance terminal part of the stock holding and conveying apparatus 232 moves away from the supply and conveying apparatus 234, the stock holding position of the harvested cereal rice cake by the supply and conveying apparatus 234 is changed to the stock holding position of the harvested cereal meal by the stock holding and conveying apparatus 232. On the other hand, it is changed to the tip side and delivered to the supply and transport device 234. As a result, the penetration depth (handling depth) of the harvested cereal meal into the threshing device 11 is changed to a shallower (shallow handling side).

  When the conveyance terminal part of the stock holding and conveying apparatus 232 approaches the supply and conveying apparatus 234, the stock holding position of the harvested cereal by the supply and conveying apparatus 234 is changed to the stock holding position of the harvested cereal by the stock holding and conveying apparatus 232. The paper is delivered to the supply / conveyance device 234 in a close position. As a result, the handling depth of the harvested cereal masher with respect to the threshing device 11 is changed to be deeper (the deep handling side).

  In this way, by changing the posture of the stock holding and conveying device 232, the handling depth of the harvested cereal meal relative to the threshing device 11 can be changed. That is, the stock holding and conveying device 232 and the drive operation mechanism 235 constitute the handling depth adjusting mechanism 3 that can change the handling depth of the harvested cereal meal with respect to the threshing device 11.

  As shown in FIG. 3, a contact-type culm length detection device 30 that detects the culm length of the harvested culm conveyed by the culm conveying device 23 and a handling depth control unit 620 are provided. The handling depth control unit 620 performs handling depth adjustment control for adjusting the handling depth based on the detection result of the heel length detection device 30. In this embodiment, the handling depth control unit 620 controls the handling depth motor 236 so that the handling depth of the harvested cereal meal with respect to the threshing device 11 is maintained within the target setting range.

  As shown in FIG. 3, the saddle length detection device 30 is provided with a pair of swinging sensor arms 32 and 33 in a body case 31 as a device body portion formed in a substantially bottomless box shape opened downward. The pair of sensor arms 32 and 33 are configured to detect the cocoon length by contacting the tip side portion of the harvested cereal culm. The pair of sensor arms 32 and 33 are provided in a state where the upper side portion is supported by the main body case 31 and hangs downward while being separated in the cocoon length direction of the harvested grain culm being conveyed. Each sensor arm 32, 33 is swingable in the front-rear direction (corresponding to the moving direction of the mowing cereal) around the horizontal axis provided inside the main body case 31, and is urged to return to a downward reference posture. It is supported in the state to be done.

  When the chopped cereals to be conveyed come into contact with the upper base end portion of each of the pair of sensor arms 32 and 33 and the sensor arms 32 and 33 swing more than a set amount from the reference posture, the sensor arms are turned on. Detection switches 34 and 35 are provided which are turned off when the swing amount from the reference postures 32 and 33 is less than the set amount.

  The outputs of the pair of detection switches 34 and 35 are input to the handling depth control unit 620. The handling depth control unit 620 controls the operation of the handling depth motor 236 so that the detection switch 35 located on the tip side is in an OFF state and the detection switch 34 located on the stock side is turned on. To do.

  That is, the handling depth control unit 620 operates the handling depth motor 236 so that the stock holding and conveying apparatus 232 moves to the shallow handling side when both the pair of detection switches 34 and 35 are in the on state. In addition, the handling depth control unit 620 operates the handling depth motor 236 so that the stock holding and conveying apparatus 232 moves to the deep handling side when both of the pair of detection switches 34 and 35 are in the off state. Furthermore, the handling depth control unit 620 treats the depth of treatment if the detection switch 35 located on the tip side of the pair of detection switches 34 and 35 is in the off state and the detection switch 34 located on the stock side is in the on state. The operation of the motor 236 is stopped and the state is maintained.

  As shown in FIG. 1, a photographing unit 70 including a color camera is provided at the front end of the ceiling of the cabin 14. The front / rear direction of the field of view of the photographing unit 70 reaches almost the horizon from the front end region of the cutting unit 2. The breadth of the width of the field of view has reached about 10 m to several tens of m. The captured image acquired by the imaging unit 70 is converted into image data and sent to the combine control system.

  The imaging unit 70 images the farm field during the harvesting operation. The combine control system has a function of recognizing the weed growth area as a recognition target from the image data sent from the imaging unit 70. In FIG. 1, a normal planted culm group is indicated by a symbol Z0, and a weed growing area is indicated by a symbol Z1.

  Further, a satellite positioning module 80 is also provided on the ceiling of the cabin 14. The satellite positioning module 80 includes a satellite antenna for receiving GNSS (global navigation satellite system) signals (including GPS signals). In order to complement the satellite navigation performed by the satellite positioning module 80, an inertial navigation unit incorporating a gyro acceleration sensor and a magnetic bearing sensor is incorporated in the satellite positioning module 80. Of course, the inertial navigation unit can be located elsewhere. In FIG. 1, the satellite positioning module 80 is arranged at the rear part of the ceiling part of the cabin 14 for the convenience of drawing. For example, the satellite positioning module 80 is arranged as close as possible to the position directly above the central part of the left and right of the cutting device 22. It is preferable that the front end portion is disposed at a position closer to the center of the machine body.

  FIG. 4 shows a functional block diagram of a control system constructed inside the combine body 1. The control system of this embodiment is composed of a number of electronic control units called ECUs, various operating devices, sensor groups and switch groups, and a wiring network such as an in-vehicle LAN that performs data transmission therebetween. The notification device 91 is a device for notifying a driver or the like of a work traveling state or various warnings, and includes a buzzer, a lamp, a speaker, a display, and the like. The communicator 92 is used by the combine control system to exchange data with the cloud computer system 100 and the portable communication terminal 200 installed at a remote location. Here, the portable communication terminal 200 is a tablet computer operated by a supervisor (including a driver) at a work traveling site. The control unit 6 is a core element of this control system, and is shown as an assembly of a plurality of ECUs. Positioning data from the satellite positioning module 80 and image data from the imaging unit 70 are input to the control unit 6 through a wiring network.

  The control unit 6 includes an output processing unit 6B and an input processing unit 6A as input / output interfaces. The output processing unit 6B is connected to the vehicle travel device group 7A and the work device device group 7B. The vehicle travel device group 7A includes control devices related to vehicle travel, such as engine control devices, shift control devices, braking control devices, steering control devices, and the like. The work device group 7B includes a reaping unit 2, a threshing device 11, a grain discharging device 13, a corn straw conveying device 23, a power control device in the handling depth adjusting mechanism 3, and the like.

  A traveling system detection sensor group 8A, a work system detection sensor group 8B, and the like are connected to the input processing unit 6A. The traveling system detection sensor group 8A includes sensors that detect states of an engine speed adjusting tool, an accelerator pedal, a brake pedal, a shift operation tool, and the like. The work system detection sensor group 8B includes sensors for detecting the state of the reaper 2, the threshing device 11, the grain discharging device 13, and the cereal conveying device 23 and the state of the cereal and the cereal. Furthermore, the working system detection sensor group 8B also includes the detection switches 34 and 35 in the above-described handling depth adjustment mechanism 3.

  The control unit 6 includes an image recognition module 5, a data processing module 50, a work travel control module 60 that is a work travel control unit, a body position calculation unit 66, a notification unit 67, and a weed position calculation unit 68.

  The notification unit 67 generates notification data based on commands from the respective functional units of the control unit 6 and gives the notification data to the notification device 91. The body position calculation unit 66 calculates the body position that is the map coordinates (or field coordinates) of the body 1 based on the positioning data sequentially transmitted from the satellite positioning module 80. In this embodiment, the weed position calculation unit 68 is calculated by the body position calculation unit 66, which is usually the position of the antenna, the position on the map of the weed growth area calculated by the data processing module 50, the grain The timing at which the weeds cut by the cutting unit 2 pass through the handling depth adjusting mechanism 3 is determined on the basis of the transfer speed of the hail transfer device 23.

  The combine of this embodiment can be driven by both automatic driving (automatic steering) and manual driving (manual steering). The work travel control module 60 includes an automatic work travel command unit 63 and a travel route setting unit 64 in addition to the travel control unit 61 and the work control unit 62. A traveling mode switch (not shown) for selecting either an automatic traveling mode for traveling by automatic steering or a manual steering mode for traveling by manual steering is provided in the cabin 14. By operating this travel mode switch, it is possible to shift from manual steering travel to automatic steering travel, or from automatic steering travel to manual steering travel.

  The travel control unit 61 has an engine control function, a steering control function, a vehicle speed control function, and the like, and provides a travel control signal to the vehicle travel device group 7A. The work control unit 62 gives a work control signal to the work device group 7B in order to control the movement of the reaping unit 2, the threshing device 11, the grain discharging device 13, the cereal conveying device 23, and the like. Further, the work control unit 62 includes the handling depth control unit 620 described with reference to FIG.

  When the manual steering mode is selected, the travel control unit 61 generates a control signal based on an operation by the driver, and controls the vehicle travel device group 7A. When the automatic steering mode is selected, based on the automatic travel command given by the automatic work travel command unit 63, the travel control unit 61 controls the vehicle travel device group 7A related to steering and the vehicle travel device group 7A related to vehicle speed. .

  The travel route setting unit 64 develops a travel route for automatic travel created in any of the control unit 6, the mobile communication terminal 200, the cloud computer system 100, and the like in the memory. The travel route expanded in the memory is sequentially used as a target travel route in automatic travel. This travel route can be used for guidance for the combine to travel along the travel route even in the case of manual travel.

  More specifically, the automatic work travel command unit 63 generates an automatic steering command and a vehicle speed command and gives them to the travel control unit 61. The automatic steering command is generated by the travel route setting unit 64 so as to eliminate the azimuth shift and the positional shift between the travel route and the vehicle position calculated by the body position calculation unit 66. The vehicle speed command is generated based on a vehicle speed value set in advance. Further, the automatic work travel command unit 63 gives a work device operation command to the work control unit 62 according to the own vehicle position and the travel state of the own vehicle.

  The image recognition module 5 receives image data of a captured image that is sequentially acquired by the imaging unit 70 over time. The image recognition module 5 estimates the existence area where the recognition target object exists in the photographed image, and outputs the recognition output data including the existence area and the estimated probability when the existence area is estimated as the recognition result. The image recognition module 5 is constructed using a neural network technique that employs deep learning.

  The flow of generating recognition output data by the image recognition module 5 is shown in FIGS. A pixel value of RGB image data is input to the image recognition module 5 as an input value. In this embodiment, the estimated authentication target is weed. Therefore, the recognition output data as the recognition result includes a weed growth area indicated by a rectangle and an estimated probability when the weed growth area is estimated.

  In FIG. 5, the estimation result is schematically shown, and the weed growing area is indicated by a rectangular frame to which reference numeral F <b> 1 is assigned. Each weed growth region is defined by four corner points, and the coordinate positions on the captured image of the four corner points of each rectangle are also included in the estimation result. Of course, if the weeds as the authentication target are not estimated, the weed growth area is not output, and the estimated probability is zero.

  In this embodiment, the image recognition module 5 sets the internal parameter so that the estimated probability of the recognition target object is reduced as the recognition target object (weed) is located farther from the image capturing unit 70 in the captured image. doing. Thereby, the recognition of the recognition object in the imaging region where the resolution is low because it is far from the imaging unit 70 is made stricter, and erroneous recognition is reduced.

  The data processing module 50 processes the recognition output data output from the image recognition module 5. As shown in FIGS. 4 and 6, the data processing module 50 of this embodiment includes a weed position information generation unit 51 and a statistical processing unit 52.

  The weed position information generation unit 51 generates weed position information indicating the position of the recognition target object on the map from the aircraft position at the time when the captured image is acquired and the recognition output data. The position on the map where the weeds included in the recognition output data exist can be obtained by converting the coordinate position (camera coordinate position) on the captured image of the four corner points of the rectangle indicating the weed into the coordinate on the map. can get.

  Since the imaging unit 70 acquires captured images at a predetermined time interval, for example, 0.5 seconds, and inputs the image data to the image recognition module 5, the image recognition module 5 also receives the recognition output data at the same time interval. Output. Therefore, when weeds are included in the field of view of the photographing unit 70, a plurality of recognition output data includes an existing area for the same weeds. As a result, a plurality of pieces of weed position information for the same weed can be obtained. At that time, the estimated probability included in the recognition output data which is each original data, that is, the estimated probability of the weed existence area (weed growing area) included in the weed position information is the position between the photographing unit 70 and the weeds. Because the relationship is different, the value is often different.

  Therefore, in this embodiment, such a plurality of weed position information is stored, and an estimated probability included in each of the stored plurality of weed position information is statistically calculated. A representative value of the estimated probability group is obtained using a statistical calculation for the estimated probabilities of the plurality of recognition object position information. Using the representative value, it is possible to correct a plurality of pieces of recognition object position information into one optimum recognition object position information. An example of such correction is to calculate the arithmetic average value, weighted average value or intermediate value of each estimated probability as a reference value (representative value), and the logic of an existing region (weed growing region) having an estimated probability equal to or higher than the reference value. Finding the sum and generating corrected weed position information using it as the optimum existence region. Of course, it is also possible to generate one piece of highly reliable weed position information using other statistical operations.

  As shown in FIG. 6, weed position information indicating the position on the map of the weed growth area obtained in this way is given to the weed position calculation unit 68. The weed position calculation unit 68 is also given an aircraft position that is a map coordinate of the aircraft position from the aircraft position calculation unit 66. Based on the weed position information, the machine body position, and the conveying speed of the cereal conveying device 23, the weed position calculating unit 68 determines the passing timing at which the weeds mowed by the mowing unit 2 pass the handling depth adjusting mechanism 3. decide. While the weed passes through the treatment depth adjustment mechanism 3, the weed position calculation unit 68 gives the weed approach flag to the treatment depth control unit 620.

  The handling depth control unit 620 has a standard control mode and a weed approach control mode. Normally, the standard control mode is selected, and the handling depth control described above is executed during work travel. . However, when a weed approach flag is given from the weed position calculation unit 68, the standard control mode is switched to the weed approach control mode, and weed approach control is executed. In this embodiment, when weed approach control is executed, the handling depth control is interrupted and the vehicle speed is also reduced. Of course, in the weed approach control, a configuration in which only one of the interruption of the handling depth control or the reduction of the vehicle speed may be employed.

  Note that the weed position information generated by the weed position information generating unit 51 can be mapped as shown in FIG. 7 for easy visual display. FIG. 7 illustrates a weed map obtained by mapping the weed position information. When the weed position information includes a weed growing area with different estimated probabilities, it is also possible to display the weed growing area in a form divided into patterns in a predetermined range of estimated probability values as shown in FIG. .

  Note that the configurations disclosed in the above-described embodiments (including other embodiments, the same applies hereinafter) can be applied in combination with the configurations disclosed in the other embodiments as long as no contradiction arises. The embodiment disclosed in this specification is an exemplification, and the embodiment of the present invention is not limited to this. The embodiment can be appropriately modified without departing from the object of the present invention.

[Another embodiment]
(1) In the above-described embodiment, the weed group extending higher than the planted cereal cocoon is set as the recognition object recognized by the image recognition module 5, but other recognition objects, for example, the overlaid cereal group, A person or the like may also be set. In that case, the work travel control module 60 is configured to perform necessary control in response to the recognition of the overturned culm group or the person.
(2) In the embodiment described above, the image recognition module 5 is constructed using a deep learning type neural network technique. Instead of this, an image recognition module 5 constructed using other machine learning techniques may be employed.
(3) In the above-described embodiment, the image recognition module 5, the data processing module 50, and the weed position calculation unit 68 are incorporated in the combine control unit 6, but part or all of them are controlled independently from the combine. It can be constructed in a unit such as the mobile communication terminal 200.
(4) Each functional unit shown in FIG. 4 is divided mainly for the purpose of explanation. Actually, each functional unit may be integrated with other functional units, or may be further divided into a plurality of functional units.

  The present invention harvests not only a combine harvesting rice and wheat but also other crops such as corn as long as the harvester has a function of photographing a field, a function of calculating the position of the machine, and a function of adjusting the depth of handling. It is also applicable to harvesters that harvest combine and carrots.

3: Handling depth adjusting mechanism 5: Image recognition module 6: Control unit 23: Grain conveying device 236: Electric motor for adjustment (motor)
237: Operation rod 30: Saddle length detection device 34: Detection switch 35: Detection switch 50: Data processing module 51: Weed position information generation unit 52: Statistical processing unit 60: Work travel control module (work travel control unit)
61: Travel control unit 63: Automatic work travel command unit 620: Grain depth control unit 66: Airframe position calculation unit 68: Weed position calculation unit 70: Imaging unit 80: Satellite positioning module 91: Notification device 92: Communication unit

Claims (5)

A combine harvester that harvests planted cereal while running on the field,
A cutting part for cutting the planted cereal from the field,
A cereal conveying device that conveys the reaped cereal toward the threshing device from the reaping part;
A handling depth adjusting mechanism provided in the grain feeder,
A handling depth control unit for performing a handling depth adjustment control based on the length of the harvested cereal rice cake using the handling depth adjustment mechanism;
An aircraft position calculation unit that calculates an aircraft position that is map coordinates of the aircraft based on positioning data from the satellite positioning module;
An imaging unit that is provided in the machine body and images the field during harvesting;
Image recognition that receives image data of a photographed image successively acquired by the photographing unit sequentially, estimates a weed growth area in the photographed image, and outputs recognition output data indicating the estimated weed growth area Module,
A weed position information generating unit that generates weed position information indicating a position on the map of the weed growing area from the aircraft position at the time when the captured image was acquired and the recognition output data;
A timing at which weeds cut in the weed growing area pass through the handling depth adjustment mechanism is calculated, and while the weed passes through the handling depth adjustment mechanism, a work travel control unit that performs weed approach control,
Combine with. A combine harvester that harvests planted cereal while running on the field,
A cutting part for cutting the planted cereal from the field,
A cereal conveying device that conveys the reaped cereal toward the threshing device from the reaping part;
A handling depth adjusting mechanism provided in the grain feeder,
A handling depth control unit for performing a handling depth adjustment control based on the length of the harvested cereal culm using the handling depth adjustment mechanism;
An aircraft position calculation unit that calculates an aircraft position that is map coordinates of the aircraft based on positioning data from the satellite positioning module;
An imaging unit that is provided in the machine body and images the field during harvesting;
Image recognition that receives image data of a photographed image successively acquired by the photographing unit sequentially, estimates a weed growth area in the photographed image, and outputs recognition output data indicating the estimated weed growth area Module,
A weed position information generating unit that generates weed position information indicating a position on the map of the weed growing area from the aircraft position at the time when the captured image was acquired and the recognition output data;
While the cutting unit passes through the weed growing area, a work traveling control unit that performs weed approach control,
Combine with.   The combine according to claim 2, wherein the timing at which the cutting unit passes through the weed growing area is determined based on the weed position information and the aircraft position calculated by the aircraft position calculation unit.   The combine according to any one of claims 1 to 3, wherein the handling depth adjustment control is interrupted by execution of the weed approach control.   The combine according to any one of claims 1 to 3, wherein a vehicle speed is reduced by executing the weed approach control.

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