JP2020202761A - Harvester - Google Patents

Abstract

To provide a harvester capable of accurately detecting an obstacle ahead in an advancing direction irrespective of the height position of a harvesting part.SOLUTION: A harvester includes: a machine body 1; a harvesting part 15 provided ahead of the machine body 1 so as to be vertically swingable with respect to the machine body 1; a height detection part capable of detecting a height position H where the harvesting part 15 is positioned; and an obstacle detection part capable of detecting an obstacle ahead in an advancing direction. The obstacle detection part includes a first sensor 21 and a second sensor 22 provided at different positions in a vertical direction, which output detection information with a front area in the advancing direction as a detection range, a selection part for selecting at least one of detection information of the first sensor 21 and detection information of the second sensor 22 according to the height position H of the harvesting part 15, and a determination part for determining an obstacle based on the detection information selected by the selection part.SELECTED DRAWING: Figure 4

Description

The present invention relates to a harvesting machine provided in front of the main body of the machine body and provided with a harvesting unit capable of swinging up and down with respect to the main body of the machine body and an obstacle detecting unit capable of detecting an obstacle in front of the machine body.

For example, the harvester (“combine” in the document) disclosed in Patent Document 1 is provided with an obstacle detection unit (“ultrasonic sensor” in the document), and the obstacle detection unit detects the front in the traveling direction as a detection range. It is a sensor that outputs information.

JP-A-2017-169539

By the way, in the configuration in which the harvesting portion is provided so as to be able to swing up and down in front of the main body of the machine, it is conceivable that the sensor may not be suitable for detecting obstacles in front depending on the height position of the harvesting portion. Therefore, the present invention is to provide a harvester capable of accurately detecting an obstacle in front of the traveling direction regardless of the height position of the harvesting portion.

The harvester according to the present invention is provided in front of the main body of the machine and the main body of the machine, and has a height that can swing up and down with respect to the main body of the machine and a height position at which the harvesting part is located. A detection unit and an obstacle detection unit capable of detecting an obstacle in front of the traveling direction are provided, and the obstacle detection unit is provided at different positions in the vertical direction and detects information with the front in the traveling direction as a detection range. A selection unit that selects at least one of the detection information of the first sensor and the second sensor according to the height position of the harvesting unit, and the selection unit. A determination unit for determining an obstacle based on the detection information selected by the unit is provided.

According to the present invention, a plurality of sensors having a detection range in front of the traveling direction are provided vertically. Therefore, even if obstacles in front of one of the first sensor and the second sensor are not suitably detected depending on the height position of the harvesting portion, the other of the first sensor and the second sensor It is possible to configure a configuration in which obstacle detection is preferably performed. Further, even if it depends on the height position of the harvesting portion whether or not each of the sensors having different heights can accurately detect an obstacle in front of the traveling direction, in the present invention, these The detection information of the sensor is selected by the selection unit. That is, among the plurality of sensors, a sensor capable of accurately detecting an obstacle in front of the traveling direction is selected based on the height position of the harvesting portion. As a result, a harvester capable of accurately detecting obstacles in front of the traveling direction is realized regardless of the height position of the harvesting portion.

In the present invention, each of the first sensor and the second sensor is provided on the main body of the machine, and the selection portion is when the height position of the harvesting portion is higher than the preset height position. When the detection information of one of the first sensor and the second sensor located higher is selected and the height position of the harvesting portion is lower than the set height position, the first sensor and the first sensor It is preferable to select the detection information of the other lower position of the second sensor.

According to this configuration, since the first sensor and the second sensor are divided vertically in the main body of the machine, each of the first sensor and the second sensor is firmly supported by the main body of the machine. Since the harvesting section is provided in front of the main body of the machine, in a configuration in which the first sensor and the second sensor are provided on the main body of the machine, the harvesting section may block the detection range of the first sensor or the detection range of the second sensor. There is. According to the present invention, the detection information of the sensor on the higher side when the height position of the harvesting portion is low is selected based on the set height position, and the detection information is located low when the height position of the harvesting portion is high. The detection information of the sensor on the side is selected. As a result, the determination unit can suitably determine the obstacle in front. In the present invention, the phrase "when the height position of the harvesting portion is higher than the preset height position" refers to "the height position of the harvesting portion is equal to or higher than the preset set height position". It also includes the meaning of "if." Further, the term "when the height position of the harvesting portion is lower than the set height position" in the present invention means "when the height position of the harvesting portion is equal to or less than the set height position". Is also included.

In the present invention, the first sensor and the second sensor are provided on the main body of the machine, and the harvesting unit is provided on the harvest header that can swing up and down with respect to the main body of the machine and the harvest header. It has a scraping reel that can swing up and down, and the selection unit includes the first sensor and the second sensor based on the height position of the harvest header and the height position of the scraping reel. It is preferable to select at least one of the detection information of each of the above.

When the detection information of the first sensor and the second sensor is selected by the selection unit based only on the height position of the harvest header and without considering the height position of the suction reel, the detection range of the first sensor Alternatively, the detection range of the second sensor may be blocked by the suction reel, and the determination unit may not be able to adequately determine an obstacle in front. In this configuration, the selection unit selects at least one of the detection information of the first sensor and the second sensor in consideration of the height position of the harvest header and the height position of the suction reel. For example, even when the height position of the harvest header is high, if the height position of the scraping reel is low with respect to the harvest header, the detection information on the higher side of the first sensor and the second sensor can be used. Based on this, there is a possibility that obstacles in front of the traveling direction can be detected accurately. That is, in this configuration, the selection unit can select at least one of the first sensor and the second sensor so as to avoid the front harvest header and the scraping reel as much as possible. For this reason, even when the scraping reel swings up and down with respect to the harvesting header, it is possible to use a plurality of sensors properly according to the height position of the harvesting portion, and the determining portion is an obstacle in front. Can be suitably determined.

In the present invention, the first sensor and the second sensor are provided on the main body of the machine, and the harvesting unit is provided on the harvest header that can swing up and down with respect to the main body of the machine and the harvest header. It has a scraping reel whose position can be changed back and forth, and the selection unit includes the first sensor and the second sensor based on the height position of the harvest header and the front and rear position of the scraping reel. It is preferable to select at least one of the detection information of each of the above.

In a configuration in which the scraping reel can be repositioned back and forth with respect to the harvest header, when the scraping reel is repositioned back and forth, the scraping reel and the first sensor and the second sensor provided on the machine body are The separation distance of is changed. In this case, when the suction reel approaches the first sensor or the second sensor, the detection range of the first sensor or the detection range of the second sensor may be blocked by the suction reel. In this configuration, the selection unit selects at least one of the detection information of the first sensor and the second sensor in consideration of the height position of the harvest header and the front-rear position of the suction reel. For example, it is conceivable that the ratio of the detection range blocked by the suction reel to the detection range of the first sensor or the detection range of the second sensor becomes smaller as the suction reel is located on the front side. That is, in this configuration, the selection unit can select the first sensor or the second sensor so as to avoid the front harvest header and the scraping reel as much as possible. Therefore, even when the position of the scraping reel is changed back and forth with respect to the harvest header, the selection unit can use a plurality of sensors properly according to the front and rear position of the scraping reel, and the determination unit is an obstacle in front. The object can be determined suitably.

In the present invention, each of the first sensor and the second sensor is provided in the harvesting portion, and at least one of the first sensor and the second sensor is sensed according to the height position of the harvesting portion. It is preferable that the orientation of the is changeable.

In the configuration in which the first sensor and the second sensor are provided in the harvesting section, the first sensor and the second sensor are tilted up and down as the harvesting section swings up and down. For this reason, the detection ranges of the first sensor and the second sensor are shifted upward from the front in the traveling direction or downward from the front in the traveling direction. In this configuration, the orientation of at least one of the sensing of the first sensor and the second sensor can be adjusted. As a result, at least one of the first sensor and the second sensor can hold the detection range forward in the traveling direction regardless of the vertical swing of the harvesting portion. As a result, the obstacle detection unit can accurately detect obstacles in front of the traveling direction regardless of the height position of the harvesting unit.

It is an overall side view of a harvester. It is a functional block diagram which shows the control system of a harvester. It is a flowchart which shows the process of a selection part. It is a side view which shows the selection of the detection information of each of the 1st sensor and the 2nd sensor according to the height position of a harvesting part. It is a side view which shows the selection of the detection information of each of the 1st sensor and the 2nd sensor according to the height position of a harvesting part. It is a side view which shows the selection of the detection information of each of the 1st sensor and the 2nd sensor according to the height position of a harvesting part. It is a flowchart which shows another embodiment of the process of a selection part. It is a side view which shows another embodiment of the selection of the detection information of each of the 1st sensor and the 2nd sensor according to the height position of a harvesting part. It is a side view which shows another embodiment of the selection of the detection information of each of the 1st sensor and the 2nd sensor according to the height position of a harvesting part. It is a side view which shows the state which the 1st sensor and the 2nd sensor were provided in the harvesting part as another embodiment.

An embodiment of the combine as an example of the harvester according to the present invention is described below based on the drawings. In this embodiment, when the front-rear direction of the machine body 1 is defined, it is defined along the machine traveling direction in the working state. In FIG. 1, the direction indicated by the reference numeral (F) is the front side of the aircraft, and the direction indicated by the reference numeral (B) is the rear side of the aircraft. The direction indicated by the symbol (U) is the upper side of the aircraft, and the direction indicated by the symbol (D) is the lower side of the aircraft. The direction on the front side of the paper in FIG. 1 is the left side of the machine, and the direction on the back side of the paper in FIG. 1 is the right side of the machine. When defining the left-right direction of the machine body 1, the left-right direction is defined in the state of being viewed in the direction of travel of the machine.

[Basic configuration of harvester]
As shown in FIG. 1, a normal combine harvester, which is a form of a harvester, includes a main body 1, a pair of left and right crawler-type traveling devices 11, a boarding section 12, a threshing device 13, a grain tank 14, and a harvesting section. 15, a transport device 16, and a grain discharge device 17 are provided.

The traveling device 11 is provided in the lower part of the combine. The combine can be self-propelled by the traveling device 11. Further, the boarding unit 12, the threshing device 13, and the grain tank 14 are provided above the traveling device 11, and these are configured as the upper part of the machine body 1. A passenger of the combine harvester and an observer who monitors the work of the combine harvester can board the boarding unit 12. A satellite positioning module 80 is provided on the ceiling of the boarding unit 12. The satellite positioning module 80 receives a GNSS (Global Navigation Satellite System) signal (including a GPS signal) from the artificial satellite GS and acquires the position of the own vehicle. A drive engine (not shown) is provided below the boarding unit 12. The grain discharge device 17 is connected to the lower rear portion of the grain tank 14.

The harvesting section 15 is supported by the front portion of the machine body 1. The transport device 16 is provided adjacent to the rear side of the harvesting section 15. The harvesting unit 15 harvests the crops in the field. The crop to be harvested is, for example, a planted culm such as rice, but may be soybean, corn, or the like. The harvesting unit 15 and the transport device 16 are configured to swing up and down around the lateral axis of the machine body by the expansion and contraction operation of a hydraulic cylinder (not shown) erected over the machine body 1 and the transfer device 16. With this configuration, the harvesting unit 15 is configured so that the height to the ground when harvesting the crops in the field can be adjusted. Then, the combine can perform work traveling by the traveling device 11 while harvesting the crops in the field by the harvesting unit 15.

The harvesting unit 15 is provided with a harvesting header 15A and a scraping reel 15B. When the crop is harvested from the field, the scraping reel 15B scrapes the portion of the crop near the tip toward the rear. The harvest header 15A collects the crops (for example, harvested culms) harvested from the field at a portion of the harvesting section 15 that communicates with the inside of the transport device 16. The harvest header 15A is configured to swing up and down with respect to the machine body 1, and swings integrally with the transport device 16. The scraping reel 15B is configured to be swingable up and down with respect to the harvest header 15A, and is configured to be repositionable back and forth with respect to the harvest header 15A.

The crop (for example, harvested culm) harvested by the harvesting unit 15 is transported to the threshing device 13 by the transport device 16. The harvested crop is threshed by the threshing device 13. The harvested grains obtained by the threshing treatment are stored in the grain tank 14. The grains stored in the grain tank 14 are discharged to the outside of the machine by the grain discharging device 17 as needed. The grain discharge device 17 is configured to swing around the vertical axis core at the rear of the machine body.

A first sensor 21 and a second sensor 22 are provided at the left end portion of the front wall portion of the threshing device 13, and each of the first sensor 21 and the second sensor 22 is, for example, a sonar and detects the front in the traveling direction. The range. Further, the first sensor 21 and the second sensor 22 are provided at different positions in the vertical direction, and the first sensor 21 is located above the second sensor 22.

Various objects exist in the field as detection targets of the first sensor 21 and the second sensor 22. As such detection targets, in FIG. 1, a normal planted culm group indicated by reference numeral Z0, a weed group indicated by reference numeral Z1, a fallen grain culm group indicated by reference numeral Z2, and a reference numeral Z3 are indicated. The person, the stone indicated by reference numeral Z4, is schematically shown.

[Control unit configuration]
The control unit 30 shown in FIG. 2 is a core element of the control system of the combine, and is shown as an aggregate of a plurality of ECUs. The control unit 30 is provided with a selection unit 31, a determination unit 32, a control unit 34, a travel control unit 35, a warning control unit 36, and a notification control unit 37. Further, the selection unit 31 and the determination unit 32 are also a part of the obstacle detection unit 33.

The obstacle detection unit 33 has a configuration capable of detecting an obstacle in front of the combine in the traveling direction. The obstacle detection unit 33 includes a first sensor 21, a second sensor 22, a selection unit 31, and a determination unit 32. Positioning information output from the satellite positioning module 80, detection information output from each of the first sensor 21 and the second sensor 22, and output from the cutting height detection unit 23 as the "height detection unit" in the present invention. The height position information is input to the control unit 30 through the wiring network. As described above, the harvesting section 15 and the transport device 16 (see FIGS. 1, 4, etc.) are configured to be vertically swingable, and the cutting height detection section 23 is provided at the swing axis portion of the transport device 16. There is. The cutting height detection unit 23 is configured to be able to detect the height position information of the harvesting unit 15 by detecting the swing angle of the transport device 16. The height position information of the harvesting unit 15 is information regarding the height position H of the harvesting unit 15 (see FIG. 4 and the like). In the present embodiment, the height position H is the ground height of the harvesting portion 15. In the present embodiment, since each of the first sensor 21 and the second sensor 22 is sonar, the detection information output from each of the first sensor 21 and the second sensor 22 is distance measurement information.

The determination unit 32 determines specific information as an obstacle from the detection information sent from at least one of the first sensor 21 and the second sensor 22, for example, by using a machine-learned (deep learning) neural network. Has the function of learning.

Although the details will be described later, the height position H (see FIG. 4 and the like) of the harvesting unit 15 is detected by the cutting height detection unit 23, and the selection unit 31 sets the first sensor 21 and the first sensor 21 according to the height position H. At least one of the detection information of each of the two sensors 22 is selected. In other words, the selection unit 31 is configured to be able to select which of the detection information of the first sensor 21 and the second sensor 22 is used based on the cutting height of the harvesting unit 15. Of the detection information of each of the first sensor 21 and the second sensor 22, the detection information selected by the selection unit 31 is transmitted to the determination unit 32. In this way, the obstacle detection unit 33 is configured to be able to detect an obstacle in front of the traveling direction.

The control unit 34 determines the control pattern based on the type of obstacle detected by the obstacle detection unit 33. The control pattern is stored in ROM or the like as a lookup table corresponding to the type of obstacle, for example, and the control pattern corresponding to the type of obstacle is selected by the control unit 34. Then, output control is output from the control unit 34 to the travel control unit 35, the warning control unit 36, and the notification control unit 37 according to the selected control pattern.

The travel control unit 35 has an engine control function, a steering control function, a vehicle speed control function, and the like, and gives a travel control signal to the travel device 11. When the combine is manually operated, the travel control unit 35 generates a control signal to control the travel device 11 based on the operation by the passenger. When the combine is automatically operated, the travel control unit 35 controls steering and vehicle speed based on the automatic travel command given by the automatic travel control module of the control unit 30 and the positioning information from the satellite positioning module 80. Is performed on the traveling device 11. Based on the output control from the control unit 34, the travel control unit 35 is configured to be able to output a deceleration command and a stop command to the travel device 11.

The warning control unit 36 is a module for notifying animals and people located in the path in front of the machine body 1 shown in FIG. 1 of the working running state of the machine body 1 and various warnings. , The output control for the horn 41 is possible. The horn 41 is provided at an arbitrary position on the main body 1. The notification control unit 37 is configured to be able to output a control pattern determined by the control unit 34 to a terminal CT such as a smartphone or a tablet computer, and the control pattern is displayed on the terminal CT. The terminal CT is carried by the passenger of the combine harvester or the observer or manager of the field, and the notification control unit 37 is used so that the person carrying the terminal CT can check the state and history of the control pattern on the terminal CT. It is configured.

[Selection between the first sensor and the second sensor]
As described above, the selection unit 31 shown in FIG. 2 is at least one of the detection information of the first sensor 21 and the second sensor 22 according to the height position H of the harvesting unit 15 shown in FIG. 4 and the like. Is configured to select. FIG. 3 shows selection processing of detection information of the first sensor 21 and the second sensor 22 by the selection unit 31. The selection process from the start to the end shown in FIG. 3 is repeated at regular intervals.

The selection unit 31 acquires the height position H, which is the position of the harvesting unit 15 in the vertical direction (step # 01). The height position H is height position information output from the cutting height detection unit 23 to the selection unit 31. After acquiring the height position H, the selection unit 31 determines whether or not the height position H is equal to or less than the preset height position H1 (or less than the set height position H1) (step # 02). If the height position H is equal to or less than the set height position H1 (step # 02: Yes), the selection unit 31 selects the detection information of the first sensor 21 (step # 03). The height position of the first sensor 21 is higher than the height position of the second sensor 22. If the height position H is higher than the set height position H1 (step # 02: No), the process proceeds to step # 04. The value of the set height position H1 can be changed as appropriate.

After the processing of step # 02 or step # 03 is completed, the selection unit 31 determines whether or not the height position H is equal to or higher than the preset height position H2 (or higher than the set height position H2). (Step # 04). If the height position H is equal to or higher than the set height position H2 (step # 04: Yes), the selection unit 31 selects the detection information of the second sensor 22 (step # 05). The height position of the second sensor 22 is lower than the height position of the first sensor 21. If the height position H is lower than the set height position H2 (step # 04: No), the processing of the selection unit 31 ends. The value of the set height position H2 can be changed as appropriate.

4 to 6 show a state in which at least one of the first sensor 21 and the second sensor 22 is selected according to the height position H of the harvesting portion 15. As described above, the height position H is acquired by the cutting height detection unit 23 (see FIG. 2), and each of the set height positions H1 and H2 is a threshold value set in advance with respect to the height position H. The set height positions H1 and H2 shown in FIGS. 4 to 6 are set to different values, and the set height position H1 is set higher than the set height position H2. Further, the height position H of the harvesting portion 15 shown in FIGS. 4 to 6 is based on the position of the lower end of the harvesting portion 15. In the vertical direction, the height region S1 is indicated in the region below the set height position H1 (or less than the set height position H1). When the height position H of the harvesting unit 15 is located within the range of the height region S1, the determination of Yes is performed in step # 02 shown in FIG. 3, and the detection information of the first sensor 21 is the selection unit 31 (FIG. 3). 2) is selected. The height region S2 is indicated in the region above the set height position H2 (or higher than the set height position H2). When the height position H of the harvesting unit 15 is located within the range of the height region S2, Yes is determined in step # 04 shown in FIG. 3, and the detection information of the second sensor 22 is selected by the selection unit 31. Will be done.

In FIG. 4, the height position H of the harvesting portion 15 is lower than the set height position H1 and lower than the set height position H2. That is, the height position H of the harvesting portion 15 is located within the range of the height region S1, but is located outside the range of the height region S2. In this case, Yes is determined in step # 02 shown in FIG. 3, No is determined in step # 04, and the selection unit 31 selects only the detection information of the first sensor 21.

In FIG. 5, the height position H of the harvesting portion 15 is higher than the set height position H1 and higher than the set height position H2. That is, the height position H of the harvesting portion 15 is located within the range of the height region S2, but is located outside the range of the height region S1. In this case, No is determined in step # 02 shown in FIG. 3, Yes is determined in step # 04, and the selection unit 31 selects only the detection information of the second sensor 22.

In FIG. 6, the height position H of the harvesting portion 15 is located between the set height position H1 and the set height position H2. That is, the height position H of the harvesting portion 15 is located within the range of the height region S1 and within the range of the height region S2. In this case, Yes is determined in step # 02 shown in FIG. 3, and Yes is determined in step # 04, and the selection unit 31 is the detection information of the first sensor 21 and the second sensor 22. Select both.

As described above, in the present invention, either one of the first sensor 21 and the second sensor 22 is used for the determination of the obstacle by the determination unit 32, and both the first sensor 21 and the second sensor 22 are used. Are used at the same time.

[Another Embodiment]
The present invention is not limited to the configurations exemplified in the above-described embodiments, and the following, typical alternative embodiments of the present invention will be exemplified.

(1) In the above-described embodiment, the cutting height detecting unit 23 is configured to be able to detect the height position H where the harvesting unit 15 is located by detecting the swing angle of the transport device 16. It is not limited to this embodiment. As described above, the scraping reel 15B is configured to be swingable up and down with respect to the harvest header 15A. Therefore, for example, the cutting height detection unit 23 may be configured to be able to detect the swing angle of the transport device 16 and the swing angle of the suction reel 15B.

It is preferable to change the set height positions H1 and H2, respectively, depending on the relative positional relationship between the scraping reel 15B and the harvest header 15A. More specifically with reference to FIGS. 4 to 6, when the scraping reel 15B approaches the harvest header 15A in the vertical direction, the visibility above the scraping reel 15B is improved. Therefore, even when the height position H of the harvesting portion 15 is higher than the set height position H1, the scraping reel 15B may not interfere with the sensing of the first sensor 21. From this, for example, the set height position H1 may be adjusted upward as the suction reel 15B approaches the cutting header 15A, and the range of the height region S1 may be expanded upward. Further, when the scraping reel 15B is raised away from the harvesting header 15A, a visible space is secured between the harvesting header 15A and the scraping reel 15B. Therefore, even when the height position H of the harvesting portion 15 is lower than the set height position H2, sensing by the second sensor 22 may be possible from the gap between the harvesting header 15A and the scraping reel 15B. .. From this, for example, the set height position H2 may be adjusted downward as the suction reel 15B is separated from the cutting header 15A, and the range of the height region S2 may be expanded downward. .. In this way, the selection unit 31 selects at least one of the detection information of the first sensor 21 and the second sensor 22 based on the height position of the harvest header 15A and the height position of the scraping reel 15B. It is also possible to configure it.

(2) In the above-described embodiment, two set height positions H1 and H2 having different set values are provided, but as shown in FIGS. 7 to 9, for example, based on one set height position H3. Therefore, one of the detection information of the first sensor 21 and the second sensor 22 may be selected. FIG. 7 shows another embodiment of the selection process of the detection information of the first sensor 21 and the second sensor 22 by the selection unit 31. The selection process from the start to the end shown in FIG. 7 is repeated at regular intervals. Similar to step # 01 in FIG. 3, the selection unit 31 acquires the height position H of the harvesting unit 15 (step # 11). After acquiring the height position H, the selection unit 31 determines whether or not the height position H is equal to or less than the preset height position H3 (or less than the set height position H3) (step # 12). If the height position H is equal to or less than the set height position H3 (step # 12: Yes), the selection unit 31 selects the detection information of the first sensor 21 (step # 13). If No is determined in step # 12, the selection unit 31 selects the detection information of the second sensor 22 (step # 14). The value of the set height position H3 can be changed as appropriate.

In the vertical direction in FIGS. 8 and 9, the height region S1 is shown in the region below the set height position H3 (or less than the set height position H3), and above the set height position H3 (or below the set height position H3). The height region S2 is shown in the region (higher than). In FIG. 8, the height position H of the harvesting portion 15 is lower than the set height position H3 and is located only within the range of the height region S1. In this case, Yes is determined in step # 12 shown in FIG. 7, and the selection unit 31 selects only the detection information of the first sensor 21. In FIG. 9, the height position H of the harvesting portion 15 is higher than the set height position H3 and is located only within the range of the height region S2. In this case, No is determined in step # 12 shown in FIG. 7, and the selection unit 31 selects only the detection information of the second sensor 22. That is, when the height position H of the harvesting unit 15 is equal to or less than the set height position H3, the selection unit 31 selects the detection information of the higher position of the first sensor 21 and the second sensor 22. .. Further, when the height position H of the harvesting unit 15 is equal to or higher than the set height position H3, the selection unit 31 selects the detection information of the lower position of the first sensor 21 and the second sensor 22. ..

In addition, in relation to the other embodiment (1) described above, the set height position H3 is adjusted downward so that the suction reel 15B is separated from the cutting header 15A, and the range of the height region S2 is downward. The configuration may be expanded to. Further, the set height position H3 may be adjusted upward as the suction reel 15B approaches the cutting header 15A, and the range of the height region S1 may be expanded upward.

(3) In the above-described embodiment, the cutting height detecting unit 23 is configured to be able to detect the height position H where the harvesting unit 15 is located by detecting the swing angle of the transport device 16. It is not limited to this embodiment. As described above, the scraping reel 15B is configured to be repositionable back and forth with respect to the harvest header 15A. Therefore, for example, the cutting height detection unit 23 may be configured to be able to detect the swing angle of the transport device 16 and the front-rear position of the suction reel 15B. That is, the selection unit 31 also has a configuration in which at least one of the detection information of the first sensor 21 and the second sensor 22 is selected based on the height position of the harvest header 15A and the front-rear position of the scraping reel 15B. It is possible. For example, it is considered that the ratio of the detection range blocked by the suction reel 15B to the detection range of the first sensor 21 or the detection range of the second sensor 22 becomes smaller as the suction reel 15B is located on the front side. Be done. For this reason, the set height position H1 shown in FIGS. 4 to 6 may be adjusted up and down according to the front-rear position of the suction reel 15B. For example, the set height position H1 may be adjusted upward so that the suction reel 15B is located on the front side, and the range of the height region S1 may be expanded upward. Further, the set height position H2 shown in FIGS. 4 to 6 may be adjusted up and down according to the front-rear position of the suction reel 15B. For example, the set height position H2 may be adjusted downward so that the suction reel 15B is located on the front side, and the range of the height region S2 may be expanded downward.

(4) Each of the first sensor 21 and the second sensor 22 may be provided in the harvesting section 15. For example, as shown in FIG. 10, second sensors 22 and 22 are provided in each region of the pair of left and right dividers in the harvesting section 15, and are located behind the scraping reel 15B and from the scraping reel 15B. The first sensors 21 and 21 may be provided at the right side and the left side respectively. As shown in FIG. 10, swing members 15C are provided on the left and right ends of the harvest header 15A so as to be vertically swingable, and the scraping reel 15B is supported on the free end of the swing member 15C. The first sensors 21 and 21 may be provided on the swing base end side of the left and right swing members 15C and 15C, respectively. Further, the selection unit 31 may select the first sensor 21 when the height position H of the harvesting unit 15 is lower than the set height position H1. When the harvesting operation is performed with the harvesting unit 15 lowered, it is difficult for the second sensor 22 to detect an obstacle in front because it is located near the root of the crop in the field, but in this configuration, the first sensor 21 can easily detect an obstacle in front of the second sensor 22 from a higher position. Further, the selection unit 31 may select the second sensor 22 when the height position H of the harvesting unit 15 is higher than the set height position H2. When the harvesting portion 15 is raised, it is possible that the first sensor 21 rises too high from the ground and it becomes difficult to detect an obstacle in front of the ground. However, in this configuration, the second sensor 22 is the first sensor. It is easy to detect an obstacle in front of the vehicle from a position lower than 21.

In the example shown in FIG. 10, when the harvesting portion 15 swings upward, the first sensor 21 may be tilted upward, and the sensing direction of the first sensor 21 may be higher than the front in the traveling direction. .. Therefore, for example, when the height position H of the harvesting portion 15 is higher than the set height position H1, the sensing direction of the first sensor 21 may be adjusted downward. Further, when the height position H of the harvesting portion 15 is lower than the set height position H2, the sensing direction of the second sensor 22 may be adjusted upward. In short, at least one of the first sensor 21 and the second sensor 22 may be configured so that the direction of sensing can be changed according to the height position H of the harvesting portion 15.

(5) In the above-described embodiment, the first sensor 21 and the second sensor 22 are provided at the left end portion of the front wall portion of the threshing device 13, but the present invention is not limited to this embodiment. For example, each of the first sensor 21 and the second sensor 22 may be provided at the front right end portion of the boarding portion 12. In this case, the height positions of the first sensor 21 and the second sensor 22 at the front right end of the boarding section 12 are the height positions of the first sensor 21 and the second sensor 22 on the front wall of the threshing device 13. It may be the same as or substantially the same as the height position. Further, a pair of first sensors 21 and 21 and a pair of second sensors 22 and 22 are provided on the front wall portion of the threshing device 13 and the front right end portion of the boarding portion 12, respectively. Is also good. In addition, each of the first sensor 21 and the second sensor 22 may be provided at the left and right center points (for example, the left front end corner portion of the boarding portion 12) at the front end portion of the machine body 1.

(6) In the above-described embodiment, the first sensor 21 and the second sensor 22 are sonar, but are not limited to this embodiment. For example, the first sensor 21 and the second sensor 22 may be an image pickup device (for example, a CCD camera, a CMOS camera, or an infrared camera). If the first sensor 21 and the second sensor 22 are imaging devices, the detection targets indicated by the reference numerals Z0, Z1, Z2, Z3, and Z4 in FIG. 1 are identified with high accuracy. Further, the first sensor 21 and the second sensor 22 may be a radar (millimeter wave) or a lidar (for example, a laser scanner or a laser radar). If the first sensor 21 and the second sensor 22 are millimeter-wave radars, detection that is not easily affected by the weather is possible. If the millimeter-wave radar is configured to be able to scan in three dimensions in the vertical direction in addition to the front and left and right, it is possible to have a wider detection range than the millimeter-wave radar of the type that scans in two dimensions. If the first sensor 21 and the second sensor 22 are LIDAR, the distance to the detection target can be measured with high accuracy. In addition, if the lidar has a configuration capable of scanning in the vertical direction in addition to the front and the left and right in three dimensions, the detection range can be wider than that of the type of lidar that scans in two dimensions. Further, the first sensor 21 and the second sensor 22 may be configured by a combination of different sensors.

For example, when the first sensor 21 and the second sensor 22 are imaging devices, the detection information output from the imaging device is captured image data. When the first sensor 21 and the second sensor 22 are sonar, millimeter wave radar, or LIDAR, the detection information output from the sonar, millimeter wave radar, or LIDAR is distance measurement information.

(7) In the above-described embodiment, the cutting height detecting unit 23 is configured to be able to detect the height position H as the height position information of the harvesting unit 15 by detecting the swing angle of the transport device 16. ing. Then, the selection unit 31 is configured to select at least one of the detection information of each of the first sensor 21 and the second sensor 22 according to the height position H of the harvesting unit 15, but this embodiment. Not limited to. For example, the cutting height detection unit 23 detects the swing angle of the transport device 16, and the selection unit 31 detects each of the first sensor 21 and the second sensor 22 according to the swing angle of the transport device 16. It may be configured to select at least one of the information. That is, the "height position" of the harvesting unit 15 is not limited to the height position H, and may be the swing angle of the transport device 16. Further, the height position H of the harvesting portion 15 shown in FIGS. 4 to 6 and 8 to 10 is based on the position of the lower end of the harvesting portion 15, but for example, the cutting blade of the harvesting portion 15 (not shown). The position of may be the reference.

The configuration disclosed in the above-described embodiment (including another embodiment, the same shall apply hereinafter) can be applied in combination with the configuration disclosed in other embodiments as long as there is no contradiction. Further, the embodiments disclosed in the present specification are examples, and the embodiments of the present invention are not limited to these, and can be appropriately modified without departing from the object of the present invention.

The present invention can be applied not only to a conventional combine harvester but also to a head-feeding combine harvester. Further, the present invention can be applied to a grain-picking type corn harvester, a bean harvester, and the like.

1: Main body 15: Harvesting part 15A: Harvesting header 15B: Scraping reel 23: Cutting height detection part (height detection part)
31: Selection unit 32: Judgment unit 33: Obstacle detection unit H: Height position H1: Set height position H2: Set height position

Claims (5)

The main body of the aircraft and
A harvesting section provided in front of the main body of the machine and capable of swinging up and down with respect to the main body of the machine.
A height detection unit that can detect the height position of the harvesting unit, and
It is equipped with an obstacle detection unit that can detect obstacles in front of the direction of travel.
In the obstacle detection unit,
The first sensor and the second sensor, which are installed at different positions in the vertical direction and output detection information with the detection range in front of the traveling direction,
A selection unit that selects at least one of the detection information of each of the first sensor and the second sensor according to the height position of the harvesting unit.
A harvester including a determination unit for determining an obstacle based on the detection information selected by the selection unit. Each of the first sensor and the second sensor is provided on the main body of the airframe.
The selection unit selects the detection information of one of the first sensor and the second sensor, which is lower than the preset height position, when the height position of the harvesting unit is higher than the preset height position. The first aspect of the present invention is to select the detection information of the higher position of the first sensor and the second sensor when the height position of the harvesting portion is lower than the set height position. Harvester. Each of the first sensor and the second sensor is provided on the main body of the airframe.
The harvesting unit has a harvesting header that can swing up and down with respect to the machine body, and a scraping reel that can swing up and down with respect to the harvesting header.
A claim that the selection unit selects at least one of the detection information of each of the first sensor and the second sensor based on the height position of the harvest header and the height position of the suction reel. The harvester according to 1. Each of the first sensor and the second sensor is provided on the main body of the airframe.
The harvesting unit has a harvesting header that can swing up and down with respect to the machine body, and a scraping reel that can be repositioned back and forth with respect to the harvesting header.
Claim 1 in which the selection unit selects at least one of the detection information of each of the first sensor and the second sensor based on the height position of the harvest header and the front-rear position of the suction reel. Harvester described in. Each of the first sensor and the second sensor is provided in the harvesting section.
The harvester according to claim 1, wherein at least one of the first sensor and the second sensor is configured so that the direction of sensing can be changed according to the height position of the harvesting portion.

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