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KR-20260064544-A - WORKING METHOD, WORKING PROGRAM, AND WORKING SYSTEM

KR20260064544AKR 20260064544 AKR20260064544 AKR 20260064544AKR-20260064544-A

Abstract

(Project) Provides a work method, a work program, and a work system capable of properly controlling a work implement mounted on an autonomously driven work vehicle. (Solution) The harvesting control device (11B) performs a process of controlling the height of the harvesting unit based on the height of the ground or harvested product in the work area while the combine (1) is driving automatically, and a process of switching the harvesting height control function, which controls the height of the harvesting unit, from invalid to effective when the harvesting unit reaches a first position on the work path that is a first predetermined distance away from the target start position of the work in the work path in the work direction.

Inventors

  • 노구치 타쿠마
  • 니시이 야스토
  • 무라야마 마사아키

Assignees

  • 얀마 홀딩스 주식회사

Dates

Publication Date
20260507
Application Date
20251022
Priority Date
20241030

Claims (18)

  1. A work method for harvesting crops by means of a harvesting unit installed on a work vehicle, The above work vehicle controls the height of the harvesting unit based on the height of the ground or harvested product in the work area during automatic driving, and A work method for performing a harvest height control function that controls the height of the harvesting unit from inactive to active when the harvesting unit reaches a first position on the work path located at a first predetermined distance in the work direction from the target start position of the work on the work path.
  2. In Article 1, The above-mentioned harvesting unit is a working machine that harvests crops on a furrow formed by a furrow forming operation, and A method for setting the height of the harvesting section from the target starting position to the first position based on work information during the furrow formation work.
  3. A work method for harvesting crops by means of a harvesting unit installed on a work vehicle, The above work vehicle controls the height of the harvesting unit based on the height of the ground or harvested product in the work area during automatic driving, and A work method for executing a harvest height control function that controls the height of the harvesting unit from an effective to an ineffective state when the harvesting unit reaches a second position on the work path located at a second predetermined distance from the target end position of the work on the work path in a direction opposite to the work direction.
  4. In Paragraph 3, A method of stopping the operation of the harvesting unit when the harvesting unit reaches a fourth position on a non-working path connected to the target end position, which is located a third predetermined distance in the working direction from the target end position.
  5. In Article 3 or Article 4, The above-mentioned harvesting unit is a working machine that harvests crops on a furrow formed by a furrow forming operation, and A method of setting the height of the harvesting unit from the second position to the target end position to the height when the harvesting unit reaches the second position.
  6. A work method for planting a target to be planted by a planting unit installed on a work vehicle, The above work vehicle controls the planting depth of the planting target based on the height of the ground in the work area while driving automatically, and A work method for performing a planting depth control function that controls the planting depth of the planting target from inactive to active when the planting unit reaches a first position on the work path located at a first predetermined distance in the work direction from the target start position of the work on the work path.
  7. In Article 6, The above-mentioned planting unit is a working machine that plants the above-mentioned planting target on a furrow formed by a furrow forming operation, and A method for setting the height of the planting section from the target starting position to the first position based on work information during the furrow formation work.
  8. A work method for planting a target to be planted by a planting unit installed on a work vehicle, The above work vehicle controls the planting depth of the planting target based on the height of the ground in the work area while driving automatically, and A work method for executing a planting depth control function that controls the planting depth of the planting target from an effective to an ineffective state when the planting unit reaches a second position on the work path located at a second predetermined distance from the target end position of the work in the work path in a direction opposite to the work direction.
  9. In Article 8, A method of stopping the operation of the planting unit when the planting unit reaches the second position or the target end position.
  10. In Article 8 or Article 9, The above-mentioned planting unit is a working machine that plants the above-mentioned planting target on a furrow formed by a furrow forming operation, and A method of setting the height of the planting section from the second position to the target end position to the height when the planting section reaches the second position.
  11. As a work program for harvesting crops by a harvesting unit installed on a work vehicle, The above work vehicle controls the height of the harvesting unit based on the height of the ground or harvested product in the work area during automatic driving, and A work program for executing, in one or more processors, switching a harvest height control function that controls the height of the harvesting unit from invalid to effective when the harvesting unit reaches a first position on the work path located a first predetermined distance in the work direction from the target start position of the work on the work path.
  12. As a work program for harvesting crops by a harvesting unit installed on a work vehicle, The above work vehicle controls the height of the harvesting unit based on the height of the ground or harvested product in the work area during automatic driving, and A work program for executing, in one or more processors, switching a harvest height control function that controls the height of the harvesting unit from effective to ineffective when the harvesting unit reaches a second position on the work path located at a second predetermined distance in the opposite direction to the work direction from the target end position of the work on the work path.
  13. A work program for planting a target using a planting unit installed on a work vehicle, The above work vehicle controls the planting depth of the planting target based on the height of the ground in the work area while driving automatically, and A work program for executing, in one or more processors, switching a planting depth control function that controls the planting depth of the planting target from invalid to effective when the planting unit reaches a first position on the work path located a first predetermined distance in the work direction from the target start position of the work in the work path.
  14. A work program for planting a target using a planting unit installed on a work vehicle, The above work vehicle controls the planting depth of the planting target based on the height of the ground in the work area while driving automatically, and A work program for executing, in one or more processors, switching a planting depth control function that controls the planting depth of the planting target from effective to ineffective when the planting unit reaches a second position on the work path located at a second predetermined distance from the target end position of the work in the work path in a direction opposite to the work direction.
  15. As a work system for harvesting crops by a harvesting unit installed on a work vehicle, A process for controlling the height of the harvesting unit based on the height of the ground or harvested product in the work area while the above-mentioned work vehicle is driving automatically, and A work system having a control processing unit that executes a process of switching a harvest height control function, which controls the height of the harvesting unit, from invalid to effective when the harvesting unit reaches a first position on the work path located at a first predetermined distance in the work direction from the target start position of the work on the work path.
  16. As a work system for harvesting crops by a harvesting unit installed on a work vehicle, A process for controlling the height of the harvesting unit based on the height of the ground or harvested product in the work area while the above-mentioned work vehicle is driving automatically, and A work system having a control processing unit that executes a process of switching a harvest height control function, which controls the height of the harvesting unit, from effective to ineffective when the harvesting unit reaches a second position on the work path located at a second predetermined distance from the target end position of the work in the work path in a direction opposite to the work direction.
  17. A work system for planting a target by means of a planting unit installed on a work vehicle, A process for controlling the planting depth of the planting target based on the height of the ground in the work area while the above-mentioned work vehicle is driving automatically, and A work system having a control processing unit that executes a process of switching a planting depth control function, which controls the planting depth of the planting target, from invalid to effective when the planting unit reaches a first position on the work path located at a first predetermined distance in the work direction from the target start position of the work on the work path.
  18. A work system for planting a target by means of a planting unit installed on a work vehicle, A process for controlling the planting depth of the planting target based on the height of the ground in the work area while the above-mentioned work vehicle is driving automatically, and A work system having a control processing unit that executes a process of switching a planting depth control function, which controls the planting depth of the planting target, from effective to ineffective when the planting unit reaches a second position on the work path located at a second predetermined distance from the target end position of the work in the work path in a direction opposite to the work direction.

Description

Working Method, Working Program, and Working System The present invention relates to a technology for performing a predetermined task by means of a work device installed on a work vehicle. Conventionally, an automatic driving system is known in which a work vehicle equipped with implements such as a tiller, furrowing machine, brush cutter, rake, or seeder automatically drives within a field and performs a predetermined task (see, for example, Patent Document 1). FIG. 1 is a block diagram showing the configuration of an automatic driving system according to a first embodiment of the present invention. FIG. 2 is an external side view showing the configuration of a combine according to a first embodiment of the present invention. FIG. 3 is an external top view showing the configuration of a combine according to a first embodiment of the present invention. FIG. 4 is a drawing showing an example of packaging and a target path according to a first embodiment of the present invention. FIG. 5 is a drawing showing an example of the position (lowest position) of the cutting unit of a combine according to the first embodiment of the present invention. FIG. 6 is a drawing showing an example of the position (top position) of the cutting unit of a combine according to the first embodiment of the present invention. FIG. 7 is a drawing showing an example of the position (intermediate position) of the cutting unit of a combine according to the first embodiment of the present invention. FIG. 8 is a drawing showing an example of control information for controlling the operation of a harvesting unit of a combine according to a first embodiment of the present invention. FIG. 9 is a drawing showing an example of a driving method of a combine according to a first embodiment of the present invention. FIG. 10 is a drawing showing an example of a driving method of a combine according to a first embodiment of the present invention. FIG. 11 is a drawing showing an example of a menu screen displayed on an operating terminal according to a first embodiment of the present invention. FIG. 12 is a flowchart showing an example of the sequence of automatic driving processing executed by an automatic driving system according to a first embodiment of the present invention. FIG. 13 is a flowchart showing an example of the sequence of automatic driving processing executed by an automatic driving system according to a first embodiment of the present invention. FIG. 14 is a block diagram showing the configuration of an automatic driving system according to a second embodiment of the present invention. FIG. 15 is an external perspective view showing the configuration of a transplanter according to a second embodiment of the present invention. FIG. 16 is a diagram showing an example of control information for controlling the operation of the planting part of a transplanter according to a second embodiment of the present invention. FIG. 17 is a drawing showing an example of a driving method of a transplanter according to a second embodiment of the present invention. FIG. 18 is a drawing showing an example of a driving method of a transplanter according to a second embodiment of the present invention. FIG. 19 is a flowchart showing an example of the sequence of automatic driving processing executed by an automatic driving system according to a second embodiment of the present invention. FIG. 20 is a flowchart showing an example of the sequence of automatic driving processing executed by an automatic driving system according to a second embodiment of the present invention. The following embodiments are examples of embodying the present invention and do not limit the technical scope of the present invention. [First Embodiment] The automatic driving system according to the present invention includes a work vehicle and an operating terminal. In the first embodiment, a combine is used as an example of a work vehicle. As shown in FIG. 1, the automatic driving system (10) according to the first embodiment includes a combine (1) and an operating terminal (30). The combine (1) and the operating terminal (30) can communicate through a communication network (N1). For example, the combine (1) and the operating terminal (30) can communicate through a mobile phone network, a packet network, or a wireless LAN. The automatic driving system (10) is a system that automatically drives the combine (1) within a package (F). The combine (1) is configured to automatically drive along a preset target path (R) within a field (F) (see FIG. 4). Additionally, the combine (1) can perform a predetermined task while driving automatically within the field (F). For example, the combine (1) performs a predetermined task while driving automatically along a preset target path (R) within the field (F) based on position information of the combine (1)'s current position calculated by a positioning unit (52). In this embodiment, the combine (1) is equipped with a harvesting unit for harvest