CN112868365A

CN112868365A - Combine harvester

Info

Publication number: CN112868365A
Application number: CN202011354145.3A
Authority: CN
Inventors: 渡边俊树; 佐野友彦; 吉田脩; 川畑翔太郎
Original assignee: Kubota Corp
Current assignee: Kubota Corp
Priority date: 2019-11-29
Filing date: 2020-11-27
Publication date: 2021-06-01
Anticipated expiration: 2040-11-27
Also published as: JP2021083400A; JP7262377B2; KR20210067934A

Abstract

The invention provides a combine harvester which can easily avoid the reduction of the grain yield and has good oil consumption. A combine capable of automatically traveling, the combine comprising: a lifting control part (25) for automatically controlling the lifting of the harvesting part (H) relative to the machine body during automatic running; and a drive control unit (26) for automatically controlling the drive of the harvesting unit (H), the supply chain (3), and the threshing device (13) during automatic travel, wherein the elevation control unit (25) is configured to raise the harvesting unit (H) when entering the harvested area from the non-harvested area, and wherein the drive control unit (26) executes discharge-time control for continuing the drive of the supply chain (3) and the threshing device (13) for a predetermined first period from the time when entering the harvested area from the non-harvested area and stopping the drive of the threshing device (13) when the first period elapses, when traveling toward a discharge location for discharging grains from the grain tank (14).

Description

Combine harvester

Technical Field

The present invention relates to a combine harvester, which comprises: the threshing device comprises a harvesting part for harvesting vertical grain stalks in a field, a supply chain for clamping and conveying the grain stalks harvested by the harvesting part, and a threshing device for threshing the grain stalks clamped and conveyed by the supply chain.

Background

As such a combine harvester, for example, a combine harvester described in patent document 1 is known. This combine possesses the corn case of storing the corn after threshing by thresher.

Documents of the prior art

Patent document

Patent document 1: japanese patent laid-open publication No. 2017-23085

Problems to be solved by the invention

In patent document 1, the travel control of the combine is not described in detail. Here, it is conceivable that the combine harvester described in patent document 1 is configured to be capable of automatic travel. In this configuration, it is conceivable that the harvesting unit is configured to automatically ascend when entering the harvested region from the non-harvested region.

According to the structure, when the combine harvester carries out direction conversion in a harvested area, the interference between the harvesting part and the ridge is easily avoided.

In this structure, the following structure can be considered: when the combine harvester travels toward a discharge point for discharging grains from the grain tank, the drive of the supply chain and the threshing device is stopped at the time when the combine harvester enters the harvested region from the non-harvested region. In this case, the grain and straw that is not threshed and held by the supply chain at the timing when the drive of the supply chain and the threshing device is stopped is not threshed until the drive of the supply chain and the threshing device is restarted.

Therefore, when the operator does not start the harvesting operation any more after the discharge of the grains is completed, the grain stalks that have not been subjected to the threshing processing as described above are kept in a state where the threshing processing is not performed. Thus, the yield of the grain is reduced.

Therefore, the following structure can be considered: after the combine has entered the harvested area from the non-harvested area, the supply chain and the threshing device are driven continuously until the discharge point is reached. With this configuration, it is possible to avoid a situation in which the grain yield decreases as described above.

However, after the combine has entered the harvested area from the non-harvested area, the supply chain and the threshing device are continuously driven until the combine reaches the discharge point, and a situation in which fuel consumption is deteriorated is assumed.

Disclosure of Invention

The invention aims to provide a combine harvester which can easily avoid the reduction of the grain yield and has good oil consumption.

Means for solving the problems

The present invention is a combine harvester capable of automatically traveling, the combine harvester including: a harvesting section that harvests standing grain stalks of a field; a supply chain that holds and conveys the grain stalks harvested by the harvesting unit; the threshing device is used for threshing the grain stalks clamped and conveyed by the supply chain; a grain tank that stores grains threshed by the threshing device; a lifting control part which automatically controls the lifting of the harvesting part relative to the machine body during automatic running; and a drive control unit that automatically controls driving of the harvesting unit, the supply chain, and the threshing device during automatic travel, wherein the elevation control unit is configured to raise the harvesting unit when entering a harvested region from an unstrained region, wherein the drive control unit executes discharge control when traveling toward a discharge point for discharging grains from the grain tank, and wherein the drive control unit continues driving of the supply chain and the threshing device for a predetermined first period from a time when entering the harvested region from the unstrained region, and stops driving of the threshing device when the first period has elapsed.

According to the present invention, when the combine harvester travels toward the discharge point, the drive of the supply chain and the threshing device is continued for a predetermined first period from the time when the combine harvester enters the harvested region from the non-harvested region. This facilitates threshing of all the grain stalks held by the supply chain when the combine harvester moves from the non-harvesting area to the harvested area while traveling toward the discharge point. Therefore, it is easy to avoid a situation in which the grain stalks held by the supply chain are not threshed at the time when the combine enters the harvested region from the non-harvested region, and the yield of the grains is reduced.

Further, according to the present invention, when the combine harvester travels toward the discharge point, the driving of the threshing device is stopped at a time when the first period elapses from a time when the combine harvester enters the harvested region from the non-harvested region. Therefore, fuel consumption is improved compared to a configuration in which the combine harvester continues to drive the threshing device from the time when the combine harvester enters the harvested region to the time when the combine harvester reaches the discharge point.

Therefore, according to the present invention, it is possible to realize a combine harvester that is easy to avoid a reduction in the yield of grains and has excellent fuel efficiency.

In the present invention, it is preferable that the drive control unit is configured to stop driving of the supply chain at a time when the first period has elapsed during the discharge-time control.

According to this configuration, fuel consumption is improved as compared with a configuration in which the supply chain is continuously driven from the time when the combine harvester enters the harvested region from the non-harvested region to the time when the combine harvester reaches the discharge point.

In the present invention, it is preferable that the first period has a length equal to or longer than a time required from the harvest of the grain straw by the harvesting unit to the end of the conveyance by the supply chain.

According to this configuration, when the combine harvester travels toward the discharge point, all the grain stalks transported by the harvesting unit or the supply chain reach the transport end point during the first period at the time when the combine harvester enters the harvested region from the non-harvested region. Before reaching the end of the transportation, the grain stalks are threshed.

Therefore, according to this configuration, the following configuration can be realized: when the combine harvester travels towards the discharge point, all the straw conveyed by the harvesting part or the supply chain at the moment when the combine harvester enters the harvested region from the non-harvesting region is reliably threshed during the first period.

In the present invention, it is preferable that the drive control unit continues the driving of the harvesting unit for a predetermined second period from a time point when an unharvested area enters a harvested area in the discharging control, and stops the driving of the harvesting unit when the second period has elapsed, the second period having a length equal to or shorter than the first period.

The harvesting unit is located upstream of the supply chain in a conveying path of the straw harvested by the harvesting unit. Therefore, the time required from when the grain stalks are harvested until the grain stalks are transferred from the harvesting portion to the supply chain is shorter than the time required from when the grain stalks are harvested until the grain stalks reach the conveying end of the supply chain.

Therefore, when the second period is longer than the first period, when the combine is traveling toward the discharge point, all the straw being transported by the harvesting unit at the time when the combine enters the harvested region from the non-harvesting region is transferred to the supply chain, and then the straw is not transported by the harvesting unit, but the driving of the harvesting unit is easily continued.

Here, according to the above configuration, the second period has a length equal to or shorter than the first period. Therefore, it is easy to avoid a situation in which the driving of the harvesting unit is continued even though the straw is not conveyed by the harvesting unit. This facilitates satisfactory fuel consumption.

In the present invention, it is preferable that the control mode of the drive control unit is switchable between an automatic stop-and-go mode in which automatic stop control for stopping driving of the supply chain is executed when the height of the harvesting unit reaches a predetermined reference height, and an automatic stop-and-go mode in which the automatic stop control is not executed when the height of the harvesting unit reaches the reference height, and the drive control unit executes the discharge-time control in preference to the automatic stop control when traveling to the discharge point when the control mode of the drive control unit is the automatic stop-and-go mode.

According to this configuration, when the combine harvester enters the harvested area from the non-harvested area in a state where the combine harvester is not oriented toward the discharge point, the automatic stop control is executed. As a result, the driving of the supply chain is stopped. Thus, the grain and straw conveyed by the supply chain is stably clamped by the supply chain. Therefore, when the combine harvester performs direction change in the harvesting area, the grain and straw clamped by the supply chain are not easy to fall off.

Further, according to this configuration, when the combine harvester travels toward the discharge point, the discharge-time control is preferentially executed. Therefore, the discharge control is not hindered by the automatic stop control. Therefore, it is easy to reliably avoid a situation in which the grain stalks held by the supply chain are not threshed at the time when the combine enters the harvested region from the non-harvested region, and the yield of the grains is reduced.

In the present invention, it is preferable that the combine harvester includes: a storage amount detection unit that detects an amount of grain stored in the grain tank; and a discharge determination unit that determines whether or not to travel to the discharge point based on a detection result of the storage amount detection unit.

With this configuration, the combine can easily travel toward the discharge point at an efficient timing.

Drawings

Fig. 1 is a left side view of the combine harvester.

Fig. 2 is a diagram showing circling travel in a field.

Fig. 3 is a diagram showing spiral travel along the harvesting travel path.

Fig. 4 is a view showing reciprocating travel along the harvesting travel path.

Fig. 5 is a block diagram showing a configuration related to the control unit.

Fig. 6 is a diagram showing an example of elevation control of the harvesting unit.

Fig. 7 is a diagram showing the transition of the height of the harvesting unit during automatic travel.

Fig. 8 is a diagram showing transition of the driving state of the harvesting unit, the supply chain, and the threshing device during automatic travel.

Fig. 9 is a diagram showing an example of travel of the combine harvester toward the discharge point.

Fig. 10 is a diagram showing the transition of the height of the harvesting unit during automatic travel.

Fig. 11 is a diagram showing transition of the driving state of the harvesting unit, the supply chain, and the threshing device during automatic travel.

Description of the reference numerals

1 combine harvester

3 supply chain

13 threshing device

14 grain box

25 lifting control part

26 drive control part

27 discharge determining part

33 storage amount detecting part

C grain stalk

CA operation object area (non-harvesting area)

H harvesting part

H1 reference height

PP discharge point

SA peripheral zone (area already harvested)

TB1 first period

TB2 second period

Detailed Description

A mode for carrying out the present invention will be described based on the drawings. In the following description, unless otherwise specified, the direction of arrow F shown in fig. 1 is referred to as "front" and the direction of arrow B is referred to as "rear".

Note that the direction of arrow N shown in fig. 3, 4, and 9 is "north", the direction of arrow S is "south", the direction of arrow E is "east", and the direction of arrow W is "west".

[ integral structure of combine harvester ]

As shown in fig. 1, the semi-feeding combine harvester 1 includes a crawler-type traveling device 11, a driving unit 12, a threshing device 13, a grain tank 14, a harvesting unit H, a straw discharge device 17, a grain discharge device 18, and a satellite positioning module 80.

The combine harvester 1 further includes a supply chain 3 and a discharge chain 4.

The travel device 11 is provided at a lower portion of the combine harvester 1. The traveling device 11 is driven by power from the engine 2 (see fig. 5). The combine harvester 1 can travel by itself through the travel device 11.

The driving unit 12, the threshing device 13, and the grain tank 14 are provided above the traveling device 11. The operator can board the driver 12 who monitors the operation of the combine harvester 1. Further, the operator may monitor the operation of the combine harvester 1 from outside the combine harvester 1.

Grain discharge means 18 is connected to the grain bin 14. The satellite positioning module 80 is attached to the upper surface of the driver unit 12.

The harvesting section H is provided in the front of the combine harvester 1. The harvesting section H includes a clipper-type cutting device 15 and a conveying device 16.

The cutting device 15 cuts the roots of the standing grain stalks C of the field. Then, the conveying device 16 conveys the grain stalks C cut by the cutting device 15 to the rear side.

With this structure, the harvesting portion H harvests the standing grain stalks C in the field. The combine harvester 1 can perform harvesting travel in which the traveling device 11 travels while harvesting the standing grain stalks C in the field through the harvesting unit H.

The grain stalks C conveyed by the conveyor 16 are handed over to the supply chain 3 at a first position Q1. The supply chain 3 then conveys the received grain stalks C to the rear side. In addition, the supply chain 3 transports the grain stalks C in a horizontal posture. Thus, in fig. 1, the roots of the grain stalks C conveyed by the supply chain 3 are shown.

That is, the supply chain 3 clamps and conveys the grain stalks C harvested by the harvesting portion H.

The threshing device 13 performs threshing processing on the grain stalks C that are gripped and conveyed by the supply chain 3. The grain tank 14 stores grains threshed by the threshing device 13. The grains stored in the grain tank 14 are discharged outside the machine through the grain discharging device 18 as needed.

The straw from which the grains are separated by the threshing process is delivered from the supply chain 3 to the discharge chain 4 at the second position Q2. That is, the second position Q2 is the conveyance end point of the supply chain 3. Moreover, the discharge chain 4 conveys the straw to the straw discharge device 17.

The straw discharging device 17 is arranged at the rear end of the combine harvester 1. The straw discharge device 17 discharges the straw conveyed by the discharge chain 4 toward the rear of the machine body.

In the present embodiment, the straw discharge device 17 can discharge the straw after the straw is cut by a cutter (not shown). In addition, the straw discharging device 17 may discharge the straw without performing the chopping process.

In addition, a communication terminal (not shown) is disposed in the driver unit 12. The communication terminal is configured to be capable of displaying various information. In the present embodiment, the communication terminal is fixed to the driver unit 12. However, the present invention is not limited to this, and the communication terminal may be detachably configured to the cab 12, or may be located outside the combine harvester 1.

Here, the combine harvester 1 is configured to perform a round travel while harvesting grains in an outer peripheral region of a field as shown in fig. 2, and then perform a harvesting travel in an inner region of the field as shown in fig. 3 and 4, thereby harvesting grains in the field.

In the present embodiment, the circling travel shown in fig. 2 is performed by manual travel. The harvesting travel in the inner region shown in fig. 3 and 4 is performed by automatic travel. That is, the combine harvester 1 can travel automatically.

The present invention is not limited to this, and the circling travel shown in fig. 2 may be performed by automatic travel.

Further, the operator can change the rotation speed of the engine 2 by operating the communication terminal.

The appropriate operation speed varies depending on the state of the crop. When the operator operates the communication terminal to set the rotation speed of the engine 2 to an appropriate rotation speed, the operator can perform work at a work speed appropriate for the state of the crop.

[ Structure relating to control section ]

As shown in fig. 5, the combine harvester 1 includes a power transmission mechanism 5 and a control unit 20. The power output from the engine 2 is distributed to the power transmission mechanism 5 and the running device 11.

The power transmission mechanism 5 is configured to be able to independently transmit power to the harvesting unit H, the supply chain 3, and the threshing device 13. The power transmission mechanism 5 is configured to be capable of changing the state between a state in which power is transmitted to the harvesting section H and a state in which power is not transmitted to the harvesting section H. The power transmission mechanism 5 is configured to be capable of changing the state between a state in which power is transmitted to the supply chain 3 and a state in which power is not transmitted to the supply chain 3. The power transmission mechanism 5 is configured to be capable of changing the state between a state in which power is transmitted to the threshing device 13 and a state in which power is not transmitted to the threshing device 13.

The control unit 20 includes a vehicle position calculation unit 21, an area calculation unit 22, a route calculation unit 23, and a travel control unit 24.

The satellite positioning module 80 receives GPS signals from artificial satellites used in GPS (global positioning system). As shown in fig. 5, the satellite positioning module 80 transmits positioning data indicating the position of the vehicle of the combine harvester 1 to the vehicle position calculating unit 21 based on the received GPS signal.

The vehicle position calculating unit 21 calculates the position coordinates of the combine harvester 1 as time passes, based on the positioning data output from the satellite positioning module 80. The calculated position coordinates of the combine harvester 1 with the passage of time are transmitted to the area calculation unit 22 and the travel control unit 24.

The area calculation unit 22 calculates a peripheral area SA (corresponding to the "harvested area" of the present invention) and a work target area CA (corresponding to the "non-harvested area" of the present invention) as shown in fig. 3, based on the position coordinates of the combine harvester 1 received from the vehicle position calculation unit 21 over time.

More specifically, the area calculation unit 22 calculates the travel locus of the combine harvester 1 during the circling travel on the outer peripheral side of the field based on the position coordinates of the combine harvester 1 with the passage of time received from the vehicle position calculation unit 21. Next, the area calculation unit 22 calculates, as the outer peripheral area SA, an area on the outer peripheral side of the field where the combine harvester 1 travels around while harvesting grains, based on the calculated travel locus of the combine harvester 1. The region calculation unit 22 calculates a region inside the field from the calculated outer peripheral region SA as the work target region CA.

For example, in fig. 2, a travel path of the combine harvester 1 for the circling travel on the outer circumferential side of the field is indicated by an arrow. In the example shown in fig. 2, the combine harvester 1 performs a 3-cycle round trip. When the harvesting travel along the travel path is completed, the field is in the state shown in fig. 3.

As shown in fig. 3, the area calculation unit 22 calculates an area on the outer peripheral side of the field where the combine harvester 1 travels around while harvesting grains as an outer peripheral area SA. The region calculation unit 22 calculates a region inside the field from the calculated outer peripheral region SA as the work target region CA.

Next, as shown in fig. 5, the calculation result of the area calculation unit 22 is transmitted to the route calculation unit 23.

The route calculation unit 23 calculates a harvesting travel route LN, which is a travel route for harvesting travel in the work target area CA, as shown in fig. 3, based on the calculation result received from the area calculation unit 22. As shown in fig. 3, in the present embodiment, the harvesting travel path LN is a plurality of grid lines extending in the vertical and horizontal directions. The plurality of grid lines may not be straight lines, but may be curved.

As shown in fig. 5, the harvesting travel route LN calculated by the route calculation unit 23 is transmitted to the travel control unit 24.

The travel control unit 24 is configured to be able to control the travel device 11. The travel control unit 24 controls the automatic travel of the combine harvester 1 based on the position coordinates of the combine harvester 1 received from the vehicle position calculation unit 21 and the harvesting travel path LN received from the path calculation unit 23. More specifically, as shown in fig. 3 and 4, the travel control section 24 controls the travel of the combine harvester 1 so as to perform the harvesting travel by the automatic travel along the harvesting travel path LN.

[ procedure for harvesting operation of combine harvester ]

Hereinafter, as an example of the harvesting operation of the combine harvester 1, a flow in the case where the combine harvester 1 performs the harvesting operation in the field shown in fig. 2 will be described.

First, the operator manually operates the combine harvester 1 to perform the harvesting travel so as to surround the boundary line BD of the field at the outer peripheral portion in the field as shown in fig. 2. In the example shown in fig. 2, the combine harvester 1 performs a 3-cycle round trip. When the circling travel is completed, the field is in the state shown in fig. 3.

The area calculation unit 22 calculates the travel locus of the combine harvester 1 during the circling travel shown in fig. 2 based on the position coordinates of the combine harvester 1 with the passage of time received from the vehicle position calculation unit 21. As shown in fig. 3, the area calculation unit 22 calculates an area on the outer peripheral side of the field where the combine harvester 1 travels around while harvesting the standing grain stalks C as an outer peripheral area SA based on the calculated travel locus of the combine harvester 1. The region calculation unit 22 calculates a region inside the field from the calculated outer peripheral region SA as the work target region CA.

Next, the route calculation unit 23 sets a harvesting travel route LN in the work target area CA based on the calculation result received from the area calculation unit 22, as shown in fig. 3.

Then, the operator presses an automatic travel start button (not shown) to start automatic travel along the harvesting travel path LN as shown in fig. 3. At this time, the travel control section 24 controls the travel of the combine harvester 1 so that the harvesting travel is performed by the automatic travel along the harvesting travel path LN.

When the automatic travel in the work target area CA is started, as shown in fig. 3, first, the combine harvester 1 performs the harvesting travel in the outer peripheral portion in the work target area CA so as to surround along the outer shape of the work target area CA. At this time, the combine harvester 1 repeats the traveling along the harvesting travel path LN and the direction switching by the α -turn. Thereby, the combine harvester 1 performs the harvesting travel in a spiral shape in the outer peripheral portion in the work area CA.

Hereinafter, the spiral harvesting travel is referred to as "spiral travel".

In fig. 3, only the direction change by the α -turn is performed 3 times, but the direction change by the α -turn may be performed 4 times or more. That is, the spiral travel may be performed within a range of a longer travel distance than the case shown in fig. 3. For example, the spiral travel may be performed until the combine harvester 1 makes 2 rounds.

When the screw travel is completed, the combine harvester 1 repeats the harvesting travel performed while traveling along the harvesting travel path LN and the direction switching by the U-turn, thereby performing the harvesting travel so as to cover the entire work target area CA.

Hereinafter, the "reciprocating travel" refers to a travel in which the harvesting travel and the direction change by the U-turn are repeated while the vehicle is moving forward.

That is, the travel control unit 24 controls the travel of the combine 1 so as to shift to the reciprocating travel after the screw travel.

In the present embodiment, the truck CV stops outside the field as shown in fig. 2 to 4. In the outer peripheral area SA, a discharge point PP is set at a position near the transportation vehicle CV. The discharge point PP is a point for discharging grains from the grain tank 14.

The cart CV is capable of collecting and carrying grain that is discharged from the grain bin 14 of the combine harvester 1 via the grain discharge device 18. When discharging grain, the combine harvester 1 stops at the discharge point PP, and the grain is discharged to the carrier CV by the grain discharge device 18.

When the harvesting travel along all the harvesting travel paths LN in the work target area CA is completed, the entire field is harvested.

In the present embodiment, as shown in fig. 6, in the work area CA, the portion where the harvesting travel is completed is the outer peripheral area SA.

[ construction relating to elevation control of harvesting section ]

As shown in fig. 5, the control unit 20 includes an elevation control unit 25. As shown in fig. 1 and 5, the combine harvester 1 includes a harvesting cylinder 31.

The elevation control unit 25 is configured to automatically control the harvesting cylinder 31 during automatic traveling. Thus, the elevation control unit 25 automatically controls the elevation of the harvesting unit H relative to the machine body during the automatic traveling.

Specifically, as shown in fig. 5, the position coordinates of the combine harvester 1 over time calculated by the vehicle position calculating unit 21 are transmitted to the elevation control unit 25. The elevation control unit 25 calculates the travel locus of the combine harvester 1 in the field based on the position coordinates of the combine harvester 1 with the passage of time received from the vehicle position calculation unit 21. Next, the elevation control unit 25 calculates the outer peripheral area SA and the work area CA as time passes based on the calculated travel locus of the combine harvester 1.

During the automatic travel, the elevation control unit 25 determines whether or not the combine harvester 1 enters the outer peripheral area SA from the work target area CA with the passage of time, based on the position coordinates of the combine harvester 1 with the passage of time received from the vehicle position calculation unit 21 and the outer peripheral area SA and the work target area CA calculated with the passage of time.

When it is determined that the combine harvester 1 has entered the outer peripheral area SA from the work area CA, the elevation control unit 25 controls the harvesting cylinder 31 in the extension direction. Thereby, the harvesting portion H is raised relative to the machine body.

That is, the elevation control unit 25 is configured to raise the harvesting unit H when entering the outer peripheral area SA from the work area CA.

[ Structure relating to automatic stop control ]

As shown in fig. 5, the control unit 20 includes a drive control unit 26. The drive control unit 26 is configured to automatically control the power transmission state in the power transmission mechanism 5 during automatic travel of the combine harvester 1. Thus, the drive control unit 26 automatically controls the drive of the harvesting unit H, the supply chain 3, and the threshing device 13 during automatic travel.

The combine harvester 1 is further provided with a mode selection button 32. In the present embodiment, the mode selection button 32 is provided in the driver unit 12. However, the present invention is not limited thereto, and the mode selection button 32 may be provided outside the combine harvester 1.

The mode selection button 32 is a button that can be operated manually. When the mode selection button 32 is operated by the operator, a signal corresponding to the operation is transmitted to the drive control unit 26. In response to this signal, the control mode of the drive control unit 26 is switched between the automatic stop/start mode and the automatic stop/stop mode.

The automatic stop/start mode is a control mode in which the automatic stop control is executed when the height of the harvesting unit H reaches a predetermined reference height H1. The automatic stop control is control for stopping the driving of the supply chain 3. In the automatic stop control of the present embodiment, the driving of the harvesting unit H, the supply chain 3, and the threshing device 13 is stopped.

The automatic stop off mode is a control mode in which the automatic stop control is not executed when the height of the harvesting portion H reaches a predetermined reference height H1.

That is, the control mode of the drive control unit 26 can be switched between an automatic stop/on mode in which automatic stop control for stopping the driving of the supply chain 3 is executed when the height of the harvesting unit H reaches the predetermined reference height H1, and an automatic stop/off mode in which automatic stop control is not executed when the height of the harvesting unit H reaches the reference height H1.

The automatic stop control will be discussed in detail below.

During the automatic travel of the combine harvester 1, the elevation control unit 25 transmits a signal indicating the control amount of the harvesting cylinder 31 to the drive control unit 26. The drive control unit 26 determines whether or not the height of the harvesting unit H reaches the reference height H1 based on the signal. Then, when the control mode is the automatic stop/start mode and it is determined that the height of the harvesting unit H has reached the reference height H1, the drive control unit 26 executes the automatic stop control.

Fig. 6 shows a state in which the combine harvester 1 enters from the work area CA to the outer peripheral area SA. At this time, the control mode of the drive control unit 26 is the auto stop/start mode. As shown in fig. 6, the elevation control unit 25 starts to raise the harvesting unit H at the time when the combine harvester 1 enters the outer peripheral area SA from the work area CA.

Thereafter, when the height of the harvesting portion H reaches the reference height H1, the drive control portion 26 executes automatic stop control. Thereby, the driving of the harvesting portion H, the supply chain 3, and the threshing device 13 is stopped.

After that, the harvesting portion H rises to the highest position in the movable area. The height of the harvesting section H when it has risen to the highest position in the movable region is a height H2. The height H2 is higher than the reference height H1.

Thereafter, the drive control unit 26 restarts driving of the harvesting unit H, the supply chain 3, and the threshing device 13 until the combine harvester 1 enters the work target area CA from the outer peripheral area SA.

In the example shown in fig. 6, it is assumed that, when the control mode of the drive control unit 26 is the automatic stop off mode, the drive control unit 26 does not execute the automatic stop control even if the height of the harvesting unit H reaches the reference height H1.

The automatic stop control will be described below with reference to fig. 7 and 8, taking the automatic travel shown in fig. 4 as an example. In this example, the control mode of the drive control unit 26 is an auto stop/start mode.

In the example shown in fig. 4, the combine harvester 1 performs reciprocating travel. More specifically, first, the combine harvester 1 enters the work area CA and performs the harvesting travel toward the west along the harvesting travel path LN. Furthermore, the combine harvester 1 passes the position P1. The time at this time is set to time t 1.

The combine harvester 1 then reaches position P2. The combine harvester 1 makes a U-turn while entering the outer peripheral area SA from the position P2. Thereby, the combine harvester 1 passes the positions P3, P4. Thereafter, the combine harvester 1 enters the work target area CA and performs a harvesting travel along the harvesting travel path LN toward the east.

Fig. 7 shows the transition of the height of the harvesting portion H after time t1 in the example shown in fig. 4. Fig. 8 shows the driving state of the harvesting unit H, the driving state of the supply chain 3, and the transition of the driving state of the threshing device 13 at and after time t1 in the example shown in fig. 4.

The times when the combine harvester 1 reaches the positions P2, P3, and P4 are set as times t2, t3, and t4, respectively.

At time t1, the combine harvester 1 performs a harvesting travel. That is, the harvesting unit H, the supply chain 3, and the threshing device 13 are all driven. At this time, the height of the harvesting portion H is a predetermined harvesting height. The height of the harvest is lower than the reference height H1. In addition, the harvesting height can be changed by the operator.

At time t2, the combine harvester 1 reaches position P2. At this time, the combine harvester 1 enters the outer peripheral area SA from the work area CA. At this time, the elevation control unit 25 starts to elevate the harvesting unit H.

At time t3, the combine harvester 1 reaches position P3. At this time, the height of the harvesting portion H reaches the reference height H1. As a result, the drive control unit 26 executes the automatic stop control. Thereby, the driving of the harvesting portion H, the supply chain 3, and the threshing device 13 is stopped.

Thereafter, at time t4, the height of the harvesting section H reaches height H2.

[ Structure relating to discharge determining part ]

As shown in fig. 5, the control unit 20 includes a discharge determination unit 27. The combine harvester 1 further includes a storage amount detecting unit 33. The storage amount detector 33 detects the amount of grain stored in the grain tank 14. In the present embodiment, the storage amount detection unit 33 is constituted by a load sensor. The detection result of the storage amount detector 33 is sent to the discharge determination unit 27.

The discharge determination unit 27 determines whether or not to travel to the discharge point PP (see fig. 3) based on the detection result of the storage amount detection unit 33. When determining to travel to the discharge point PP, the discharge determination unit 27 transmits a predetermined signal to the travel control unit 24. The travel control unit 24 controls the travel device 11 so that the combine harvester 1 travels toward the discharge point PP based on the signal.

[ Structure relating to control at the time of discharge ]

As shown in fig. 5, the position coordinates of the combine harvester 1 over time calculated by the vehicle position calculating unit 21 are transmitted to the drive control unit 26. The drive control unit 26 calculates the travel locus of the combine harvester 1 in the field based on the position coordinates of the combine harvester 1 with the passage of time received from the vehicle position calculation unit 21. Next, the drive control unit 26 calculates the outer peripheral area SA and the work area CA with the passage of time based on the calculated travel locus of the combine harvester 1.

During the automatic travel, the drive control unit 26 determines whether or not the combine harvester 1 enters the outer peripheral area SA from the work target area CA with the passage of time, based on the position coordinates of the combine harvester 1 with the passage of time received from the vehicle position calculation unit 21 and the outer peripheral area SA and the work target area CA calculated with the passage of time.

As described above, when determining to travel to the discharge point PP, the discharge determination unit 27 transmits a predetermined signal to the travel control unit 24. The travel control unit 24 controls the travel device 11 so that the combine harvester 1 travels toward the discharge point PP based on the signal. At this time, the travel control unit 24 transmits a signal indicating that the combine harvester 1 travels toward the discharge point PP to the drive control unit 26.

Then, upon receiving the signal from the travel control unit 24, the drive control unit 26 executes the discharge-time control when determining that the combine harvester 1 has entered the outer peripheral area SA from the work area CA.

The discharge-time control is control for continuing the driving of the supply chain 3 and the threshing device 13 for a predetermined first period TB1 from the time when the work target area CA enters the outer peripheral area SA and stopping the driving of the threshing device 13 when the first period TB1 has elapsed.

That is, when traveling to the discharge point PP for discharging grains from the grain tank 14, the drive control unit 26 executes the discharge-time control of continuing the drive of the supply chain 3 and the threshing device 13 for a predetermined first period TB1 from the time when the work target area CA enters the outer peripheral area SA and stopping the drive of the threshing device 13 when the first period TB1 has elapsed.

The drive control unit 26 is configured to stop the driving of the supply chain 3 when the first period TB1 has elapsed during the discharge control.

The drive control unit 26 is configured to continue driving of the harvesting unit H for a predetermined second period TB2 from the time when the working area CA enters the outer peripheral area SA during the discharge-time control, and to stop driving of the harvesting unit H when the second period TB2 has elapsed.

As shown in fig. 10, the second period TB2 has a length equal to or shorter than the first period TB 1. In the present embodiment, the length of second period TB2 is shorter than the length of first period TB 1.

The drive control unit 26 is configured to execute discharge control in preference to automatic stop control. That is, in either case where the control mode of the drive control unit 26 is the automatic stop/open mode or the control mode of the drive control unit 26 is the automatic stop/close mode, the drive control unit 26 performs the discharge-time control in preference to the automatic stop control when the combine harvester 1 travels toward the discharge point PP.

That is, when the control mode of the drive control unit 26 is the automatic stop/start mode, the drive control unit 26 performs the discharge-time control in preference to the automatic stop control when traveling to the discharge point PP.

As shown in fig. 4, 7, and 8, when the control mode of the drive control unit 26 is the automatic stop/start mode, the drive control unit 26 executes the automatic stop control when the combine harvester 1 is not traveling toward the discharge point PP.

When the control mode of the drive control unit 26 is the automatic stop/close mode, the drive control unit 26 does not execute either the automatic stop control or the discharge control when the combine harvester 1 is not traveling toward the discharge point PP.

The discharge control will be described below with reference to fig. 10 and 11, taking the automatic travel shown in fig. 9 as an example. In this example, the control mode of the drive control unit 26 is an auto stop/start mode.

In the example shown in fig. 9, the combine harvester 1 travels toward the discharge point PP after performing the harvesting travel. More specifically, first, the combine harvester 1 performs the harvesting travel toward the west along the harvesting travel path LN in the work target area CA. Furthermore, the combine harvester 1 passes the position P11. The time at this time is set to time t 11.

The combine harvester 1 then reaches position P12. The combine harvester 1 makes a change of direction to the south side while entering the outer peripheral area SA from the position P12. In addition, the combine harvester 1 travels from the position P12 toward the discharge point PP. The combine harvester 1 thus passes through the positions P13, P14, P15, P16 to reach the discharge point PP.

Fig. 10 shows the transition of the height of the harvesting portion H after time t11 in the example shown in fig. 9. Fig. 11 shows the driving state of the harvesting unit H, the driving state of the supply chain 3, and the transition of the driving state of the threshing device 13 after time t11 in the example shown in fig. 9.

The times when the combine harvester 1 reaches the positions P12, P13, P14, P15, and P16 are set as times t12, t13, t14, t15, and t16, respectively.

At time t11, the combine harvester 1 performs a harvesting travel. That is, the harvesting unit H, the supply chain 3, and the threshing device 13 are all driven. At this time, the height of the harvesting portion H is a predetermined harvesting height. As described above, the harvesting height is lower than the reference height H1. As described above, the harvesting height can be changed by the operator.

At time t12, the combine harvester 1 reaches position P12. At this time, the combine harvester 1 enters the outer peripheral area SA from the work area CA. At this time, the elevation control unit 25 starts to elevate the harvesting unit H.

At this point, the drive control unit 26 executes discharge control. That is, from this point of time, the drive control unit 26 continues to drive the supply chain 3 and the threshing device 13 in the first period TB 1. From this point of time, the drive control unit 26 continues to drive the harvesting unit H in the second period TB 2.

In addition, in this example, the length of the first period TB1 is equal to the length of time from time t12 to time t 16. In addition, the length of the second period TB2 is equal to the length of time from the time t12 to the time t 15.

At time t13, the height of the harvesting section H reaches the reference height H1. However, in this example, the combine harvester 1 travels toward the discharge point PP. Therefore, the drive control unit 26 performs the discharge-time control in preference to the automatic stop control. At time t13, neither the first period TB1 nor the second period TB2 elapses. Therefore, at this time, the automatic stop control is not executed.

At time t14, the height of the harvesting section H reaches height H2.

At time t15, the second period TB2 elapses. At this time, the drive control unit 26 stops the driving of the harvesting unit H.

At time t16, the first period TB1 elapses. At this time, the drive control unit 26 stops the drive of the supply chain 3 and the threshing device 13.

Fig. 1 also shows a first transport time TA1 and a second transport time TA 2. The first conveying time TA1 is the time required from when the standing grain stalks C of the field are cut by the cutting device 15 until the grain stalks C reach the first position Q1.

The second transport time TA2 is the time required from when the standing grain stalk C in the field is cut by the cutting device 15 until the grain stalk C reaches the second position Q2.

That is, the second conveying time TA2 corresponds to the time required from the harvesting of the grain stalks C in the harvesting unit H to the end of the conveyance of the supply chain 3.

In the present embodiment, the first period TB1 has a length equal to or longer than the second conveyance time TA 2. That is, the first period TB1 is longer than or equal to the time required from the harvesting of the grain stalks C in the harvesting unit H to the end of conveyance of the supply chain 3.

In the present embodiment, the second period TB2 has a length equal to or longer than the first conveyance time TA 1. That is, the second period TB2 is longer than or equal to the time required from the harvest portion H to harvest the grain stalks C until the grain stalks C are transferred to the supply chain 3.

With the above-described configuration, when the combine harvester 1 travels toward the discharge point PP, the drive of the supply chain 3 and the threshing device 13 is continued for the predetermined first period TB1 from the time when the combine harvester 1 enters the outer peripheral area SA from the work area CA. Thus, all the grain stalks C gripped by the supply chain 3 at the time when the combine harvester 1 enters the outer peripheral area SA from the work area CA are easily threshed while traveling toward the discharge point PP. Therefore, it is easy to avoid a situation in which the grain stalks C gripped by the supply chain 3 do not undergo threshing processing at the time when the combine harvester 1 enters the outer peripheral area SA from the work area CA, and the yield of grains is reduced.

In the configuration described above, when the combine harvester 1 travels toward the discharge point PP, the driving of the threshing device 13 is stopped at the time when the first period TB1 has elapsed from the time when the combine harvester 1 enters the outer peripheral area SA from the work area CA. Therefore, the fuel efficiency is improved compared to a configuration in which the combine harvester 1 continues to drive the threshing device 13 from the time when the work area CA enters the outer peripheral area SA to the time when the discharge point PP is reached.

Therefore, with the above-described configuration, it is possible to easily realize the combine harvester 1 that can avoid a decrease in the yield of grains and has excellent fuel efficiency.

The above-described embodiments are merely examples, and the present invention is not limited thereto and may be modified as appropriate.

[ other embodiments ]

(1) The running gear 11 may be a wheel type or a semi-crawler type.

(2) In the above embodiment, the harvesting travel path LN calculated by the path calculation unit 23 is a plurality of grid lines extending in the vertical and horizontal directions. However, the present invention is not limited to this, and the harvesting travel path LN calculated by the path calculation unit 23 may not be a plurality of grid lines extending in the vertical and horizontal directions. For example, the harvesting travel path LN calculated by the path calculation unit 23 may be a spiral travel path. In addition, the harvesting travel path LN may not be orthogonal to the other harvesting travel paths LN. The harvesting travel path LN calculated by the path calculation unit 23 may be a plurality of parallel lines parallel to each other.

(3) In the above-described embodiment, the operator manually operates the combine harvester 1, and as shown in fig. 2, the operator performs the harvesting travel so as to surround the boundary line BD of the field at the outer peripheral portion in the field. However, the present invention is not limited to this, and the combine harvester 1 may be configured to automatically travel and perform harvesting travel so as to surround the boundary line BD along the field at the outer peripheral portion in the field. The number of windings in this case may be other than 3 weeks. For example, the number of windings may be 2 weeks.

(4) Some or all of the vehicle position calculating unit 21, the area calculating unit 22, the route calculating unit 23, the travel control unit 24, the elevation control unit 25, the drive control unit 26, and the discharge determining unit 27 may be provided outside the combine harvester 1, or may be provided in a management server provided outside the combine harvester 1, for example.

(5) The drive control unit 26 may be configured not to stop the drive of the supply chain 3 when the first period TB1 has elapsed during the discharge-time control.

(6) The length of the first period TB1 may be shorter than the length of time required from when the grain stalks C are harvested by the harvesting unit H to when the grain stalks C reach the end of conveyance by the supply chain 3.

(7) The control mode of the drive control unit 26 may be configured not to be switched to the automatic stop/off mode.

(8) The drive control unit 26 may not have a function of executing the automatic stop control.

(9) In the above embodiment, the supply chain 3, the threshing device 13, and the harvesting unit H are controlled on a time basis. However, the supply chain 3, the threshing device 13, and the harvesting unit H may be controlled in terms of travel distance. For example, the discharge control executed by the drive control unit 26 may be control in which, when the combine harvester 1 travels toward the discharge point PP, the drive of the supply chain 3 and the threshing device 13 is continued until the combine harvester travels a predetermined first distance from the point at which the work target area CA enters the outer peripheral area SA, and the drive of the threshing device 13 is stopped at the time when the combine harvester travels the first distance.

Industrial applicability

The present invention is applicable to a combine harvester, including: the threshing device comprises a harvesting part for harvesting vertical grain stalks in a field, a supply chain for clamping and conveying the grain stalks harvested by the harvesting part, and a threshing device for threshing the grain stalks clamped and conveyed by the supply chain.

Claims

1. A combine harvester capable of automatically running, comprising:

a harvesting section that harvests standing grain stalks of a field;

a supply chain that holds and conveys the grain stalks harvested by the harvesting unit;

the threshing device is used for threshing the grain stalks clamped and conveyed by the supply chain;

a grain tank that stores grains threshed by the threshing device;

a lifting control part which automatically controls the lifting of the harvesting part relative to the machine body during automatic running; and

a drive control unit that automatically controls the drive of the harvesting unit, the supply chain, and the threshing device during automatic travel,

the elevation control part is configured to elevate the harvesting part when entering a harvested region from an unstrained region,

the drive control unit executes discharge control in which the supply chain and the threshing device are continuously driven for a predetermined first period from a time point when a non-harvest region enters a harvested region to a time point when the grain tank is driven toward a discharge point for discharging the grain from the grain tank, and the driving of the threshing device is stopped at a time point when the first period has elapsed.

2. A combine harvester according to claim 1,

the drive control unit is configured to stop driving of the supply chain at a time when the first period has elapsed during the discharge-time control.

3. A combine harvester according to claim 1 or 2,

the first period has a length longer than or equal to a time required from the harvest of the grain straw by the harvesting unit until the grain straw reaches the end of conveyance of the supply chain.

4. A combine harvester according to any one of claims 1 to 3,

the drive control unit is configured to continue driving of the harvesting unit for a predetermined second period from a time point when an unharvested area enters a harvested area in the discharge-time control, and to stop driving of the harvesting unit when the second period elapses,

the second period has a length below the first period.

5. A combine harvester according to any one of claims 1 to 4,

the control mode of the drive control unit is switchable between an automatic stop-on mode in which automatic stop control for stopping the drive of the supply chain is executed when the height of the harvesting unit reaches a predetermined reference height, and an automatic stop-off mode in which the automatic stop control is not executed when the height of the harvesting unit reaches the reference height,

when the control mode of the drive control unit is the automatic stop/start mode, the drive control unit executes the discharge-time control in preference to the automatic stop control when traveling toward the discharge point.

6. A combine harvester according to any one of claims 1 to 5,

the combine harvester is provided with:

a storage amount detection unit that detects an amount of grain stored in the grain tank; and

and an ejection determination unit that determines whether or not to travel to the ejection point based on a detection result of the storage amount detection unit.